| --- |
| license: apache-2.0 |
| --- |
| |
| # KODA Assets |
|
|
| Raw iPhone recordings and a fine-tuned ScaleBFM checkpoint for the [KODA pipeline](https://github.com/Gamma-Robot/KODA). |
| The original example remains available, and a second recording is now included. |
|
|
| | Recording | Download | File size | |
| | --- | --- | --- | |
| | `session_20260926_005030_iphone14_3` | [MCAP](https://huggingface.co/datasets/TeleEmbodied/koda-assets/resolve/main/samples/session_20260926_005030_iphone14_3/session_data_20260926_005030_iphone14_3.mcap?download=true) | 150,478,283 bytes | |
| | `session_20260926_004945_iphone14_3` | [MCAP](https://huggingface.co/datasets/TeleEmbodied/koda-assets/resolve/main/samples/session_20260926_004945_iphone14_3/session_data_20260926_004945_iphone14_3.mcap?download=true) | 127,547,978 bytes | |
|
|
| Each recording is distributed as its original MCAP file. The new `004945` |
| recording contains 367 RGB frames, 367 depth frames, camera poses and calibration, |
| IMU data, and mapping streams over approximately 12.29 seconds. |
|
|
| ## Download the new example |
|
|
| With the Hugging Face CLI installed: |
|
|
| ```bash |
| hf download TeleEmbodied/koda-assets \ |
| --repo-type dataset \ |
| --include "samples/session_20260926_004945_iphone14_3/*" \ |
| --local-dir data/koda-assets |
| ``` |
|
|
| The input file will be: |
|
|
| ```text |
| data/koda-assets/samples/session_20260926_004945_iphone14_3/session_data_20260926_004945_iphone14_3.mcap |
| ``` |
|
|
| Follow the [KODA installation and pipeline instructions](https://github.com/Gamma-Robot/KODA#readme) |
| and select this MCAP as the input recording. File sizes and SHA-256 checksums are |
| listed in [`metadata.json`](metadata.json). Its existing `example` entry continues |
| to identify the original sample; the `examples` list describes both recordings. |
|
|
| ## Fine-tuned ScaleBFM checkpoint |
|
|
| [`model_24600.pt`](https://huggingface.co/datasets/TeleEmbodied/koda-assets/resolve/main/models/scalebfm/model_24600.pt?download=true) |
| is the fine-tuned ScaleBFM checkpoint used for KODA's G1 torso/UMI3 tracking |
| experiments. See [ScaleBFM](https://huggingface.co/WeishuaiZeng/ScaleBFM) for the |
| upstream model. |
|
|
| | File | Size | SHA-256 | |
| | --- | --- | --- | |
| | `models/scalebfm/model_24600.pt` | 72,856,655 bytes | `2d40b7326c3435c9aaf01f46e1507f747e7a7371bfa504201aaea12c539f813d` | |
|
|
| From a KODA checkout with its dependencies installed, download and select it: |
|
|
| ```bash |
| uv run hf download TeleEmbodied/koda-assets models/scalebfm/model_24600.pt \ |
| --repo-type dataset \ |
| --local-dir assets |
| |
| export KODA_SCALEBFM_CHECKPOINT=assets/models/scalebfm/model_24600.pt |
| ``` |
|
|
| Then run `uv run koda run ...` in the same shell using the input and output paths |
| described in the [KODA README](https://github.com/Gamma-Robot/KODA#run-the-kinematics-and-video-pipeline). |
| The environment variable selects this checkpoint for whole-body tracking. |
|
|
| To check the downloaded file on Linux: |
|
|
| ```bash |
| echo "2d40b7326c3435c9aaf01f46e1507f747e7a7371bfa504201aaea12c539f813d assets/models/scalebfm/model_24600.pt" | sha256sum -c - |
| ``` |
|
|
