PredActor Artifacts
Official evaluation artifacts for PredActor, a predictive action diffusion controller for steerable Unitree G1 locomotion.
This repository contains only the two learned artifacts required by the public MuJoCo evaluation path. Source code and robot assets live in the PredActor code repository; datasets, experiment outputs, deployment bundles, and additional checkpoints are not included here.
Repository layout
PredActor_Artifacts/
├── README.md
├── SHA256SUMS
├── checkpoints/
│ ├── predactor/
│ │ └── pdp051/
│ │ └── latest.ckpt
│ └── motionclip/
│ └── g1-model-xyz-clip/
│ └── checkpoint_0100.pth.tar
└── dataset/
└── README.md
dataset/ is reserved for future public datasets and currently contains no
dataset payloads.
| Artifact | Size | SHA-256 |
|---|---|---|
| PredActor PDP051 policy | 49,212,894 bytes | 2d963b32786f2989c6472726df9fcfe6b385590127e12e1f549a4b7d77488b2e |
| G1 MotionCLIP encoder | 542,749,069 bytes | 66a127df4958b346089b2020f2705c7456d9db0ee8b4bd9518608b708b35fc3c |
SHA256SUMS provides the same identities in a format accepted by
sha256sum --check.
Download
From a clone of the PredActor code repository:
python -m pip install huggingface_hub pyyaml
python scripts/hf_artifacts.py download
The default destination is a sibling PredActor_Artifacts/ directory, keeping
learned weights outside the Git checkout. To choose another location:
python scripts/hf_artifacts.py --local-root /absolute/artifact/path download
The downloader verifies byte size and SHA-256 before reporting success.
Evaluation
Pass the downloaded paths to PredActor/predactor_eval.py together with the
hashes above. The evaluator intentionally refuses learned weights stored inside
the source checkout.
Scope and terms
These checkpoints are provided for research evaluation. The repository uses
license: other because the artifacts and their transitive components do not
share one standalone license grant. Users are responsible for complying with
the terms of the PredActor source, MotionCLIP/OpenAI CLIP dependencies, Unitree
assets, and any applicable third-party software.