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| # Changelog | |
| All notable changes to this project will be documented in this file. | |
| The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/). | |
| ## [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](https://huggingface.co/nvidia/Kimodo-SOMA-RP-v1.1) and [Kimodo-SOMA-SEED-v1.1](https://huggingface.co/nvidia/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](https://huggingface.co/datasets/nvidia/Kimodo-Motion-Gen-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](https://huggingface.co/nvidia/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). | |