nv-tlabs / kimodo

## Overview
Kimodo is a **ki**nematic **mo**tion **d**iffusi**o**n model trained on a large-scale (700 hours) commercially-friendly optical motion capture dataset. The model generates high-quality 3D human and robot motions, and is controlled through text prompts and an extensive set of constraints such as full-body pose keyframes, end-effector positions/rotations, 2D paths, and 2D waypoints. Full details of the model architecture and training are available in the technical report.
This repository provides:
- **Inference**: code and CLI to generate motions on both human and robot skeletons
- **Interactive Demo**: easily author motions with a timeline interface of text prompts and kinematic controls
- **Benchmark**: test cases and evaluation code built on the BONES-SEED dataset to evaluate motion generation models based on text and constraint-following abilities
- **Annotations**: fine-grained temporal text descriptions created for the Kimodo project are included in the BONES-SEED dataset. For more information on these labels, see our separate Hugging Face repo.
## News
See the full changelog for a detailed list of all changes.
- **[2026-10-15]** Updated the benchmark to support using the ARDY motion rep, and released SOMA-RP-v1.2 models with fixes for benchmark compatibility.
- **[2026-07-10]** Released the ARDY project -- a _real-time_ motion generation model with all the controllability of Kimodo!
- **[2026-05-03]** _FIX_: fixed a bug causing incorrect calculation of averaged metrics for constraint test cases in the benchmark
- **[2026-04-24]** _NEW_: improved multi-prompt generation and better support for small VRAM GPUs via `TEXT_ENCODER_DEVICE=cpu` env var
- **[2026-04-10]** Released the Kimodo Motion Generation Benchmark alongside new v1.1 Kimodo-SOMA models
- **[2026-03-19]** **Breaking:** Model inputs/outputs now use the SOMA 77-joint skeleton (`somaskel77`).
- **[2026-03-16]** Initial open-source release of Kimodo with five model variants (SOMA, G1, SMPL-X), CLI, interactive demo, and timeline annotations for BONES-SEED.
## Kimodo Models
Several variations of Kimodo are available trained on various skeletons and datasets. All models support text-to-motion and kinematic controls.
> Note: models will be downloaded automatically when attempting to generate from the CLI or Interactive Demo, so there is no need to download them manually
| Model | Skeleton | Training Data | Release Date | Hugging Face | License |
|:-------|:-------------|:------:|:------:|:-------------:|:-------------:|
| **Kimodo-SOMA-RP-v1.2** | SOMA | Bones Rigplay 1 | October 15, 2026 | Link | NVIDIA Open Model |
| **Kimodo-SOMA-RP-ArdyRep-v1.2** | SOMA | Bones Rigplay 1 | October 15, 2026 | Link | NVIDIA Open Model |
| **Kimodo-SOMA-RP-v1.1** | SOMA | Bones Rigplay 1 | April 10, 2026 | Link | NVIDIA Open Model |
| **Kimodo-SOMA-SEED-v1.1** | SOMA | BONES-SEED | April 10, 2026 | Link | NVIDIA Open Model |
| **Kimodo-SOMA-RP-v1** | SOMA | Bones Rigplay 1 | March 16, 2026 |