CHANGELOG.md

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog.

[2026-05-03]

Fixed

• benchmark/parse_folder.py now averages each metric only over the testcases that actually report it. Previously, sparse constraint metrics (constraint_root2d_acc, constraint_root2d_err, constraint_root2d_err_p95, constraint_fullbody_keyframe, constraint_end_effector) were divided by the total motion count of the (split, category), including testcases of other constraint kinds that did not report the metric. This silently scaled values by motions_with_metric / total_motions (e.g. constraint_root2d_acc displayed as ~0.57 when the true value was ~0.93). Both the printed table and summary_rows.json are affected, including the combined constraints row that merges constraints_withtext and constraints_notext. Text-following metrics, foot-skate/contact metrics, and TMR metrics are unchanged.
• Updated Kimodo benchmark results in the documentation with this fix applied.

[2026-04-24]

Added

• Support for TEXT_ENCODER_DEVICE environment variable to force LLM2Vec to use the CPU instead of GPU. Setting TEXT_ENCODER_DEVICE=cpu reduces VRAM usage to <3 GB with a fairly small speed hit.
• --save_example_dir argument to kimodo_gen to save outputs to an example directory that can be directly loaded into kimodo_demo

Fixed

• Bug in post-processing that was incorrectly making the smoothed root the target for the root in full-body constraints
• Modified how transitions are handled in multi-prompt generation to improve smoothness

Removed

• share_transition and percentage_transition_override options from python API for multi-prompt generation

[2026-04-13]

Added

• Option --bvh_standard_tpose to use standard T-pose for BVH file saved from generate.py
• Option to use standard T-pose for BVH file saved or downloaded from demo
• Option to input/output BVH files that use standard T-pose with motion_convert.py
• Added BVH file containing the standard Kimodo T-pose to kimodo/assets/skeletons/somaskel77/somaskel77_standard_tpose.bvh
• Updated documentation with these new options

[2026-04-10]

Added

• Kimodo-SOMA-RP-v1.1 and Kimodo-SOMA-SEED-v1.1 models and added support in the codebase. If not specified, the latest version of the models will be used automatically with the demo and CLI.
• Kimodo Motion Generation Benchmark for standardized evaluation of motion generation models training on the BONES-SEED dataset.
• Scripts to construct the full benchmark, generate motions for test cases, and compute evaluation metrics.
• Documentation explaining the benchmark and how to use the evaluation pipeline.
• TMR-SOMA-RP-v1 motion-text embedding model to be used for evaluation metrics.
• Added option to load LLM2Vec text encoder in fp32 precision.

Fixed

• Always use batch size 1 with LLM2Vec to avoid unexpected behavior of different embeddings based on batch size.
• Load LLM2Vec directly onto the GPU, if available.
• Updated documentation on constraints with more details.

[2026-04-01]

Fixed

• Fix unnecessary text encoder reload when switching between models in the interactive demo (if not using the text encoder server API).

[2026-03-31]

Added

• New kimodo_convert CLI tool for converting generated motions between formats (NPZ, BVH, MuJoCo CSV, AMASS NPZ).
• Support for loading and saving BVH, CSV, and NPZ motion files in the interactive demo.

[2026-03-27]

Fixed

• Bug fix for foot contact visualization in the interactive demo.
• Patch bug with BVH export for SOMA models.

[2026-03-19]

Changed

• Breaking: Model inputs/outputs now use the SOMA 77-joint skeleton (somaskel77). This affects saved motion formats and constraint files from previous versions.

Added

• Released timeline annotations for the BONES-SEED dataset on HuggingFace.

[2026-03-16] - Initial Release

Added

• Open-source release of Kimodo codebase under Apache-2.0 license.
• Five model variants: Kimodo-SOMA-RP-v1, Kimodo-G1-RP-v1, Kimodo-SOMA-SEED-v1, Kimodo-G1-SEED-v1, Kimodo-SMPLX-RP-v1.
• Command-line interface (kimodo_gen) for motion generation with text prompts and kinematic constraints.
• Interactive web-based motion authoring demo (kimodo_demo) with timeline editor, constraint tracks, and 3D visualization.
• Support for multiple output formats: default NPZ, MuJoCo qpos CSV (G1), AMASS NPZ (SMPL-X).
• Documentation site with quick start guide, installation instructions, CLI reference, and API docs.
• Compatibility with downstream tools: ProtoMotions (physics-based policy training) and GMR (motion retargeting).