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
7002 changed files with 1452249 additions and 0 deletions
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+# @package _global_
+dataset_name: arcticv2
+task: s01-box_use_01
+robot_type: xhand
+embodiment_type: bimanual
+data_id: 0
+temperature: 1.0
+num_samples: 1024
+ctrl_dt: 1.5
+knot_dt: 1.0
+horizon: 3.0
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+improvement_threshold: 0.01
+improvement_check_steps: 2
+max_num_iterations: 16
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+final_noise_scale: 0.01
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+# @package _global_
+dataset_name: arcticv2
+task: s01-box_use_01
+robot_type: xhand
+embodiment_type: bimanual
+data_id: 0
+temperature: 1.0
+num_samples: 1024
+ctrl_dt: 1.5
+knot_dt: 1.0
+horizon: 3.0
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+improvement_threshold: -1.0
+improvement_check_steps: 2
+max_num_iterations: 4
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+final_noise_scale: 0.01
+object_rot_threshold: 2.5
+max_local_retries: 3
+# Arctic clips start ~2 s before contact (hand approaching, object resting on
+# the table only via friction). The default sanity check holds ctrl_ref[0]
+# for 3 s and requires the object not to drift — that's incompatible with a
+# pre-grasp start frame, so disable it here.
+sanity_check_seconds: 0.0
+# Arctic objects (box / laptop / mixer / notebook / waffleiron) decompose
+# into 25-30 convex parts each. With bimanual xhand the contact + joint-row
+# counts overflow the default per-env limits ("nefc overflow - please
+# increase njmax to ~420"). Bump both above the worst observed value with
+# headroom.
+nconmax_per_env: 256
+njmax_per_env: 768
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+# @package _global_
+dataset_name: fair_fre
+task: pick_up
+robot_type: xhand
+embodiment_type: right
+data_id: 4
+temperature: 1.0
+num_samples: 1024
+ctrl_dt: 1.5
+knot_dt: 1.0
+horizon: 3.0
+ref_dt: 0.02
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+improvement_threshold: 0.01
+improvement_check_steps: 3
+terminal_rew_scale: 10.0
+pos_rew_scale: 1.0
+max_num_iterations: 16
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+final_noise_scale: 0.01
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+# @package _global_
+# Override configuration for fair_mon dataset
+dataset_name: fair_mon
+robot_type: allegro
+viewer: rerun-mujoco
+embodiment_type: right
+task: cat
+rerun_spawn: true
+ref_dt: 0.05
+max_sim_steps: -1
+horizon: 0.8
+ctrl_dt: 0.1
+knot_dt: 0.2
+num_dr: 1
+perturb_torque: 0.0
+pos_noise_scale: 0.05
+rot_noise_scale: 0.05
+joint_noise_scale: 0.1
+improvement_check_steps: 2
+max_num_iterations: 16
+temperature: 1.0
+# original reference is bad, so we put smaller scale on tracking wrist pose
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
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+# @package _global_
+# Override configuration for gigahand dataset
+dataset_name: gigahand
+robot_type: xhand
+embodiment_type: bimanual
+task: p36-tea
+temperature: 1.0
+data_id: 0
+ctrl_dt: 1.5
+knot_dt: 0.5
+horizon: 3.0
+first_ctrl_noise_scale: 1.0
+last_ctrl_noise_scale: 2.0
+improvement_threshold: 0.01
+improvement_check_steps: 2
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_noise_scale: 0.03
+pos_noise_scale: 0.03
+rot_noise_scale: 0.01
+final_noise_scale: 0.01
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+# @package _global_
+task: p36-tea
+dataset_name: gigahand
+robot_type: xhand
+embodiment_type: bimanual
+data_id: 0
+temperature: 1.0
+num_samples: 1024
+first_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+sim_dt: 0.005
+max_num_iterations: 32
+gibbs_sampling: false
+# guidance related
+improvement_threshold: 0.0
+contact_guidance: true
+guidance_decay_ratio: 0.5
+init_pos_actuator_gain: 2.0
+init_pos_actuator_bias: 2.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+# with guidance, exploration noise can be higher
+joint_noise_scale: 0.15
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+# with guidance, horizon can be shorter
+horizon: 1.6
+knot_dt: 0.4
+ctrl_dt: 0.2
+base_pos_rew_scale: 0.03
+base_rot_rew_scale: 0.03
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
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+# @package _global_
+dataset_name: gigahand
+robot_type: xhand
+embodiment_type: bimanual
+task: p36-tea
+temperature: 1.0
+data_id: 0
+ctrl_dt: 1.5
+knot_dt: 0.5
+horizon: 3.0
+first_ctrl_noise_scale: 1.0
+last_ctrl_noise_scale: 2.0
+improvement_threshold: -1.0
+improvement_check_steps: 2
+max_num_iterations: 8
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_noise_scale: 0.03
+pos_noise_scale: 0.03
+rot_noise_scale: 0.01
+final_noise_scale: 0.01
+object_rot_threshold: 0.5
+max_local_retries: 3
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+# @package _global_
+# Override configuration for gigahand dataset
