Friedrich-M Claude Opus 5.5 commited on
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1 Parent(s): 971da7c

Rename the models by version; release unimate_uniml3d_f60_v3_preview as the recommended model and unimate_truebones_f60_v2

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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01LjgwfhefMhyk7qWfFTek8y

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  1. .gitattributes +62 -61
  2. .gitignore +4 -0
  3. README.md +77 -110
  4. config.json +40 -12
  5. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/checkpoints/checkpoint_step_10000.pt +0 -0
  6. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/checkpoints/checkpoint_step_100000.pt +0 -0
  7. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/checkpoints/checkpoint_step_110000.pt +0 -0
  8. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/checkpoints/checkpoint_step_120000.pt +0 -0
  9. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/checkpoints/checkpoint_step_20000.pt +0 -0
  10. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/checkpoints/checkpoint_step_30000.pt +0 -0
  11. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/checkpoints/checkpoint_step_40000.pt +0 -0
  12. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/checkpoints/checkpoint_step_50000.pt +0 -0
  13. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/checkpoints/checkpoint_step_60000.pt +0 -0
  14. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/checkpoints/checkpoint_step_70000.pt +0 -0
  15. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/checkpoints/checkpoint_step_80000.pt +0 -0
  16. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/checkpoints/checkpoint_step_90000.pt +0 -0
  17. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/config.json +0 -0
  18. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/dataset_stats.npy +0 -0
  19. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/logs/events.out.tfevents.1790741008.della-k16g3.905513.0 +0 -0
  20. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_000000/mixamo-0_fk.mp4 +0 -0
  21. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_000000/mixamo-0_ric.mp4 +0 -0
  22. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_000000/mixamo-1_fk.mp4 +0 -0
  23. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_000000/mixamo-1_ric.mp4 +0 -0
  24. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_000000/mixamo-2_fk.mp4 +0 -0
  25. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_000000/mixamo-2_ric.mp4 +0 -0
  26. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_010000/mixamo-0_fk.mp4 +0 -0
  27. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_010000/mixamo-0_ric.mp4 +0 -0
  28. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_010000/mixamo-1_fk.mp4 +0 -0
  29. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_010000/mixamo-1_ric.mp4 +0 -0
  30. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_010000/mixamo-2_fk.mp4 +0 -0
  31. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_010000/mixamo-2_ric.mp4 +0 -0
  32. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_020000/mixamo-0_fk.mp4 +0 -0
  33. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_020000/mixamo-0_ric.mp4 +0 -0
  34. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_020000/mixamo-1_fk.mp4 +0 -0
  35. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_020000/mixamo-1_ric.mp4 +0 -0
  36. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_020000/mixamo-2_fk.mp4 +0 -0
  37. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_020000/mixamo-2_ric.mp4 +0 -0
  38. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_030000/mixamo-0_fk.mp4 +0 -0
  39. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_030000/mixamo-0_ric.mp4 +0 -0
  40. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_030000/mixamo-1_fk.mp4 +0 -0
  41. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_030000/mixamo-1_ric.mp4 +0 -0
  42. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_030000/mixamo-2_fk.mp4 +0 -0
  43. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_030000/mixamo-2_ric.mp4 +0 -0
  44. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_040000/mixamo-0_fk.mp4 +0 -0
  45. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_040000/mixamo-0_ric.mp4 +0 -0
  46. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_040000/mixamo-1_fk.mp4 +0 -0
