Publish annotation model assets with hashes, licenses, and GitHub script links

.gitattributes

@@ -35,3 +35,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
 mediapipe/hand_landmarker.task filter=lfs diff=lfs merge=lfs -text
 sam3.1/assets/sam3.1_diagram.png filter=lfs diff=lfs merge=lfs -text
+mediapipe/pose_landmarker_full.task filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,31 +1,89 @@
 ---
-private: true
+license: other
+license_name: component-specific-licenses
+license_link: https://github.com/pm1255/human-robot-transfer/blob/main/docs/MODEL_RELEASE.md
+language:
+- en
+- zh
+tags:
+- robotics
+- hand-pose-estimation
+- image-segmentation
+- depth-estimation
+- model-collection
 ---
 
-# Embodied Data Loop Models
+# Embodied Data Loop — Model Assets
 
-Private model archive for the data closed-loop internship work. These weights
-support human-video annotation, object segmentation, hand landmark extraction,
-hand mesh fitting, and monocular geometry estimation.
+**配套代码 / Companion code: [pm1255/human-robot-transfer](https://github.com/pm1255/human-robot-transfer).**
 
-## Contents
+This repository collects third-party pretrained assets used by the Human ↔ Robot
+Transfer Lab annotation pipelines. These are upstream models, not a newly
+trained end-to-end model. Each component retains its authorship and license.
+The current file list and `manifest.json` describe which files have actually
+been included; a model collection is not loaded through one Transformers call.
 
-- sam3.1/: SAM 3.1 multiplex checkpoint and tokenizer/configuration files.
-- hamer/: HaMeR hand mesh checkpoint and MANO companion parameters.
-- mediapipe/: MediaPipe hand landmarker task file.
-- moge-3-vitl/: MoGe-3 ViT-L model checkpoint.
+## 从模型找到 GitHub 脚本
 
-## Provenance and scope
+| 模型 / Component | 配套 GitHub 脚本 | 功能 |
+|---|---|---|
+| MediaPipe | [tools/run.py](https://github.com/pm1255/human-robot-transfer/blob/main/tools/run.py), [run_mediapipe_hand.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/v2/run_mediapipe_hand.py) | 手/人体关键点与基础检测 |
+| HaMeR | [hand_mesh/infer.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/hand_mesh/infer.py), [identity.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/hand_mesh/identity.py), [render.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/hand_mesh/render.py) | 三维手型、身份修复与表面渲染 |
+| SAM 3.1 | [sam3_video.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/object_annotation/sam3_video.py), [unified_multimodal.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/object_annotation/unified_multimodal.py) | 视频分割与掩码派生框 |
+| MoGe-3 ViT-L | [depth_video.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/object_annotation/depth_video.py) | 单目深度 |
+| FoundationPose | [foundation_cloth.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/object_annotation/foundation_cloth.py) | 物体位姿 / 衣物刚体代理试验 |
+| 质量检查（无独立权重） | [confidence.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/object_annotation/confidence.py), [batch30_validate.py](https://github.com/pm1255/human-robot-transfer/blob/main/local_annotation_lab/unified/batch30_validate.py) | 一致性筛查与完整性检查 |
+| 统一标注网页 | [local_annotation_lab](https://github.com/pm1255/human-robot-transfer/tree/main/local_annotation_lab), [serve_hand_review.py](https://github.com/pm1255/human-robot-transfer/blob/main/tools/serve_hand_review.py) | 查看原视频及各类标注 |
 
-The files were collected from the Yingbo DevSpace mounted model cache and the
-human-robot-transfer project model cache. No datasets, videos, annotation
-outputs, API keys, or source-code repositories are included.
+## Download and verify
 
-## License and redistribution
+```bash
+git clone https://github.com/pm1255/human-robot-transfer.git
+cd human-robot-transfer
+python -m pip install huggingface_hub
+python tools/model_assets.py download --component mediapipe --component hamer --component sam31 --component moge3 --component foundationpose
+python tools/model_assets.py check
+```
 
