| --- |
| library_name: pytorch |
| tags: |
| - humanoid-robotics |
| - video-to-motion |
| - motion-tracking |
| --- |
| |
| # ViT-H Checkpoints |
|
|
| This repository contains the released checkpoints used by ViT-H inference and |
| the optional G1 motion tracker. |
|
|
| ## Contents |
|
|
| - `vith_offline_g1.ckpt`: released offline G1 model checkpoint (epoch 629). |
| - `model_step_020000_g1.onnx`: 1570-input, 29-output G1 tracking policy used by `g1_tracker`. |
| - `inputs/checkpoints/yolo/yolov8x.pt`: YOLOv8x detector and tracker weights. |
| - `inputs/checkpoints/vitpose/vitpose-h-multi-coco.pth`: ViTPose-H pose-estimation weights. |
| - `inputs/checkpoints/hmr2/epoch=10-step=25000.ckpt`: optional HMR2 image-encoder weights. |
| - `inputs/checkpoints/dpvo/dpvo.pth`: optional DPVO camera-estimation weights. |
| - `SHA256SUMS`: file integrity checksums. |
|
|
| The SHA256 checksum of `model_step_020000_g1.onnx` is |
| `da875c31057e4d5f0e0b3ba30722c506fb3a9fa3e030998069b5ded3ac38403b`. |
|
|
| ## G1 tracker policy |
|
|
| Download the policy into the ignored checkpoint directory of a |
| [ViT-H](https://github.com/tany3059/ViT-H-release) checkout: |
|
|
| ```bash |
| hf download eerrr1/ViT-H-checkpoints \ |
| model_step_020000_g1.onnx \ |
| --repo-type dataset \ |
| --local-dir inputs/checkpoints/g1_tracker |
| ``` |
|
|
| Then pass it to the tracker: |
|
|
| ```bash |
| python g1_tracker/tools/track_g1.py \ |
| --input outputs/example/motion.npz \ |
| --output outputs/example/tracked_motion.npz \ |
| --input-fps 30 \ |
| --policy-onnx inputs/checkpoints/g1_tracker/model_step_020000_g1.onnx |
| ``` |
|
|
| See the [G1 tracker documentation](https://github.com/tany3059/ViT-H-release/tree/main/g1_tracker) |
| for the full command, robot assets, rendering options, and output format. |
|
|
| ## Other dependencies |
|
|
| The released configuration uses SAM3D image features. HMR2 is included as an |
| optional compatible image encoder. DPVO is only required when inference uses |
| `--use-dpvo`; SimpleVO remains the default camera-motion estimator. |
|
|
| SAM3D code and weights are not included in this checkpoint repository. Install |
| [Fast-SAM-3D-Body](https://github.com/yangtiming/Fast-SAM-3D-Body) under |
| `third-party/Fast-SAM-3D-Body` and obtain its weights through the upstream |
| project. Install optional [DPVO](https://github.com/princeton-vl/DPVO) under |
| `third-party/DPVO`. |
|
|
| External model files remain subject to their respective upstream licenses and |
| access terms. |
|
|
