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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+/**
+ * This file includes code originally from the Pytorch Scatter repository:
+ * https://github.com/rusty1s/pytorch_scatter
+ * Licensed under the MIT License. See THIRD_PARTY_LICENSES.md for details.
+ */
+
+#pragma once
+
+#define CHECK_CUDA(x) AT_ASSERTM(x.device().is_cuda(), #x " must be CUDA tensor")
+#define CHECK_INPUT(x) AT_ASSERTM(x, "Input mismatch")
+
+__device__ __inline__ at::Half __shfl_up_sync(const unsigned mask, const at::Half var, const unsigned int delta) {
+    return __shfl_up_sync(mask, var.operator __half(), delta);
+}
+
+__device__ __inline__ at::Half __shfl_down_sync(const unsigned mask, const at::Half var, const unsigned int delta) {
+    return __shfl_down_sync(mask, var.operator __half(), delta);
+}
+
+__device__ __inline__ at::Half __shfl_up(const at::Half var, const unsigned int delta) {
+    return __shfl_up(var.operator __half(), delta);
+}
+
+__device__ __inline__ at::Half __shfl_down(const at::Half var, const unsigned int delta) {
+    return __shfl_down(var.operator __half(), delta);
+}
+
+#define SHFL_UP_SYNC __shfl_up_sync
+#define SHFL_DOWN_SYNC __shfl_down_sync