-The SAM 3.1 LICENSE file is preserved verbatim under sam3.1/LICENSE. SAM 3.1
-materials must be used and redistributed under that license. HaMeR, MediaPipe,
-and MoGe remain subject to their respective upstream licenses and model terms.
-This repository is private and intended for authorized project use only.
+Add `--revision <Hub commit>` to pin this repository version. The download tool
+uses the SHA-256 manifest and installs weights/configuration files into the
+paths expected by the GitHub scripts. This validates file integrity, not model
+accuracy. See the [complete setup and usage guide](https://github.com/pm1255/human-robot-transfer/blob/main/docs/MODEL_RELEASE.md)
+for environment requirements and executable examples.
 
-File sizes and SHA-256 checksums are recorded in model_manifest.json.
+## Coverage and required external assets
+
+- The core asset inventory is approximately 7.97 GB, excluding environments,
+  raw datasets, MANO, optional VACE, and robot meshes.
+- HaMeR needs its checkpoint, adjacent `model_config.yaml`, mean parameters,
+  and **MANO_RIGHT.pkl obtained separately by the user** from
+  [the MANO website](https://mano.is.tue.mpg.de/). MANO is not redistributed here.
+- FoundationPose requires both networks and their `config.yml` files.
+- Optional robot-to-human video editing uses the complete official
+  [Wan-AI/Wan2.1-VACE-1.3B](https://huggingface.co/Wan-AI/Wan2.1-VACE-1.3B)
+  snapshot. [setup_vace.sh](https://github.com/pm1255/human-robot-transfer/blob/main/scripts/setup_vace.sh)
+  obtains it from the original repository.
+- Aloha/G1 retargeting additionally requires robot geometry assets described
+  in [QUICKSTART.md](https://github.com/pm1255/human-robot-transfer/blob/main/docs/QUICKSTART.md).
+- This project does **not** provide newly trained general semantic segmentation
+  of action timelines, physical contact, affordance, or grasp-prediction weights.
+  Existing timeline labels and 2D contact cues are sample-specific annotations
+  and rules, not ground truth or a separate trained model.
+
+## Licenses and attribution
+
+There is no single MIT license for all weights in this collection. Original
+license texts accompany the collection in `licenses/`.
+
+| Component | Original source | License |
+|---|---|---|
+| MediaPipe | [Google MediaPipe](https://github.com/google-ai-edge/mediapipe) | Apache-2.0 |
+| HaMeR | [geopavlakos/hamer](https://github.com/geopavlakos/hamer), checkpoint provenance [Leo-TX/hamer](https://huggingface.co/Leo-TX/hamer) | MIT; MANO separate |
+| MoGe-3 | [Ruicheng/moge-3-vitl](https://huggingface.co/Ruicheng/moge-3-vitl) | MIT model card; dependencies retain their own licenses |
+| SAM 3.1 | [facebook/sam3.1](https://huggingface.co/facebook/sam3.1) | SAM License |
+| FoundationPose | [NVlabs/FoundationPose](https://github.com/NVlabs/FoundationPose) | NVIDIA Source Code License, non-commercial research/evaluation only |
+
+The project's own scripts are MIT-licensed. Predictions can contain missed
+detections, incorrect identity/segmentation, uncalibrated monocular geometry,
+and uncertain semantic boundaries. Quality scores are screening evidence, not
+calibrated probabilities or automatic training approval.

