Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

configs/inference.yaml

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+# HandFlow inference configuration
+# Shared by scripts/demo.py
+
+model_yaml: configs/model.yaml
+
+# The denoiser requires window_size (only this field; other dataset fields are eval-only and omitted)
+dataset:
+  window_size: 16
+
+inference:
+  ode_steps: 3
+  overlap_size: 8
+  overlap_method: vblend      # avg | vblend
+  window_size: 16
+  conf_threshold: 0.1         # HaMeR confidence threshold
+
+# MANO model directory (environment variable, see README; overridable by run-script CLI args)
+eval:
+  mano_root: ${oc.env:MANO_ROOT}
+
+# fm_ckpt is passed via the run script's --fm_ckpt CLI arg (specified per inference)

configs/model.yaml

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+model:
+  fm:
+    beta_dim: 10
+    pose_dim: 48         # global_aa(3) + joints_aa(45), directly regressed per frame
+    trans_dim: 3         # translation, directly regressed
+    normalization_stats: ${oc.env:HANDFLOW_NORMALIZATION_STATS}
+
+    condition:
+      hamer_embed_dim: 1280
+      hamer_n_tokens: 192       # 16×12 patches
+      n_joints: 21
+      skeleton_pe_freqs: 6
+      cmask_ratio: 0.2
+
+    frame_compressor:
+      num_layers: 8             # cross-attention pooling layers (replaces Refiner + Compressor)
+
+    transformer:
+      hidden_size: 512
+      num_heads: 16
+      depth: 8                  # double-stream blocks
+      depth_single_blocks: 16   # single-stream blocks
+      mlp_ratio: 4.0
+      qkv_bias: true
+      dropout: 0.1
+
+  hamer:
+    checkpoint: ${oc.env:HAMER_CKPT}
+    frozen: true