README.md

metadata

license: other
license_name: cc-by-nc-4.0-and-amass
license_link: https://amass.is.tue.mpg.de/license.html
pipeline_tag: robotics
tags:
  - humanoid-control
  - physics-based-animation
  - diffusion-policy
  - flow-matching
  - text-to-motion
  - isaac-gym
extra_gated_prompt: >-
  The data and the weights are derived from AMASS and HumanML3D. To access them,
  you must have registered at https://amass.is.tue.mpg.de and accepted the AMASS
  license, and you may use them for non-commercial scientific research only.
extra_gated_fields:
  Name: text
  Affiliation: text
  I have registered on the AMASS website and accept the AMASS license: checkbox
  I will use these files for non-commercial research only: checkbox

SCRIPT

Weights and data of SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-Based Humanoid Control (SIGGRAPH Asia 2026).

Paper · Project page · Code · Video

Files

Path	Size	Contents
checkpoints/stage1_humanml3d_0.5B/	1.9 GB	Stage I policy (0.5B, step 80k, EMA weights), with its normaliser, null text and scheduler
checkpoints/evaluators/humanml3d_paper/	0.3 GB	the text-motion evaluator of the paper
checkpoints/evaluators/humanml3d_retrained/	0.3 GB	the evaluator retrained with the released code
data/humanml3d/window_154+4/	52 GB	tracked training and validation trajectories with CLIP text features, the index of training windows, the normaliser
data/humanml3d/evaluate_data/test.h5	9.1 GB	the 11,468 tracked test trajectories: the ground truth of the evaluation
data/humanml3d/test_motions/	4.5 GB	the test set in 8 shards, for the standing start and for the start from the reference motion
data/humanml3d/texts.tar.gz	18 MB	the captions
data/humanml3d/null_text.pt	0.4 MB	the CLIP features of the empty caption, for classifier-free guidance in training

Usage

Accept the conditions on this page, log in with hf auth login, and download into the root of the code:

hf download Zhanglele/SCRIPT --local-dir .                            # everything (68 GB)
hf download Zhanglele/SCRIPT --include "checkpoints/*" --local-dir .  # only the weights (2.5 GB)
tar -xzf data/humanml3d/texts.tar.gz -C data/humanml3d

The files are then where the code's configs and commands expect them, e.g.

bash scripts/eval_humanml3d.sh checkpoints/stage1_humanml3d_0.5B checkpoints/evaluators/humanml3d_paper --keep-copies

Evaluator	MM_Dist ↓	R@1 ↑	R@2 ↑	R@3 ↑	FID ↓	Diversity
humanml3d_paper (--keep-copies)	2.020	0.484	0.650	0.738	0.137	1.460
humanml3d_retrained	1.784	0.494	0.661	0.754	0.127	1.352

License

The motions come from AMASS and HumanAct12, cut into captioned clips by HumanML3D and tracked in simulation with PHC; the data is subject to the AMASS license. The weights are released under CC BY-NC 4.0. Both are for non-commercial research only.

Citation

@article{zhang2026script,
  title   = {SCRIPT: Scalable Diffusion Policy with Multi-stage Training for
             Language-driven Physics-Based Humanoid Control},
  author  = {Zhang, Jingyan and Liang, Han and Zhang, Ruichi and Li, Bin and
             Zhang, Juze and Chen, Xin and Wang, Jingya and Xu, Lan and Yu, Jingyi},
  journal = {arXiv preprint arXiv:2605.22894},
  year    = {2026}
}