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
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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