liyang
ae28d55f81
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>
40 lines
708 B
YAML
40 lines
708 B
YAML
lr: 0.0001
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c_in: 6
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zfar: 'Infinity'
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debug: null
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w_rot: 0.1
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n_view: 1
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run_id: null
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use_BN: true
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rot_rep: axis_angle
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ckpt_dir: null
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exp_name: 2023-10-28-18-33-37
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save_dir: /tmp/2023-10-28-18-33-37/
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loss_type: l2
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optimizer: adam
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trans_rep: tracknet
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batch_size: 64
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crop_ratio: 1.2
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use_normal: false
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BN_momentum: 0.1
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max_num_key: null
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warmup_step: -1
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input_resize:
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- 160
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- 160
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max_step_val: 1000
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normal_uint8: false
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vis_interval: 1000
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weight_decay: 0
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n_max_objects: null
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normalize_xyz: true
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clip_grad_norm: 'Infinity'
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rot_normalizer: 0.3490658503988659
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trans_normalizer:
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- 0.019999999552965164
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- 0.019999999552965164
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- 0.05000000074505806
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max_step_per_epoch: 25000
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val_epoch_interval: 10
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n_dataloader_workers: 60
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