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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+# @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