TeleEmbodied/koda-assets

KODA Assets

Raw iPhone recordings and a fine-tuned ScaleBFM checkpoint for the KODA pipeline. The original example remains available, and a second recording is now included.

Recording	Download	File size
session_20260926_005030_iphone14_3	MCAP	150,478,283 bytes
session_20260926_004945_iphone14_3	MCAP	127,547,978 bytes

Each recording is distributed as its original MCAP file. The new 004945 recording contains 367 RGB frames, 367 depth frames, camera poses and calibration, IMU data, and mapping streams over approximately 12.29 seconds.

Download the new example

With the Hugging Face CLI installed:

hf download TeleEmbodied/koda-assets \
  --repo-type dataset \
  --include "samples/session_20260926_004945_iphone14_3/*" \
  --local-dir data/koda-assets

The input file will be:

data/koda-assets/samples/session_20260926_004945_iphone14_3/session_data_20260926_004945_iphone14_3.mcap

Follow the KODA installation and pipeline instructions and select this MCAP as the input recording. File sizes and SHA-256 checksums are listed in metadata.json. Its existing example entry continues to identify the original sample; the examples list describes both recordings.

Fine-tuned ScaleBFM checkpoint

model_24600.pt is the fine-tuned ScaleBFM checkpoint used for KODA's G1 torso/UMI3 tracking experiments. See ScaleBFM for the upstream model.

File	Size	SHA-256
models/scalebfm/model_24600.pt	72,856,655 bytes	2d40b7326c3435c9aaf01f46e1507f747e7a7371bfa504201aaea12c539f813d

From a KODA checkout with its dependencies installed, download and select it:

uv run hf download TeleEmbodied/koda-assets models/scalebfm/model_24600.pt \
  --repo-type dataset \
  --local-dir assets

export KODA_SCALEBFM_CHECKPOINT=assets/models/scalebfm/model_24600.pt

Then run uv run koda run ... in the same shell using the input and output paths described in the KODA README. The environment variable selects this checkpoint for whole-body tracking.

To check the downloaded file on Linux:

echo "2d40b7326c3435c9aaf01f46e1507f747e7a7371bfa504201aaea12c539f813d  assets/models/scalebfm/model_24600.pt" | sha256sum -c -