Download dexplicit-3d-config.json from Abecid/DeXplicit: direct link, hf CLI and curl.
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- Download file 7.07 kB
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https://huggingface.co/Abecid/DeXplicit/resolve/main/dexplicit-3d-config.json
- Command line
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hf download hf://Abecid/DeXplicit/dexplicit-3d-config.json
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curl -L -o dexplicit-3d-config.json https://huggingface.co/Abecid/DeXplicit/resolve/main/dexplicit-3d-config.json
7.07 kB
| { | |
| "seed": 2026, | |
| "deterministic_data": true, | |
| "deterministic_train": true, | |
| "deterministic_algorithms": true, | |
| "log_dir": null, | |
| "output_dir": null, | |
| "exp_name": "dexplicit", | |
| "unique_run_dir": false, | |
| "run_id": null, | |
| "distributed": false, | |
| "ddp": false, | |
| "device": "cuda", | |
| "batch_size": 16, | |
| "num_epochs": 200, | |
| "num_workers": 0, | |
| "eval_num_workers": 2, | |
| "eval_freq": 640, | |
| "save_freq": 128, | |
| "save_best_only": true, | |
| "checkpoint_metric": "test/l2_moved/mean_t01_t34", | |
| "checkpoint_metric_mode": "min", | |
| "num_eval_batches": 81, | |
| "model_path": null, | |
| "allow_optimizer_reset": false, | |
| "reset_optimizer_on_resume": true, | |
| "grad_clip_max_norm": 5.0, | |
| "data_dirs": [], | |
| "dataset_type": "hoi_npz", | |
| "hoi_train_dirs": [], | |
| "hoi_train_dirs_list": [], | |
| "hoi_val_dirs": [], | |
| "hoi_val_dirs_list": [], | |
| "hoi_domain": "hand_world", | |
| "hoi_target_horizon": 35, | |
| "hoi_require_dino_features": true, | |
| "hoi_mano_sidecar_root": null, | |
| "dino_cache_warmup": true, | |
| "dino_cache_warmup_workers": 8, | |
| "use_precomputed_scene_features": true, | |
| "identity_norm_stats": true, | |
| "native_pointworld": true, | |
| "max_train_steps": 25600, | |
| "train_splits": null, | |
| "max_robot_points": 500, | |
| "max_scene_points": 12000, | |
| "train_min_num_cameras": 1, | |
| "train_max_num_cameras": 3, | |
| "eval_min_num_cameras": 2, | |
| "eval_max_num_cameras": 2, | |
| "robot_features": [ | |
| "robot_flows", | |
| "robot_colors", | |
| "robot_normals", | |
| "gripper_open", | |
| "robot_velocity", | |
| "robot_acceleration" | |
| ], | |
| "scene_features": [ | |
| "scene_flows", | |
| "scene_colors", | |
| "scene_normals", | |
| "gripper_open", | |
| "dist2robot" | |
| ], | |
| "domains": [ | |
| "hand_world" | |
| ], | |
| "base_lr": 0.0001, | |
| "weight_decay": 0.01, | |
| "grid_size": 0.015, | |
| "norm_stats_path": "stats/droid", | |
| "disable_compile": true, | |
| "depth_threshold": 0.003, | |
| "ptv3_size": "base", | |
| "ptv3_patch_size": 256, | |
| "predictor_dim": 256, | |
| "hand_condition_encoder": "joint_transformer", | |
| "hand_condition_fusion": "append", | |
| "hand_encoder_layers": 4, | |
| "hand_encoder_heads": 4, | |
| "hand_encoder_dropout": 0.1, | |
| "hand_encoder_num_joints": 21, | |
| "hand_encoder_mano_param_dim": 64, | |
| "hand_action_token_encoder": "mano_relative_transformer", | |
| "hand_action_encoder_layers": 2, | |
| "hand_action_encoder_heads": 4, | |
| "hand_action_encoder_dropout": 0.1, | |
| "hand_action_mano_pose_dim": 15, | |
| "hand_action_beta_dim": 10, | |
| "huber_delta": 5.0, | |
| "min_motion_loss_weight": null, | |
| "balanced_moved_static_loss": false, | |
| "moved_loss_weight": 1.0, | |
| "static_loss_weight": 1.0, | |
| "static_displacement_loss_weight": 0.0, | |
| "static_displacement_tau": 0.005, | |
| "use_move_prediction_head": false, | |
| "move_prediction_loss_weight": 0.1, | |
| "move_prediction_tau": 0.005, | |
| "move_prediction_temp_scale": 5.0, | |
| "confidence_thres": 0.8, | |
| "eval_exp_name": null, | |
| "eval_num_batches": -1, | |
| "run_confidence_annotation": false, | |
| "allow_missing_confidence_mask": false, | |
| "eval_viz_num": -1, | |
| "eval_skip_viz": false, | |
| "viewer_port": 8080, | |
| "wandb": false, | |
| "wandb_project": "dexplicit", | |
| "wandb_run_name": null, | |
| "wandb_mode": "online", | |
| "amp": true, | |
| "dynamics_head_init_scale": 0.0, | |
| "dynamics_experiment": "structured", | |
| "require_pointwise_dino": true, | |
