Skate-BFM Motion Library

This model repository stores Skate-BFM training checkpoints. The corresponding HUSKY raw, Phase, and Continuous data is published at Yak9Ce3teeh/skate-sim-dataset.

Models

`m2.6-phase-100k-seed4728`

Initialization: official BFM0 checkpoint
Expert mixture: 50% Base/LAFAN and 50% Phase Skate expert sequences
Online transitions: 100,000
Native updates: 9,900
Seed: 4728
Model SHA256: 04c51a9bc9387be8120485d2ee3670c7fcb143d904b5863ec098b32ec4942454

motion_library/m2.6-phase-100k-seed4728/
├── checkpoint_100000/
├── evaluation/
└── training_summary.json

The checkpoint includes model weights, optimizer state, replay buffer, and configuration so it can be inspected or used for continuation work.

Download

Run from the Skate-BFM repository root:

hf download Yak9Ce3teeh/skate-bfm \
  --include "motion_library/m2.6-phase-100k-seed4728/**" \
  --local-dir model

Evaluate

python train/scripts/evaluator.py \
  --checkpoint model/motion_library/m2.6-phase-100k-seed4728/checkpoint_100000 \
  --dataset phase \
  --episodes 4 \
  --horizon 1024 \
  --viewer

Limitations

This checkpoint is a diagnostic training artifact, not a validated Skate policy. It reloads correctly and has finite weights, but matched frozen evaluation produced early falls and was less stable than official BFM0.

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