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> I'm working on a project that involves dealing with Lua bytecode; is there
> a documentation that describes how bytecode works in human readable format?

The physical layout of precompiled scripts is described in ldump.c.
If you need to read precompiled scripts, see lundump.c.
Be aware that precompiled scripts are binary files that are not portable
across different platforms.

See also the print section of luac.c.

The logical structure of the Lua VM is described in lopcodes.h.
The semantics is implemented in lvm.c.