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Update to 2026-09-17 pipeline snapshot; add weights, L20 assets and recording via Git LFS

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Source: RGB-D -> Dyn-HaMR -> L20 retargeting -> FoundationPose -> reference repair -> SPIDER,
documented in docs/PIPELINE_LATEST.md and docs/SETUP_AND_WEIGHTS.md. Adds FoundationPose and
nvdiffrast upstream snapshots, requirements/pipeline_venv.txt and the FoundationPose weight
manifest/downloader.

Assets (Git LFS): weights/ (WiLoR detector, HandFlow denoiser, UniDepth-L), FoundationPose
checkpoints, HaMeR checkpoint, Dyn-HaMR HMP model and BMC constraints, L20 URDF/meshes, the
20260915_171525 D405 recording and the two box CADs. MANO models are not redistributed
(third_party/hamer/_DATA/data/mano/README.txt). Environments, caches and run outputs excluded.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
This commit is contained in:
liyang
2026-09-17 11:27:46 +08:00
parent 7e4ef6f98b
commit ae28d55f81
761 changed files with 55598 additions and 59 deletions
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third_party/Dyn-HaMR/_DATA/hamer_ckpts/dataset_config.yaml
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COCOW-TRAIN:
TYPE: ImageDataset
URLS: hamer_training_data/dataset_tars/cocow-train/{000000..000036}.tar
epoch_size: 78666
DEX-TRAIN:
TYPE: ImageDataset
URLS: hamer_training_data/dataset_tars/dex-train/{000000..000406}.tar
epoch_size: 406888
FREIHAND-MOCAP:
DATASET_FILE: hamer_training_data/freihand_mocap.npz
FREIHAND-TRAIN:
TYPE: ImageDataset
URLS: hamer_training_data/dataset_tars/freihand-train/{000000..000130}.tar
epoch_size: 130240
H2O3D-TRAIN:
TYPE: ImageDataset
URLS: hamer_training_data/dataset_tars/h2o3d-train/{000000..000060}.tar
epoch_size: 121996
HALPE-TRAIN:
TYPE: ImageDataset
URLS: hamer_training_data/dataset_tars/halpe-train/{000000..000022}.tar
epoch_size: 34289
HO3D-TRAIN:
TYPE: ImageDataset
URLS: hamer_training_data/dataset_tars/ho3d-train/{000000..000083}.tar
epoch_size: 83325
INTERHAND26M-TRAIN:
TYPE: ImageDataset
URLS: hamer_training_data/dataset_tars/interhand26m-train/{000000..001056}.tar
epoch_size: 1424632
MPIINZSL-TRAIN:
TYPE: ImageDataset
URLS: hamer_training_data/dataset_tars/mpiinzsl-train/{000000..000015}.tar
epoch_size: 15184
MTC-TRAIN:
TYPE: ImageDataset
URLS: hamer_training_data/dataset_tars/mtc-train/{000000..000306}.tar
epoch_size: 363947
RHD-TRAIN:
TYPE: ImageDataset
URLS: hamer_training_data/dataset_tars/rhd-train/{000000..000041}.tar
epoch_size: 61705