t2m v2 (epic #837): twist transport, foot pinning, flow-matching model#904

Merged

fernandotonon merged 27 commits into

feat/t2m-epic-837

Jul 20, 2026

Commits on Jul 13, 2026

feat(anim): stabilized twist transport in the direction retarget (#857)

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feat(anim): v5 flow-matching t2m model — canonical data, in-graph sampler, reference triple (#840, #858)

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feat(anim): foot-contact detection + IK pinning post-pass (#856)

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chore(scripts): HF upload script for the v5 t2m flow model (#858)

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test(anim): fix twist tests — humanoid-gate rig + cap-before-gain expectation (#857)

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Merge twist-test fixes from feat/t2m-twist-857
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Merge twist-test fixes from feat/t2m-twist-857
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Commits on Jul 14, 2026

Commits on Jul 17, 2026

Commits on Jul 19, 2026

Commits on Jul 20, 2026