  47. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_040000/mixamo-1_ric.mp4 +0 -0
  48. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_040000/mixamo-2_fk.mp4 +0 -0
  49. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_040000/mixamo-2_ric.mp4 +0 -0
  50. {unimate_mixamo_f60 β†’ unimate_mixamo_f60_v2}/samples/step_050000/mixamo-0_fk.mp4 +0 -0
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+ unimate_uniml3d_f60_v1_preview/samples/step_040000/669a816357bbceb71e7ed0e7_gltf-5_ric.mp4 filter=lfs diff=lfs merge=lfs -text
65
+ unimate_uniml3d_f60_v1_preview/samples/step_050000/669a797057bbceb71e747fa4_fbx-5_fk.mp4 filter=lfs diff=lfs merge=lfs -text
66
+ unimate_uniml3d_f60_v1_preview/samples/step_050000/669a797057bbceb71e747fa4_fbx-5_ric.mp4 filter=lfs diff=lfs merge=lfs -text
67
+ unimate_uniml3d_f60_v1_preview/samples/step_050000/669a89c157bbceb71e89b323_fbx-4_ric.mp4 filter=lfs diff=lfs merge=lfs -text
68
+ unimate_uniml3d_f60_v1_preview/samples/step_050000/Cricket-1_fk.mp4 filter=lfs diff=lfs merge=lfs -text
69
+ unimate_uniml3d_f60_v1_preview/samples/step_050000/Cricket-1_ric.mp4 filter=lfs diff=lfs merge=lfs -text
70
+ unimate_uniml3d_f60_v1_preview/samples/step_050000/mixamo-2_fk.mp4 filter=lfs diff=lfs merge=lfs -text
71
+ unimate_uniml3d_f60_v1_preview/samples/step_050000/mixamo-2_ric.mp4 filter=lfs diff=lfs merge=lfs -text
72
+ unimate_uniml3d_f60_v1_preview/samples/step_060000/669a6df657bbceb71e659a0b_fbx-4_fk.mp4 filter=lfs diff=lfs merge=lfs -text
73
+ unimate_uniml3d_f60_v1_preview/samples/step_060000/669a6df657bbceb71e659a0b_fbx-4_ric.mp4 filter=lfs diff=lfs merge=lfs -text
74
+ unimate_uniml3d_f60_v1_preview/samples/step_070000/Crab-0_fk.mp4 filter=lfs diff=lfs merge=lfs -text
75
+ unimate_uniml3d_f60_v1_preview/samples/step_070000/Crab-0_ric.mp4 filter=lfs diff=lfs merge=lfs -text
76
+ unimate_uniml3d_f60_v1_preview/samples/step_080000/BrownBear-1_fk.mp4 filter=lfs diff=lfs merge=lfs -text
77
+ unimate_uniml3d_f60_v1_preview/samples/step_080000/BrownBear-1_ric.mp4 filter=lfs diff=lfs merge=lfs -text
78
+ unimate_uniml3d_f60_v1_preview/samples/step_080000/Lynx-0_fk.mp4 filter=lfs diff=lfs merge=lfs -text
79
+ unimate_uniml3d_f60_v1_preview/samples/step_080000/Lynx-0_ric.mp4 filter=lfs diff=lfs merge=lfs -text
80
+ unimate_uniml3d_f60_v1_preview/samples/step_080000/mixamo-3_fk.mp4 filter=lfs diff=lfs merge=lfs -text
81
+ unimate_uniml3d_f60_v1_preview/samples/step_080000/mixamo-3_ric.mp4 filter=lfs diff=lfs merge=lfs -text
82
+ unimate_uniml3d_f60_v1_preview/samples/step_090000/Scorpion2-0_fk.mp4 filter=lfs diff=lfs merge=lfs -text
83
+ unimate_uniml3d_f60_v1_preview/samples/step_090000/Scorpion2-0_ric.mp4 filter=lfs diff=lfs merge=lfs -text
84
+ unimate_uniml3d_f60_v1_preview/samples/step_100000/Elephant-0_fk.mp4 filter=lfs diff=lfs merge=lfs -text
85
+ unimate_uniml3d_f60_v1_preview/samples/step_100000/Elephant-0_ric.mp4 filter=lfs diff=lfs merge=lfs -text
86
+ unimate_uniml3d_f60_v1_preview/samples/step_100000/Hound-1_fk.mp4 filter=lfs diff=lfs merge=lfs -text
87
+ unimate_uniml3d_f60_v1_preview/samples/step_100000/Hound-1_ric.mp4 filter=lfs diff=lfs merge=lfs -text
88
+ unimate_uniml3d_f60_v1_preview/samples/step_110000/669a751957bbceb71e6ed97e_fbx-4_fk.mp4 filter=lfs diff=lfs merge=lfs -text
89
+ unimate_uniml3d_f60_v1_preview/samples/step_110000/669a751957bbceb71e6ed97e_fbx-4_ric.mp4 filter=lfs diff=lfs merge=lfs -text
90
+ unimate_uniml3d_f60_v1_preview/samples/step_110000/669a876857bbceb71e86a371_fbx-5_fk.mp4 filter=lfs diff=lfs merge=lfs -text
91
+ unimate_uniml3d_f60_v1_preview/samples/step_110000/669a876857bbceb71e86a371_fbx-5_ric.mp4 filter=lfs diff=lfs merge=lfs -text
92
+ unimate_uniml3d_f60_v1_preview/samples/step_110000/Crocodile-1_fk.mp4 filter=lfs diff=lfs merge=lfs -text
93
+ unimate_uniml3d_f60_v1_preview/samples/step_110000/Crocodile-1_ric.mp4 filter=lfs diff=lfs merge=lfs -text
94
+ unimate_uniml3d_f60_v1_preview/samples/step_110000/Scorpion2-0_fk.mp4 filter=lfs diff=lfs merge=lfs -text
95
+ unimate_uniml3d_f60_v1_preview/samples/step_110000/Scorpion2-0_ric.mp4 filter=lfs diff=lfs merge=lfs -text
96
  unimate_uniml3d_f60_v2/samples/step_000000/669a67ac57bbceb71e5db0b5_fbx-5_fk.mp4 filter=lfs diff=lfs merge=lfs -text
97
  unimate_uniml3d_f60_v2/samples/step_000000/669a67ac57bbceb71e5db0b5_fbx-5_ric.mp4 filter=lfs diff=lfs merge=lfs -text
98
  unimate_uniml3d_f60_v2/samples/step_000000/7f0acec2bcf14dd1967fcc1d10ade876-4_fk.mp4 filter=lfs diff=lfs merge=lfs -text
 