| "local_increment_loss_weight": 0.0, | |
| "horizon_position_loss_weight": 0.0, | |
| "horizon_weight_start": 1.0, | |
| "horizon_weight_end": 1.0, | |
| "velocity_loss_weight": 0.0, | |
| "acceleration_loss_weight": 0.0, | |
| "object_displacement_loss_weight": 0.0, | |
| "local_isometry_loss_weight": 0.0, | |
| "local_isometry_k": 20, | |
| "local_isometry_decay": 2000.0, | |
| "action_conditioning_mode": "delta_tokens", | |
| "ever_moved_threshold": 0.005, | |
| "eval_test_only": true, | |
| "full_train_coverage": true, | |
| "final_eval_and_save": false, | |
| "score_se3_eval": true, | |
| "score_se3_candidate": "metric_pose", | |
| "score_se3_loss_weight": 12.630234373007811, | |
| "score_se3_gradient_ratio": 0.0, | |
| "score_se3_max_calibrated_weight": 100.0, | |
| "score_se3_calibration_only": false, | |
| "score_se3_calibration_artifact": null, | |
| "score_se3_calibration_batches": 16, | |
| "score_se3_require_calibration_artifact": false, | |
| "score_se3_calibration_artifact_sha256": null, | |
| "score_se3_calibration_formula_version": null, | |
| "score_se3_calibration_sample_sequence_sha256": null, | |
| "score_se3_calibration_warm_checkpoint_sha256": null, | |
| "score_se3_contact_loss_weight": 0.1, | |
| "score_se3_contact_stop_gradient": true, | |
| "score_se3_checkpoint_role": "finetune", | |
| "score_se3_split_role": "validation", | |
| "score_se3_eval_only": false, | |
| "score_se3_allow_oracle": false, | |
| "score_se3_keep_eval_checkpoints": true, | |
| "score_se3_export_per_window": true, | |
| "score_se3_eval_data_seed": 2026, | |
| "score_se3_require_full_eval": true, | |
| "score_se3_manifest_path": null, | |
| "score_se3_strict_contract": true, | |
| "score_se3_phase_a_steps": 256, | |
| "score_se3_schedule_mode": "warmup_hold_cosine", | |
| "score_se3_hold_steps": 12800, | |
| "score_se3_min_lr_ratio": 0.1, | |
| "score_se3_total_steps": 25600, | |
| "score_se3_warmup_steps": 256, | |
| "score_se3_adapter_lr": 6e-05, | |
| "score_se3_adapter_phase_b_lr": 6e-05, | |
| "score_se3_base_lr": 6e-06, | |
| "score_se3_translation_bound_m": 0.05, | |
| "score_se3_rotation_bound_deg": 15.0, | |
| "score_se3_contact_tau_m": 0.02, | |
| "deformation_graph_candidate": "gated_deformation_graph", | |
| "deformation_graph_nodes": 8, | |
| "deformation_graph_influences": 4, | |
| "deformation_graph_edges": 4, | |
| "deformation_graph_radius_scale": 1.5, | |
| "deformation_graph_minimum_radius_m": 0.005, | |
| "deformation_graph_translation_bound_m": 0.03, | |
| "deformation_graph_rotation_bound_deg": 12.0, | |
| "deformation_graph_arap_weight": 0.25, | |
| "deformation_graph_temporal_weight": 0.05, | |
| "deformation_graph_magnitude_weight": 0.01, | |
| "deformation_graph_gate_weight": 0.1, | |
| "deformation_graph_gate_rigid_floor_m": 0.002, | |
| "deformation_graph_gate_full_scale_m": 0.02, | |
| "dexplicit_3d_mixed50_plan_sha256": "ad87c852f8b2119b00fb5eab7142941b8753cf6120985247a0ea6bff10074225", | |
| "carrier_gauge_candidate": "dexplicit_3d", | |
| "carrier_gauge_mode_rank": 4, | |
| "carrier_gauge_temporal_controls": 6, | |
| "carrier_gauge_relation_temperature_m": 0.04, | |
| "carrier_gauge_carrier_translation_bound_m": 0.05, | |
| "carrier_gauge_carrier_rotation_bound_deg": 15.0, | |
| "carrier_gauge_edge_strain_weight": 0.5, | |
| "carrier_gauge_coefficient_weight": 0.0001, | |
| "carrier_gauge_carrier_tv_weight": 0.001, | |
| "carrier_gauge_carrier_strength_weight": 0.0001, | |
| "carrier_gauge_deformable_threshold_m": 0.005, | |
| "object_jepa_loss_weight": 0.0, | |
| "object_jepa_semantic_weight": 0.25, | |
| "object_jepa_pose_weight": 1.0, | |
| "object_jepa_shape_weight": 0.5, | |
| "object_jepa_delta_weight": 0.25, | |
| "object_jepa_horizon_start": 1.0, | |
| "object_jepa_horizon_end": 2.0, | |
| "object_jepa_dim": 128, | |
| "object_jepa_max_points": 64, | |
| "object_jepa_force_pose_output": false, | |
| "long_horizon_stage": 0, | |
| "long_horizon_stage_name": "pose_control", | |
| "long_horizon_features": [ | |
| "pose_canonical" | |
| ], | |
| "long_horizon_track": "isolated", | |
| "score_se3_initial_optimizer_phase": "phase_b", | |
| "score_se3_dataset_inventory_fingerprint": "31b3aa287f8829c56e5bfc3a18887e2b6da14332c4b951dc390e1672fddcd7d8" | |
| } | |