File size: 1,875 Bytes
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output: ik_model/sharpa_motion_alignment
data:
unsupervised:
- manus_unsupervised
pair:
- asset: sharpa_open
source_weight: 1.5
finger_mask:
- - 1
- 1
- 1
- 1
- 1
- asset: sharpa_pinch
source_weight: 1.0
finger_mask:
- - 1
- 1
- 0
- 0
- 0
- - 1
- 0
- 1
- 0
- 0
- - 1
- 0
- 0
- 1
- 0
- - 1
- 0
- 0
- 0
- 1
- asset: sharpa_rest
source_weight: 1.0
finger_mask:
- - 1
- 1
- 1
- 1
- 1
geo: []
training_samples: 20000
voxel_size_m: 0.003
workspace:
robot_samples: 1000000
objective:
pair: 40.0
pair_position: 0.0
geo: 0.0
motion:
formula: motion_alignment
weight: 60.0
directions: 64
temperature: 0.05
perturb_min_m: 0.001
perturb_max_m: 0.011
conformal: 10.0
chamfer: 0.0
curvature:
weight: 100000000.0
step_m: 0.002
pinch:
weight: 750.0
threshold_m: 0.015
interfinger:
weight: 150.0
margin_scale: 0.3
min_margin_m: 0.001
collision:
weight: 20.0
margin_m: 0.0
optimization:
epochs: 500
batch_size: 2048
learning_rate: 0.0002
schedule: cosine
warmup_epochs: 10
ema_decay: 0.995
seed: 7
provenance:
assets_revision: main
asset_sha256:
data/neural_hand/human/manus/unsupervised.npz: 22cb50cab85fbb879fdd29f242dcb1ab75bc4753d3fade06fb9d8f462d7ef697
data/neural_hand/pairs/sharpa/open.npz: 7cfe77f35207c7590e6e321cfd9cdd703223280e8bc705ff3677ef50e998534f
data/neural_hand/pairs/sharpa/pinch.npz: 1261f29cc9e71e45510bdb369d118d4a608ec787ec4cded5097471e5596a5325
data/neural_hand/pairs/sharpa/rest.npz: 59b30c9ffed7483de6fab1a3019bc1e234534177e8ed3d345d6bbdbf919e384c
urdf_sha256: f2c0373420ff40ad0a57612afc298688b39b628c29647eda0791c9520859a542
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