225
  unimate_uniml3d_f60_v2/samples/step_100000/mixamo-3_ric.mp4 filter=lfs diff=lfs merge=lfs -text
226
  unimate_uniml3d_f60_v2/samples/step_100000/Rhino-0_fk.mp4 filter=lfs diff=lfs merge=lfs -text
227
  unimate_uniml3d_f60_v2/samples/step_100000/Rhino-0_ric.mp4 filter=lfs diff=lfs merge=lfs -text
228
+ unimate_uniml3d_f60_v2_cross_attn/samples/**/*.mp4 filter=lfs diff=lfs merge=lfs -text
229
+ unimate_mixamo_f60_v2/samples/**/*.mp4 filter=lfs diff=lfs merge=lfs -text
230
+ unimate_truebones_f60_v2/samples/**/*.mp4 filter=lfs diff=lfs merge=lfs -text
.gitignore CHANGED
@@ -6,3 +6,7 @@
6
  # Training samples: only the videos are uploaded
7
  */samples/**/*.npy
8
  */samples/tpose/
 
 
 
 
 
6
  # Training samples: only the videos are uploaded
7
  */samples/**/*.npy
8
  */samples/tpose/
9
+ # unimate_uniml3d_f60_v3_preview: training logs stay local
10
+ unimate_uniml3d_f60_v3_preview/logs/
11
+ unimate_uniml3d_f60_v3_preview/slurm_14924666.out
12
+ unimate_uniml3d_f60_v3_preview/slurm_14924666.err
README.md CHANGED
@@ -23,141 +23,125 @@ tags:
23
 
24
  ![UniMate teaser](teaser.png)
25
 
26
- Pretrained checkpoints for UniMate, a text-conditioned flow-matching model that generates motion for skeletons of arbitrary topology: animals, humanoids and rigged objects.
27
 
28
  ## Models
29
 
30
  | Model | Architecture | Training data | Joints | Steps | ParamsΒΉ | Status |
31
  |---|---|---|---|---|---|---|
32
- | [`unimate_uniml3d_f60_v2`](unimate_uniml3d_f60_v2) | graph attention, AdaLN text | UniML3D [`faaa817`](https://huggingface.co/datasets/Linzhan/UniML3D/tree/faaa81773b315247b03f183548e3898dbec2ce80) (2026-09-27) | 5–70 | 100k | 74.1M | **Recommended** |
33
- | [`unimate_uniml3d_f60_v2_full_cross_attn`](unimate_uniml3d_f60_v2_full_cross_attn) | full attention, cross-attention text | UniML3D `faaa817` (2026-09-27) | 5–70 | 100k | 66.2M | Variant |
34
- | [`unimate_uniml3d_f60_preview`](unimate_uniml3d_f60_preview) | graph attention, AdaLN text | UniML3D, pre-release build | 5–60 | 120k | 74.1M | Superseded |
35
- | [`unimate_mixamo_f60`](unimate_mixamo_f60) | graph attention, AdaLN text | UniML3D `faaa817` (2026-09-27), Mixamo only | 22 (one rig) | 120k | 47.8M | **Recommended for Mixamo humanoids** |
 
 
36
 
37
- ΒΉ Denoiser only. The frozen `google/flan-t5-base` text encoder is downloaded from the Hub on first use.
38
 
39
- Use each model's final checkpoint, `checkpoints/checkpoint_step_<steps>.pt`.
40
-
41
- **v2 versus preview.** Raising the joint limit from 60 to 70 keeps 98.1% of the training clips instead of 86.9%, and 70 of the 74 Truebones species. Datasets are balanced before object types (`sampler_dataset_alpha = 0.25`), so Truebones, Mixamo and Objaverse-XL make up about 13%, 24% and 63% of the training samples; the single Mixamo rig previously got under 1%.
42
-
43
- **Mixamo humanoids.** To test humanoid animation on the Mixamo rig, use `unimate_mixamo_f60`. It is trained on the 2,162 Mixamo clips alone, all on the one 22-joint rig, without topology augmentations. It animates that rig only; use a UniML3D model for any other skeleton.
44
 
45
  ## Model details
46
 
47
  | | |
48
  |---|---|
49
- | **Architecture** | Transformer denoiser, 10 layers (6 for `unimate_mixamo_f60`), width 512, 8 heads; flow matching with a linear path and velocity prediction |
50
- | **Inputs** | English motion description; the target skeleton's T-pose, joint hierarchy and joint names |
51
- | **Output** | 60 frames at 30 fps, 12 features per joint: 3-D position, 6-D rotation relative to the T-pose, 3-D velocity. The root joint encodes height, facing and planar velocity instead |
52
- | **Text encoder** | `google/flan-t5-base`, frozen |
53
- | **Guidance** | Classifier-free guidance on the caption: 10% caption dropout in training, default scale 3.0 |
54
 
55
  ## Quick start
56
 
57
- Run every command from the root of the [code repository](https://github.com/Friedrich-M/UniMate), with its `unimate` environment installed.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
58
 
59
- **1. Build the dataset features.** The sampler reads each target skeleton from `dataset/features/<dataset>/`. The Hub dataset ships the stage 1-3 export but not these stage-4 features, so build them from the revision the model was trained on:
60
 
