fix(anim): text-to-motion v8.0 — template-taught model, correct facing, knee fix (#837) - #963

Merged

fernandotonon merged 35 commits into

feat/t2m-v62-exclude-nonhuman

Aug 29, 2026

Commits on Aug 24, 2026

feat(anim): exclude non-human gaits from t2m training + posture eval tool (#837)

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e894889
fix(anim): t2m training throughput collapse from per-batch MPS sync (#837)

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a02c145
feat(anim): --balance-power to stop inverse-frequency sampling starving walk (#837)

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0bee3b7
feat(anim): torsoUp + ankleSpread posture metrics for t2m eval (#837)

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405a5b8
feat(anim): contralateral gait-phase loss for t2m orientation correctness (#837)

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877fd3a

Commits on Aug 25, 2026

fix(anim): canonical chirality was inverted — t2m locomotion ran backwards (#837)

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d11f17d
fix(anim): mirror aug manufactured a backward-locomotion mode (#837)

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f02d30e
feat(anim): travel-direction loss — clean data alone did not fix backwards gait (#837)

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273795c

Commits on Aug 26, 2026

fix(anim): revert the bogus chirality "fix" — it inverted a correct table (#837)

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6b57add
feat(anim): amplitude ceiling — the phase/travel hinges over-drove the gait (#837)

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de5fe22
fix(anim): jitter penalty — the model emitted noise, not motion (#837)

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2b579e0
fix(anim): make the speed guard a two-sided BAND, not a ceiling (#837)

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84609de
fix(anim): amplitude term was one-sided and its ceiling was below the data (#837)

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b09507f
fix(anim): the data gates encoded WALK assumptions and starved run/march (#837)

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96e45f4
fix(anim): make the speed band action-aware, calibrated from measured p95 (#837)

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55d812a
feat(anim): periodicity gate — the model had no gait CYCLE (#837)

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8157d75
fix(anim): explicit periodicity loss + close the augmentation gate leak (#837)

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111a371
fix(anim): locomotion was only 7% of batches, so the gait losses never bit (#837)

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1cae719

Commits on Aug 27, 2026

fix(anim): gait periodicity measured wobble, not stride; normalise it (#837)

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96885d4
feat(anim): score t2m by DISTANCE TO REAL CLIPS instead of hand-made metrics (#837)

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5e4c32b
feat(anim): gate training windows by DISTANCE TO REAL CLIPS (#837)

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4a4d92e
fix(anim): let the t2m vocab declare yaw180; the geometry heuristic cannot (#837)

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7443cc0
feat(anim): train the t2m model on the TEMPLATE clips, which face correctly (#837)

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fe201c3

Commits on Aug 28, 2026

Commits on Aug 29, 2026