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
@@ -0,0 +1,32 @@
+# @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