61
  ```bash
62
- hf download Linzhan/UniML3D --repo-type dataset \
63
- --revision faaa81773b315247b03f183548e3898dbec2ce80 --local-dir dataset
64
- bash data_process/scripts/run_extract_features.sh truebones # likewise mixamo, objaverse
65
  ```
66
 
67
- `unimate_mixamo_f60` needs only the `mixamo` features.
68
 
69
- The Truebones motions come from a commercial pack and are not on the Hub; the dataset card explains how to rebuild them.
70
 
71
- **2. Download a model.** This fetches the configuration, normalization statistics and final checkpoint of the recommended model:
72
 
73
- ```bash
74
- hf download Linzhan/UniMate \
75
- --include "unimate_uniml3d_f60_v2/*.json" "unimate_uniml3d_f60_v2/*.npy" \
76
- "unimate_uniml3d_f60_v2/checkpoints/checkpoint_step_100000.pt" \
77
- --local-dir outputs
78
- ```
 
 
79
 
80
- To test Mixamo humanoid animation, fetch `unimate_mixamo_f60` instead:
81
 
82
  ```bash
83
- hf download Linzhan/UniMate \
84
- --include "unimate_mixamo_f60/*.json" "unimate_mixamo_f60/*.npy" \
85
- "unimate_mixamo_f60/checkpoints/checkpoint_step_120000.pt" \
86
- --local-dir outputs
87
  ```
88
 
89
- **3. Generate motion from text.** Write the prompts to `test_cases.json` with keys `<object_type>-<case_id>`. `object_type` is a skeleton in `dataset/features/`: a Truebones species, `mixamo`, or an Objaverse-XL object ID. `case_id` is a free-form tag that names the output files. With `unimate_mixamo_f60`, every key is `mixamo-<case_id>` and `--exp_dir` is `outputs/unimate_mixamo_f60`.
90
 
91
- ```json
92
- {
93
- "Horse-0": "An object rears up on its hind legs.",
94
- "mixamo-0": "An object jumps in place with both arms raised.",
95
- "144367de23534c28ad2e83fc8abbd9ea-0": "An object flaps its wings."
96
- }
97
  ```
98
-
99
- ```bash
100
- python -m unimate.inference.sample \
101
- --exp_dir outputs/unimate_uniml3d_f60_v2 \
102
- --test_cases_json test_cases.json \
103
- --num_repetitions 3
 
104
  ```
105
 
106
- The sampler loads the EMA weights of the latest checkpoint in `checkpoints/`. It writes the motions (`.npy`, shape `(60, J, 12)` for a skeleton with `J` joints) and skeleton renders (`.mp4`) to `outputs/unimate_uniml3d_f60_v2/samples/`. In-betweening, joint-level editing, motion expansion and driving a rigged mesh are documented in the code README.
107
 
108
- ## Training
109
-
110
- | | |
111
- |---|---|
112
- | **Optimizer** | AdamW, learning rate 1e-4, betas (0.9, 0.99), weight decay 1e-5, gradient clipping at 1.0 |
113
- | **Schedule** | Linear warmup over the first 3% of steps, then cosine decay to 5% of the peak rate |
114
- | **Loss** | Masked L2 flow-matching loss + 0.5 Γ— geodesic rotation loss + 0.1 Γ— velocity smoothness loss |
115
- | **EMA** | Decay 0.9999; used at inference |
116
- | **Batch size** | 16 per GPU (32 for `unimate_mixamo_f60`) |
117
- | **Data** | 60-frame windows at 30 fps; joint addition, joint removal, pooling and perturbation augmentations (off for `unimate_mixamo_f60`) |
118
 
119
- | Model | Config (code repository) | GPUs | Training time |
120
- |---|---|---|---|
121
- | `unimate_uniml3d_f60_v2` | `configs/uniml3d_60frames_graph_adaln_v2.json` | 8Γ— H100 | about 22 hours |
122
- | `unimate_uniml3d_f60_v2_full_cross_attn` | `configs/uniml3d_60frames_full_cross_attn_v2.json` | 8Γ— H100 | about 36 hoursΒ² |
123
- | `unimate_uniml3d_f60_preview` | `configs/uniml3d_60frames_graph_adaln.json` | 6Γ— H100 | about 23 hours |
124
- | `unimate_mixamo_f60` | `configs/mixamo_60frames_graph_adaln.json` | 4Γ— H100 | about 12 hours |
125
 
126
- Β² Resumed once from the step-60k checkpoint.
127
 
128
- Resume from a released checkpoint, or train from scratch:
 
 
129
 
130
- ```bash
131
- bash scripts/run_train.sh configs/uniml3d_60frames_graph_adaln_v2.json -- \
132
- --resume outputs/unimate_uniml3d_f60_v2/checkpoints/checkpoint_step_100000.pt
133
 
134
- accelerate launch --num_processes 8 -m unimate.training.train \
135
- --config configs/uniml3d_60frames_graph_adaln_v2.json
136
- ```
137
 
