---
license: mit
tags:
  - motion-generation
  - humanoid-robotics
  - diffusion
  - multimodal
---

# OMG Release Artifacts

Official release checkpoints and benchmark artifacts for [OMG](https://github.com/Tsinghua-MARS-Lab/OMG).

## Checkpoints

| Model | Training step | File |
|---|---:|---|
| OMG 50M | 90,000 | `checkpoints/50m/sstep=090000.ckpt` |
| OMG 100M | 100,000 | `checkpoints/100m/sstep=100000.ckpt` |
| OMG 300M | 55,000 | `checkpoints/300m/sstep=055000.ckpt` |
| OMG 500M | 50,000 | `checkpoints/500m/sstep=050000.ckpt` |

The pretrained benchmark evaluator is stored at `evaluator/step_004000.pt`.

## Benchmark Artifacts

- `benchmark/samples/mixed_modalities_all_v1`: fixed benchmark inputs.
- `benchmark/results/mixed_modalities_all_v1`: generated motions, tracker-executed motions, and metric outputs.
- `SHA256SUMS`: checksums for release checkpoints and the evaluator.

See the [OMG benchmark documentation](https://github.com/Tsinghua-MARS-Lab/OMG/blob/main/docs/benchmark.md) for evaluation commands and [OMG-Data](https://huggingface.co/datasets/THU-MARS/OMG-Data) for training data.