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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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weights/unidepth-v2-vitl14/config.json
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{
"data": {
"augmentations": {
"blur_p": 0.2,
"flip_p": 0.5,
"gamma_p": 0.8,
"grayscale_p": 0.2,
"jitter_p": 0.8,
"random_blur": 2.0,
"random_gamma": 0.2,
"random_jitter": 0.4,
"random_scale": 2.0,
"shape_constraints": {
"height_min": 15,
"pixels_max": 600000,
"pixels_min": 200000,
"ratio_bounds": [
0.5,
2.5
],
"sample": true,
"shape_mult": 14,
"width_min": 15
},
"test_context": 1.0
},
"crop": "garg",
"data_root": "datasets",
"image_shape": [
480,
640
],
"normalization": "imagenet",
"num_copies": 2,
"num_frames": 1,
"sampling": {
"ETH3D": 1.0,
"Waymo": 1.0
},
"train_datasets": [
"ETH3D",
"Waymo"
],
"val_datasets": [
"IBims"
]
},
"eps": 1e-06,
"generic": {
"deterministic": true,
"seed": 13
},
"model": {
"expansion": 4,
"layer_scale": 1.0,
"name": "UniDepthV2",
"num_heads": 8,
"pixel_decoder": {
"depths": [
2,
2,
2
],
"dropout": 0.0,
"hidden_dim": 512,
"kernel_size": 3,
"name": "Decoder",
"out_dim": 64
},
"pixel_encoder": {
"cls_token_embed_dims": [
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024
],
"depths": [
6,
12,
18,
24
],
"embed_dim": 1024,
"embed_dims": [
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024,
1024
],
"freeze_norm": true,
"frozen_stages": 0,
"lr": 2e-06,
"name": "dinov2_vitl14",
"num_register_tokens": 0,
"output_idx": [
6,
12,
18,
24
],
"patch_size": 14,
"pretrained": null,
"stacking_fn": "last",
"use_norm": true,
"wd": 0.1
}
},
"training": {
"batch_size": 8,
"clipping": 1.0,
"cycle_beta": false,
"drop_path": 0.0,
"ema": true,
"f16": true,
"ld": 1.0,
"losses": {
"camera": {
"alpha": 1.0,
"fn": "l2",
"gamma": 1.0,
"input_fn": "linear",
"name": "Regression",
"output_fn": "sqrt",
"weight": 0.25
},
"confidence": {
"alpha": 1.0,
"fn": "l1",
"gamma": 1.0,
"input_fn": "linear",
"name": "Regression",
"output_fn": "sqrt",
"weight": 0.1
},
"depth": {
"dims": [
-2,
-1
],
"input_fn": "log",
"integrated": 0.15,
"name": "SILog",
"output_fn": "sqrt",
"weight": 1.0
},
"invariance": {
"name": "SelfDistill",
"output_fn": "sqrt",
"weight": 0.1
},
"ssi": {
"input_fn": "log1i",
"min_samples": 6,
"name": "EdgeGuidedLocalSSI",
"output_fn": "sqrt",
"use_global": true,
"weight": 1.0
}
},
"lr": 0.0001,
"lr_final": 1e-06,
"lr_warmup": 1.0,
"n_iters": 300000,
"nsteps_accumulation_gradient": 2,
"use_checkpoint": false,
"validation_interval": 2,
"warmup_iters": 75000,
"wd": 0.1,
"wd_final": 0.1
}
}