138
- ## Repository layout
139
 
140
- ```
141
- config.json index of the released models
142
- LICENSE
143
- <model>/
144
- config.json resolved training configuration; read by inference
145
- dataset_stats.npy feature normalization statistics
146
- checkpoints/
147
- checkpoint_step_<N>.pt model and EMA weights, optimizer and scheduler state; every 10k steps
148
- logs/ TensorBoard curves, one event file per training job
149
- samples/
150
- step_<NNNNNN>/ motions generated during training (step_000000: before training)
151
- <object_type>-<i>_fk.mp4 joints from forward kinematics of the predicted rotations
152
- <object_type>-<i>_ric.mp4 predicted joint positions
153
- ```
154
 
155
- ## Limitations
 
 
156
 
157
- - **Clip length:** a sample is a fixed 60-frame window (2 seconds). Longer motion requires chaining samples with the expansion application.
158
- - **Joint count:** the v2 models are trained on skeletons with at most 70 joints, which excludes four Truebones species (Bear, Centipede, Monkey, Dragon); the preview model's limit is 60. Skeletons with more than 71 joints (61 for the preview model) cannot be sampled. `unimate_mixamo_f60` has seen only the 22-joint Mixamo rig and cannot sample a larger skeleton.
159
- - **New skeletons:** there is no skeleton-only input. A new rig must be converted into a feature directory with `data_process/scripts/run_preprocess_char.sh`, and needs at least one animation clip.
160
- - **Text:** every training caption has the subject "An object"; the skeleton determines the character. Prompts should describe the motion only.
161
 
162
  ## Citation
163
 
@@ -169,20 +153,3 @@ LICENSE
169
  year = {2026}
170
  }
171
  ```
172
-
173
- ## License
174
-
175
- The checkpoints are released under the [Creative Commons Attribution-NonCommercial 4.0 International License](LICENSE) (CC BY-NC 4.0). The UniMate [code](https://github.com/Friedrich-M/UniMate) remains under the MIT License.
176
-
177
- This license covers only our own rights in the weights. It grants no rights in the training data, which remain under their source terms:
178
-
179
- | Model | Training data | Terms |
180
- |---|---|---|
181
- | `unimate_uniml3d_f60_v2`, `unimate_uniml3d_f60_v2_full_cross_attn`, `unimate_uniml3d_f60_preview` | Truebones ZOO, Mixamo, Objaverse-XL | all three below |
182
- | `unimate_mixamo_f60` | Mixamo only | Adobe Mixamo |
183
-
184
- - **Truebones ZOO:** a commercial asset pack sold by [Truebones](https://truebones.com). Third parties have alleged that some of its animal assets come from commercial games (among them Resident Evil, Skyrim, Bless Online and Conan Exiles). We have not verified these claims. Until they are resolved, treat the provenance of the Truebones-trained models as unclear.
185
- - **Mixamo:** Adobe's Mixamo terms of use.
186
- - **Objaverse-XL:** the license attached to each source object. Some of these licenses are non-commercial.
187
-
188
- The authors make no warranty that the checkpoints, or the motions generated with them, are free of third-party rights. If you hold rights in any of the training data and have a concern, please open a discussion on this repository or contact the authors.
 
23
 
24
  ![UniMate teaser](teaser.png)
25
 
26
+ Pretrained checkpoints of UniMate, a text-conditioned flow-matching model that generates motion for skeletons of any topology: animals, humanoids and rigged objects.
27
 
28
  ## Models
29
 
30
  | Model | Architecture | Training data | Joints | Steps | ParamsΒΉ | Status |
31
  |---|---|---|---|---|---|---|
32
+ | [`unimate_uniml3d_f60_v3_preview`](unimate_uniml3d_f60_v3_preview) | graph attention, AdaLN text | UniML3D [`d0f19d9`](https://huggingface.co/datasets/Linzhan/UniML3D/tree/d0f19d943038fb782a26c2a615bd9b3d4f3a8728) | 5–70 | 100k | 74.1M | **Recommended** |
33
+ | [`unimate_uniml3d_f60_v2`](unimate_uniml3d_f60_v2) | graph attention, AdaLN text | UniML3D [`faaa817`](https://huggingface.co/datasets/Linzhan/UniML3D/tree/faaa81773b315247b03f183548e3898dbec2ce80) | 5–70 | 100k | 74.1M | Previous version |
34
+ | [`unimate_uniml3d_f60_v2_cross_attn`](unimate_uniml3d_f60_v2_cross_attn) | full attention, cross-attention text | UniML3D `faaa817` | 5–70 | 100k | 66.2M | Variant |
35
+ | [`unimate_mixamo_f60_v2`](unimate_mixamo_f60_v2) | graph attention, AdaLN text | UniML3D `faaa817`, Mixamo | 22 (one rig) | 120k | 47.8M | **Recommended for Mixamo** |
36
+ | [`unimate_truebones_f60_v2`](unimate_truebones_f60_v2) | graph attention, AdaLN text | UniML3D `faaa817`, Truebones | 5–100 | 80k | 47.8M | **Recommended for Truebones** |
37
+ | [`unimate_uniml3d_f60_v1_preview`](unimate_uniml3d_f60_v1_preview) | graph attention, AdaLN text | UniML3D pre-release build | 5–60 | 120k | 74.1M | Superseded |
38
 
39
+ ΒΉ Denoiser only; the frozen `google/flan-t5-base` text encoder is downloaded on first use.
40
 
41
+ The Mixamo model animates the 22-joint Mixamo rig only. The Truebones model covers 73 of the 74 species (all but Dragon), including Bear, Centipede and Monkey, which exceed the UniML3D models' limit. Use each model's latest checkpoint.
 
 
 
 
42
 
43
  ## Model details
44
 
45
  | | |
46
  |---|---|
47
+ | **Architecture** | Transformer denoiser, width 512, 8 heads, 10 layers (6 for the Mixamo and Truebones models); flow matching, linear path, velocity prediction |
48
+ | **Inputs** | English motion description; the skeleton's T-pose, hierarchy and cleaned joint labels |
49
+ | **Output** | 60 frames at 30 fps; per joint: position (3), rotation relative to the T-pose (6), velocity (3) |
50
+ | **Text** | Frozen `google/flan-t5-base`; classifier-free guidance (10% caption dropout, default scale 3.0) |
 
51
 
52
  ## Quick start
53
 
54
+ From the root of the [code repository](https://github.com/Friedrich-M/UniMate), in its `unimate` environment:
55
+
56
+ ```bash
57
+ # 1. download a model (for another model, change the folder and the step)
58
+ hf download Linzhan/UniMate --local-dir outputs \
59
+ --include "unimate_uniml3d_f60_v3_preview/*.json" --include "unimate_uniml3d_f60_v3_preview/*.npy" \
60
+ --include "unimate_uniml3d_f60_v3_preview/checkpoints/checkpoint_step_100000.pt"
61
+
62
+ # 2. prepare a rigged GLB / glTF / FBX, animated or not: label its joints, check REVIEW.md, then build
63
+ python -m data_process.rig_preprocess run --input robot.glb --output_dir outputs/rig/robot
64
+ python -m data_process.rig_preprocess run --input robot.glb --output_dir outputs/rig/robot \
65
+ --annotation outputs/rig/robot/annotation.json
66
+
67
+ # 3. generate: every prompt on every asset (dataset skeletons by name, e.g. truebones:Horse)
68
+ python -m unimate.inference.sample --exp_dir outputs/unimate_uniml3d_f60_v3_preview \
69
+ --asset outputs/rig/robot truebones:Horse --prompt "An object walks forward." --num_repetitions 3
70
+
71
+ # 4. drive each asset's mesh with its motions (one GLB / FBX per motion)
72
+ bash scripts/run_animate_motion.sh outputs/unimate_uniml3d_f60_v3_preview/samples
73
+ ```
74
 
75
+ A dataset skeleton needs only its source's conditioning, plus canonical meshes to drive:
76
 
77
  ```bash
78
+ hf download Linzhan/UniML3D --repo-type dataset --local-dir dataset --include "features/*/cond.npy" --include "canonical_assets/mixamo/*"
 
