UFO FB-CPR-Aux 192M

Author project · Checkpoint · Provenance

Install and run

git clone --recurse-submodules https://github.com/MotionChallenge-Project/MotionChallenge-ufo.git
cd MotionChallenge-ufo
uv sync
uv run evaluate.py

One complete rollout produces success, completion and six MPBPE values in a verified result.json. MuJoCo 3.17 CPU batch; --jobs sets parallelism. Missing data and both author weights are downloaded and SHA256-checked. Results and traces stay outside Git.

Use cached artifacts with --weights PATH --artifact encoder=PATH --data PATH --offline. The root MotionChallenge-Core submodule owns data, physics, scoring and verification.

Inference validation · Native parity report

Observations

Ideal proprioception, without robot world-position or contact feedback. Checkpoint requirements · Rules.

License

Original adapter code: Apache-2.0. Upstream notices and licenses. Checkpoint terms remain separate.