| hand: sharpa |
| 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 |
|
|