 
79
  ```
80
 
81
+ Test-case files, in-betweening, joint editing and motion expansion are documented in the code README.
82
 
83
+ ## Training
84
 
85
+ AdamW (lr 1e-4, betas 0.9 / 0.99, weight decay 1e-5, clipping 1.0), 3% linear warmup then cosine decay to 5%, EMA 0.9999 (used at inference). Loss: masked L2 flow matching + 0.5 Γ— geodesic rotation + 0.1 Γ— velocity smoothness. 60-frame windows at 30 fps, batch 16 per GPU, with joint addition / removal, pooling and perturbation augmentations (Mixamo model: batch 32, no augmentation).
86
 
87
+ | Model | GPUs | Time |
88
+ |---|---|---|
89
+ | `unimate_uniml3d_f60_v3_preview` | 8Γ— H100 | β‰ˆ 23 h |
90
+ | `unimate_uniml3d_f60_v2` | 8Γ— H100 | β‰ˆ 22 h |
91
+ | `unimate_uniml3d_f60_v2_cross_attn` | 8Γ— H100 | β‰ˆ 36 h |
92
+ | `unimate_mixamo_f60_v2` | 4Γ— H100 | β‰ˆ 12 h |
93
+ | `unimate_truebones_f60_v2` | 4Γ— H100 | β‰ˆ 15 h |
94
+ | `unimate_uniml3d_f60_v1_preview` | 6Γ— H100 | β‰ˆ 23 h |
95
 
96
+ Each model's `config.json` is its full training configuration. The code repository's `configs/uniml3d_60frames_graph_adaln.json` follows the v3_preview recipe, and `configs/{mixamo,truebones}_60frames_graph_adaln.json` those of the Mixamo and Truebones models:
97
 
98
  ```bash
99
+ accelerate launch --num_processes 8 -m unimate.training.train --config configs/uniml3d_60frames_graph_adaln.json
 
 
 
