| license: mit | |
| tags: | |
| - humanoid-robotics | |
| - motion-imitation | |
| - reinforcement-learning | |
| - phc | |
| - claims | |
| # CLAIMS PHC Assets | |
| This repository hosts external assets for the CLAIMS project: | |
| - intermediate CLAIMS PHC checkpoints | |
| - one PHC baseline checkpoint | |
| - PHC evaluation datasets used in our experiments | |
| Related code repository: | |
| - `https://github.com/WesleyXu224/CLAIMS_Code` | |
| Related project page: | |
| - `https://wesleyxu224.github.io/CLAIMS/` | |
| ## Directory Structure | |
| ```text | |
| checkpoints/ | |
| claims_single_prim/ | |
| Humanoid_00014200.pth | |
| Humanoid_00031800.pth | |
| Humanoid_00050300.pth | |
| Humanoid_00061200.pth | |
| Humanoid_00074800.pth | |
| Humanoid_00086200.pth | |
| Humanoid_00094000.pth | |
| baseline_single_prim_amass/ | |
| Humanoid.pth | |
| sample_data/ | |
| aist++_clean.pkl | |
| emdb_clean.pkl | |
| kungfu_g_clean.pkl | |
| video_convert_clean.pkl | |
| ``` | |
| ## Asset Summary | |
| `checkpoints/claims_single_prim/` | |
| - CLAIMS PHC checkpoints saved at multiple training stages | |
| `checkpoints/baseline_single_prim_amass/Humanoid.pth` | |
| - baseline PHC checkpoint used for comparison | |
| `sample_data/` | |
| - PHC evaluation datasets in `pkl` format | |
| ## Usage | |
| Example evaluation command: | |
| ```bash | |
| python phc/run_hydra.py \ | |
| learning=im_big \ | |
| exp_name=claims_single_prim \ | |
| env=env_im \ | |
| robot=smpl_humanoid \ | |
| env.motion_file=/path/to/video_convert_clean.pkl \ | |
| env.num_envs=173 \ | |
| test=True \ | |
| epoch=94000 \ | |
| headless=True \ | |
| im_eval=True | |
| ``` | |
| Replace `env.motion_file` and checkpoint paths with your local paths after download. | |
| ## Notes | |
| - These files are released separately from the code repository because of size. | |
| - SMPL / SMPL-X assets are not included here. | |
| - Please consult the main CLAIMS repository for the full pipeline and environment setup. | |