{"id":21640200,"url":"https://github.com/foruck/imdy","last_synced_at":"2026-02-16T10:40:46.027Z","repository":{"id":259349480,"uuid":"877115850","full_name":"Foruck/ImDy","owner":"Foruck","description":"ImDy: Human Inverse Dynamics from Imitated Observations (ICLR 2025)","archived":false,"fork":false,"pushed_at":"2025-07-04T06:10:15.000Z","size":36583,"stargazers_count":16,"open_issues_count":2,"forks_count":2,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-10-06T16:50:01.314Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Foruck.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2024-10-23T05:44:57.000Z","updated_at":"2025-08-05T11:12:43.000Z","dependencies_parsed_at":"2024-10-24T18:29:06.870Z","dependency_job_id":"ddfc4f17-9d07-43cb-830e-f0f0c248917d","html_url":"https://github.com/Foruck/ImDy","commit_stats":null,"previous_names":["foruck/imdy"],"tags_count":0,"template":false,"template_full_name":"eliahuhorwitz/Academic-project-page-template","purl":"pkg:github/Foruck/ImDy","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Foruck%2FImDy","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Foruck%2FImDy/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Foruck%2FImDy/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Foruck%2FImDy/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Foruck","download_url":"https://codeload.github.com/Foruck/ImDy/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Foruck%2FImDy/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29506264,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-16T09:05:14.864Z","status":"ssl_error","status_checked_at":"2026-02-16T08:55:59.364Z","response_time":115,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-25T04:16:31.645Z","updated_at":"2026-02-16T10:40:45.884Z","avatar_url":"https://github.com/Foruck.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# [ImDy: Human Inverse Dynamics from Imitated Observations](https://foruck.github.io/ImDy/) (ICLR 2025) \n\nThe code release is in progress.\n\n## Environment Setup\n\nCreate a conda environment from `environment.yml`: `conda env create -f environment.yml`\n\n## Data Acquisition\n\n1. For data access, please visit [our Hugging Face repository](https://huggingface.co/datasets/XinpengLiu/ImDy).\n\nThe file structure should be \n\n```\n- utils\n- data\n |- raw_test\n   |- grf.pkl\n   |- pos.pkl\n   |- rot.pkl\n   |- torque.pkl\n   |- weight.pkl\n |- raw_train\n   |- ...\n |- nimble_test\n   |- figure\n     |- walking\n   |- walking.pkl\n- osim\n |- Geometry\n   |- .....\n |- Rajagopal2015_passiveCal_hipAbdMoved_noArms.osim\n |- vtp_to_ply.py\n\n- models\n |- containing SMPL models from https://smpl.is.tue.mpg.de\n |- containing Rajagopal2015 model without arm from https://addbiomechanics.org/download_data.html\n- convert.py\n- adb_motion_visualize.py\n- main.py\n- main_freeze.py\n- dataset.py\n- engine.py\n```\n\n2. Run ``python convert.py; python generate_cand.py`` to convert the raw data into a different format with per-sample pickle files including axis-angle format SMPL parameters, joints, and markers. \nThe torques stored are acquired by summing two consecutive torques in the simulation. \n\n\n## Checkpoint\n\nYou could download the checkpoints [here](https://drive.google.com/drive/folders/1kDr_UpdpE19efO99sp-oCInreX7o1CqY?usp=sharing). \n\n\n## Train\n\n1. Run ``python main.py config_path=config/IDFD_mkr.yml USE_WANDB=True Timestamp=False`` to pre-train the ImDy model. In ``IDFD_mkr.yml``, you should modify the data path.\n```\n    joint_tor: true\n    dpath: # your data path to imdy_train #\n    cls_aug: false\n......\n\n    joint_tor: true\n    dpath: # your data path to imdy_test #\n    cls_aug: false\n```\n\n2. Run ``python main_freeze.py config_path=config/adb_mkr.yml USE_WANDB=True Timestamp=False`` to train the Addbiomechanics model. \n\n## Visualization\n![imdys](./static/images/imdys.PNG)\n\nRun ``python adb_motion_visualize.py`` to visualize the motion from Addbiomechanics Dataset frame by frame.\nIn line 64, you could change the angles of camera to better visualize the motion.\n```\nscene.set_camera(angles=(-pi/8,pi/2+pi/4,0),distance=2.5) \n```\n![nimble example](./data/nimble_test/figure/walking/walking.gif)\n\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fforuck%2Fimdy","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fforuck%2Fimdy","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fforuck%2Fimdy/lists"}