100
  ```
101
 
102
+ ## Repository layout
103
 
 
 
 
 
 
 
104
  ```
105
+ config.json index of the models
106
+ <model>/
107
+ config.json model and data configuration, read by inference
108
+ dataset_stats.npy normalization statistics
109
+ checkpoints/ checkpoint_step_<N>.pt every 10k steps (model, EMA, optimizer, scheduler)
110
+ logs/ TensorBoard event files
111
+ samples/step_<NNNNNN>/ skeleton renders of motions sampled during training
112
  ```
113
 
114
+ `unimate_uniml3d_f60_v3_preview` holds its latest three checkpoints, without logs or samples.
115
 
116
+ ## Versions
 
 
 
 
 
 
 
 
 
117
 
118
+ - **v3_preview** (2026-10-05), over v2: newer data (UniML3D `d0f19d9`: re-reviewed annotations; 480 Objaverse-XL rigs authored lying down or upside down stood upright instead of filtered); three captions per clip (generic 35%, detailed 25%, normal 40%); fixed per-dataset sampling weights; one normalization pool for all datasets; logit-normal flow time.
119
+ - **v2** (2026-09-28), over v1_preview: UniML3D `faaa817`; joint limit 70 instead of 60 (98.1% of the clips instead of 86.9%); datasets balanced before object types (Mixamo from under 1% to about 24% of the samples); 100k steps. Includes the cross-attention variant and the Mixamo and Truebones models.
120
+ - **v1_preview** (2026-09-27): first release, on a pre-release build of UniML3D.
 
 
 
121
 
122
+ ## Limitations
123
 
124
+ - **Contact.** No unified contact model: contact-rich motions can slide, drift, hover or penetrate the ground; foot locking or IK post-processing helps where contacts are well defined.
125
+ - **Rare topologies and motions.** The data is long-tailed toward humanoids and common locomotion; rare skeletons and unusual motions can come out static, jittery or off-prompt.
126
+ - **Format.** Fixed 60-frame (2 s) samples (longer motion via expansion); a skeleton must fit the model's joint limit; prompts should describe the motion only, as every training caption starts with "An object".
127
 
128
+ See the [paper](https://arxiv.org/abs/2609.05415) (Section 6, Appendix F) for details.
 
 
129
 
130
+ ## License
 
 
131
 
132
+ Checkpoints: [CC BY-NC 4.0](LICENSE). Code: MIT. This covers only our rights in the weights; the training data keep their source terms:
133
 
134
+ | Model | Training data |
135
+ |---|---|
136
+ | `unimate_uniml3d_f60_v3_preview`, `_v2`, `_v2_cross_attn`, `_v1_preview` | Truebones ZOO, Mixamo, Objaverse-XL |
137
+ | `unimate_mixamo_f60_v2` | Mixamo |
138
+ | `unimate_truebones_f60_v2` | Truebones ZOO |
 
 
 
 
 
 
 
 
 
139
 
140
+ - **Truebones ZOO**: a commercial asset pack by [Truebones](https://truebones.com). Third parties allege that some of its animal assets come from commercial games (among them Resident Evil, Skyrim, Bless Online and Conan Exiles). We have not verified these claims; until they are resolved, treat the provenance of the Truebones-trained models as unclear.
141
+ - **Mixamo**: Adobe's Mixamo terms of use.
142
+ - **Objaverse-XL**: the license of each source object; some are non-commercial.
143
 
144
+ We make no warranty that the checkpoints, or motions generated with them, are free of third-party rights. Rights holders with a concern can open a discussion on this repository or contact the authors.
 
 
 
145
 
146
  ## Citation
147
 
 
153
  year = {2026}
154
  }
155
  ```
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
config.json CHANGED
@@ -3,9 +3,9 @@
3
  "code": "https://github.com/Friedrich-M/UniMate",
4
  "paper": "https://arxiv.org/abs/2609.05415",
5
  "models": {
6
- "unimate_uniml3d_f60_v2": {
7
  "dataset": "Linzhan/UniML3D",
8
- "train_config": "configs/uniml3d_60frames_graph_adaln_v2.json",
9
  "attention": "graph",
10
  "text_cond": "adaln",
11
  "num_layers": 10,
@@ -15,11 +15,25 @@
15
  "steps": 100000,
16
  "recommended_checkpoint": "checkpoints/checkpoint_step_100000.pt",
17
  "status": "recommended",
 
 
 
 
 
 
 
 
 
 
 
 
 
 
18
  "dataset_revision": "faaa81773b315247b03f183548e3898dbec2ce80"
19
  },
20
- "unimate_uniml3d_f60_v2_full_cross_attn": {
21
  "dataset": "Linzhan/UniML3D",
22
- "train_config": "configs/uniml3d_60frames_full_cross_attn_v2.json",
23
  "attention": "full",
24
  "text_cond": "cross_attn",
25
  "num_layers": 10,
@@ -31,32 +45,46 @@
31
  "status": "variant",
32
  "dataset_revision": "faaa81773b315247b03f183548e3898dbec2ce80"
33
  },
34
- "unimate_uniml3d_f60_preview": {
35
  "dataset": "Linzhan/UniML3D",
36
- "train_config": "configs/uniml3d_60frames_graph_adaln.json",
37
  "attention": "graph",
38
  "text_cond": "adaln",
39
- "num_layers": 10,
40
  "latent_dim": 512,
41
  "num_frames": 60,
42
  "fps": 30,
43
  "steps": 120000,
44
  "recommended_checkpoint": "checkpoints/checkpoint_step_120000.pt",
45
- "status": "superseded"
 