+dataset_name: gigahand
+robot_type: xhand
+embodiment_type: bimanual
+task: p36-tea
+data_id: 10
+horizon: 1.6
+temperature: 1.0
+improvement_threshold: 0.01
+improvement_check_steps: 1
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_noise_scale: 0.03
+pos_noise_scale: 0.03
+rot_noise_scale: 0.01
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+# @package _global_
+# Override configuration for fair_mon dataset
+dataset_name: amass
+robot_type: unitree_g1
+embodiment_type: humanoid
+task: sprint
+rerun_spawn: true
+sim_dt: 0.0166667
+ref_dt: 0.0333333
+trace_dt: 0.0333333
+max_sim_steps: -1
+horizon: 0.8
+ctrl_dt: 0.1
+knot_dt: 0.1
+# annealing parameters
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+joint_noise_scale: 0.1
+# sampling
+improvement_threshold: 0.01
+max_num_iterations: 16
+temperature: 0.6
+num_samples: 2048
+# reward
+vel_rew_scale: 0.0
+joint_rew_scale: 1.0
+pos_rew_scale: 3.0
+rot_rew_scale: 1.0
+contact_rew_scale: 1.0
+# note: above parameter is optimized for speed. you can have better performance with horizon=1.0
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+# @package _global_
+# Override configuration for fair_mon dataset
+dataset_name: omomo
+robot_type: unitree_g1
+viewer: mujoco-rerun
+embodiment_type: humanoid_object
+task: move_largebox
+rerun_spawn: true
+sim_dt: 0.0166667
+ref_dt: 0.0333333
+trace_dt: 0.0333333
+max_sim_steps: -1
+horizon: 0.8
+ctrl_dt: 0.1
+knot_dt: 0.1
+# annealing parameters
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+joint_noise_scale: 0.1
+# sampling
+improvement_threshold: 0.01
+max_num_iterations: 16
+temperature: 1.0
+num_samples: 2048
+# reward
+vel_rew_scale: 0.0
+joint_rew_scale: 1.0
+base_pos_rew_scale: 1.0
+base_rot_rew_scale: 1.0
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+# note: above parameter is optimized for speed. you can have better performance with horizon=1.0
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+# @package _global_
+task: lift_board
+robot_type: xhand
+embodiment_type: bimanual
+data_id: 0
+temperature: 1.0
+num_samples: 1024
+ctrl_dt: 1.5
+knot_dt: 1.0
+horizon: 3.0
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+improvement_threshold: 0.01
+improvement_check_steps: 2
+max_num_iterations: 16
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+final_noise_scale: 0.01
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+# @package _global_
+task: lift_board
+robot_type: xhand
+embodiment_type: bimanual
+data_id: 0
+temperature: 1.0
+num_samples: 1024
+first_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+sim_dt: 0.005
+max_num_iterations: 32
+gibbs_sampling: false
+# guidance related
+improvement_threshold: 0.0
+contact_guidance: true
+guidance_decay_ratio: 0.8
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+# with guidance, exploration noise can be higher
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+# with guidance, horizon can be shorter
+horizon: 0.4
+knot_dt: 0.1
+ctrl_dt: 0.05
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
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+# @package _global_
+task: lift_board
+robot_type: xhand
+embodiment_type: bimanual
+data_id: 0
+temperature: 1.0
+num_samples: 1024
+ctrl_dt: 1.5
+knot_dt: 1.0
+horizon: 3.0
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+improvement_threshold: -1.0
+improvement_check_steps: 2
+max_num_iterations: 8
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+final_noise_scale: 0.01
+object_rot_threshold: 0.5
+max_local_retries: 3
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+# @package _global_
+task: lift_board
+robot_type: xhand
+embodiment_type: bimanual
+data_id: 0
+temperature: 1.0
+num_samples: 1024
+horizon: 2.0
+improvement_threshold: 0.01
+improvement_check_steps: 2
+max_num_iterations: 32
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+# rot_rew_scale: 0.3
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
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+# @package _global_
+dataset_name: oakinkv2
+task: pick_spoon_bowl
+robot_type: xhand
+embodiment_type: right
+data_id: 0
+temperature: 1.0
+num_samples: 1024
+ctrl_dt: 1.5
+knot_dt: 1.0
+horizon: 3.0
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+improvement_threshold: 0.01
+improvement_check_steps: 2
+max_num_iterations: 16
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+final_noise_scale: 0.01
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+# @package _global_
+dataset_name: oakinkv2
+task: pick_spoon_bowl
+robot_type: xhand
+embodiment_type: right
+data_id: 0
+temperature: 1.0
+num_samples: 1024
+ctrl_dt: 1.5
+knot_dt: 1.0
+horizon: 3.0
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+improvement_threshold: -1.0
+improvement_check_steps: 2
+max_num_iterations: 4
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+final_noise_scale: 0.01
+object_rot_threshold: 1.0
+max_local_retries: 3