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

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-09-15 14:13:49 +08:00
commit 7e4ef6f98b
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+optim:
+  options:
+    robust_loss_type: "bisquare"
+    robust_tuning_const: 4.6851
+    joints2d_sigma: 100.0
+    lr: 1.0
+    lbfgs_max_iter: 20
+    save_every: 20
+    vis_every: -1
+    max_chunk_steps: 20
+    save_meshes: False
+
+  root:
+    num_iters: 50
+
+  smpl:
+    num_iters: 0
+
+  smooth:
+    opt_scale: False
+    num_iters: 300
+
+  motion_chunks:
+    chunk_size: 10
+    init_steps: 20
+    chunk_steps: 20
+    opt_cams: True
+
+  loss_weights:
+    penetration: [0,0,0] # [0, 1.0, 10.0]
+    # joints2d: [1, 1, 1] # Increased smooth_fit weight from 0.001 to 0.1 to better match 2D keypoints
+    joints2d: [10000, 10000, 10000] # Increased smooth_fit weight from 0.001 to 0.1 to better match 2D keypoints
+    bg2d: [0.0, 0.000, 0.000]
+    cam_R_smooth : [0.0, 0.0, 0.0]
+    cam_t_smooth : [0.0, 0.0, 0.0]
+    bio : [0.0, 0.0, 0.0] # [10, 10, 10]
+    depth_constraint: [100.0, 100.0, 0.0] # Prevent hand from being behind camera - MUST be stronger than 2D loss
+      #    bg2d: [0.0, 0.0001, 0.0001]
+      #    cam_R_smooth : [0.0, 1000.0, 1000.0]
+      #    cam_t_smooth : [0.0, 1000.0, 1000.0]
+    joints3d: [0.0, 0.0, 0.0]
+    joints3d_smooth: [1000, 10000.0, 0.0] # raw: [1.0, 10.0, 0.0]
+    # joints3d_smooth: [0, 0, 0.0] # raw: [1.0, 10.0, 0.0]
+    joints3d_rollout: [0.0, 0.0, 0.0]
+    verts3d: [0.0, 0.0, 0.0]
+    points3d: [0.0, 0.0, 0.0]
+    pose_prior: [1, 1, 1]
+    shape_prior: [0.05, 0.05, 0.05]
+    motion_prior: [0.0, 0.0, 0.075]
+    init_motion_prior: [0.0, 0.0, 0.075]
+    joint_consistency: [0.0, 0.0, 100.0]
+    bone_length: [0.0, 2000.0, 2000.0]