46
  },
47
- "unimate_mixamo_f60": {
48
  "dataset": "Linzhan/UniML3D",
49
- "train_config": "configs/mixamo_60frames_graph_adaln.json",
50
  "attention": "graph",
51
  "text_cond": "adaln",
52
  "num_layers": 6,
53
  "latent_dim": 512,
54
  "num_frames": 60,
55
  "fps": 30,
 
 
 
 
 
 
 
 
 
 
 
 
 
 
56
  "steps": 120000,
57
  "recommended_checkpoint": "checkpoints/checkpoint_step_120000.pt",
58
- "status": "recommended_for_mixamo",
59
- "dataset_revision": "faaa81773b315247b03f183548e3898dbec2ce80"
60
  }
61
  }
62
  }
 
3
  "code": "https://github.com/Friedrich-M/UniMate",
4
  "paper": "https://arxiv.org/abs/2609.05415",
5
  "models": {
6
+ "unimate_uniml3d_f60_v3_preview": {
7
  "dataset": "Linzhan/UniML3D",
8
+ "train_config": "configs/uniml3d_60frames_graph_adaln.json",
9
  "attention": "graph",
10
  "text_cond": "adaln",
11
  "num_layers": 10,
 
15
  "steps": 100000,
16
  "recommended_checkpoint": "checkpoints/checkpoint_step_100000.pt",
17
  "status": "recommended",
18
+ "dataset_revision": "d0f19d943038fb782a26c2a615bd9b3d4f3a8728"
19
+ },
20
+ "unimate_uniml3d_f60_v2": {
21
+ "dataset": "Linzhan/UniML3D",
22
+ "train_config": "unimate_uniml3d_f60_v2/config.json",
23
+ "attention": "graph",
24
+ "text_cond": "adaln",
25
+ "num_layers": 10,
26
+ "latent_dim": 512,
27
+ "num_frames": 60,
28
+ "fps": 30,
29
+ "steps": 100000,
30
+ "recommended_checkpoint": "checkpoints/checkpoint_step_100000.pt",
31
+ "status": "previous",
32
  "dataset_revision": "faaa81773b315247b03f183548e3898dbec2ce80"
33
  },
34
+ "unimate_uniml3d_f60_v2_cross_attn": {
35
  "dataset": "Linzhan/UniML3D",
36
+ "train_config": "unimate_uniml3d_f60_v2_cross_attn/config.json",
37
  "attention": "full",
38
  "text_cond": "cross_attn",
39
  "num_layers": 10,
 
45
  "status": "variant",
46
  "dataset_revision": "faaa81773b315247b03f183548e3898dbec2ce80"
47
  },
48
+ "unimate_mixamo_f60_v2": {
49
  "dataset": "Linzhan/UniML3D",
50
+ "train_config": "configs/mixamo_60frames_graph_adaln.json",
51
  "attention": "graph",
52
  "text_cond": "adaln",
53
+ "num_layers": 6,
54
  "latent_dim": 512,
55
  "num_frames": 60,
56
  "fps": 30,
57
  "steps": 120000,
58
  "recommended_checkpoint": "checkpoints/checkpoint_step_120000.pt",
59
+ "status": "recommended_for_mixamo",
60
+ "dataset_revision": "faaa81773b315247b03f183548e3898dbec2ce80"
61
  },
62
+ "unimate_truebones_f60_v2": {
63
  "dataset": "Linzhan/UniML3D",
64
+ "train_config": "configs/truebones_60frames_graph_adaln.json",
65
  "attention": "graph",
66
  "text_cond": "adaln",
67
  "num_layers": 6,
68
  "latent_dim": 512,
69
  "num_frames": 60,
70
  "fps": 30,
71
+ "steps": 80000,
72
+ "recommended_checkpoint": "checkpoints/checkpoint_step_80000.pt",
73
+ "status": "recommended_for_truebones",
74
+ "dataset_revision": "faaa81773b315247b03f183548e3898dbec2ce80"
75
+ },
76
+ "unimate_uniml3d_f60_v1_preview": {
77
+ "dataset": "Linzhan/UniML3D",
78
+ "train_config": "unimate_uniml3d_f60_v1_preview/config.json",
79
+ "attention": "graph",
80
+ "text_cond": "adaln",
81
+ "num_layers": 10,
82
+ "latent_dim": 512,
83
+ "num_frames": 60,
84
+ "fps": 30,
85
  "steps": 120000,
86
  "recommended_checkpoint": "checkpoints/checkpoint_step_120000.pt",
87
+ "status": "superseded"
 
88
  }
89
  }
90
  }
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