archive/README-before-7191b0ff4ff5c9246be77d7da0ef23db111a9c68.md

@@ -0,0 +1,31 @@
+---
+private: true
+---
+
+# Embodied Data Loop Models
+
+Private model archive for the data closed-loop internship work. These weights
+support human-video annotation, object segmentation, hand landmark extraction,
+hand mesh fitting, and monocular geometry estimation.
+
+## Contents
+
+- sam3.1/: SAM 3.1 multiplex checkpoint and tokenizer/configuration files.
+- hamer/: HaMeR hand mesh checkpoint and MANO companion parameters.
+- mediapipe/: MediaPipe hand landmarker task file.
+- moge-3-vitl/: MoGe-3 ViT-L model checkpoint.
+
+## Provenance and scope
+
+The files were collected from the Yingbo DevSpace mounted model cache and the
+human-robot-transfer project model cache. No datasets, videos, annotation
+outputs, API keys, or source-code repositories are included.
+
+## License and redistribution
+
+The SAM 3.1 LICENSE file is preserved verbatim under sam3.1/LICENSE. SAM 3.1
+materials must be used and redistributed under that license. HaMeR, MediaPipe,
+and MoGe remain subject to their respective upstream licenses and model terms.
+This repository is private and intended for authorized project use only.
+
+File sizes and SHA-256 checksums are recorded in model_manifest.json.

archive/model_manifest-before-7191b0ff4ff5c9246be77d7da0ef23db111a9c68.json

@@ -0,0 +1,116 @@
+{
+  "repository": "erwtwert/embodied-data-loop-models",
+  "visibility": "private",
+  "models": [
+    {
+      "path": "README.md",
+      "size_bytes": 1168,
+      "sha256": "f64bc54c04c9c25f71504036c76004646e9d74147c723c07609131a030a0d43b"
+    },
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+      "size_bytes": 453,
+      "sha256": "b3dfe48874bb4d542cbae81f9618ba790fa62faf93f1245a87761dc1a505074b"
+    },
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+      "size_bytes": 2689536166,
+      "sha256": "e5cc06f294d88a92dee24e603480aab04de532b49f0e08200804ee7d90e16f53"
+    },
+    {
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+      "size_bytes": 1178,
+      "sha256": "efc0ec58e4a5cef78f3abfb4e8f91623b8950be9eff8b8e0dbb0d036ebc63988"
+    },
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+      "sha256": "85f824989f0ccb1e3ff1a72064943be3bf2b555c6759ae06dba209842db97200"
+    },
+    {
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+      "size_bytes": 343,
+      "sha256": "5daf540eae4c554d91f5369ad0425a45dfdc8b9ed479f7abb7225da1b25945ca"
+    },
+    {
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+      "size_bytes": 7819105,
+      "sha256": "fbc2a30080c3c557093b5ddfc334698132eb341044ccee322ccf8bcf3607cde1"
+    },
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+    {
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+    }
+  ]
+}

foundationpose/2023-10-28-18-33-37/config.yml

@@ -0,0 +1,39 @@
+lr: 0.0001
+c_in: 6
+zfar: 'Infinity'
+debug: null
+w_rot: 0.1
+n_view: 1
+run_id: null
+use_BN: true
+rot_rep: axis_angle
+ckpt_dir: null
+exp_name: 2023-10-28-18-33-37
+save_dir: /tmp/2023-10-28-18-33-37/
+loss_type: l2
+optimizer: adam
+trans_rep: tracknet
+batch_size: 64
+crop_ratio: 1.2
+use_normal: false
+BN_momentum: 0.1
+max_num_key: null
+warmup_step: -1
+input_resize:
+- 160
+- 160
+max_step_val: 1000
+normal_uint8: false
+vis_interval: 1000
+weight_decay: 0
+n_max_objects: null
+normalize_xyz: true
+clip_grad_norm: 'Infinity'
+rot_normalizer: 0.3490658503988659
+trans_normalizer:
+- 0.019999999552965164
+- 0.019999999552965164
+- 0.05000000074505806
+max_step_per_epoch: 25000
+val_epoch_interval: 10
+n_dataloader_workers: 60

foundationpose/2023-10-28-18-33-37/model_best.pth

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+oid sha256:774700586ddc435d408fc01c9809c43e151232936369dfbea0f0f964ba471d60
+size 68220109

foundationpose/2024-01-11-20-02-45/config.yml

@@ -0,0 +1,41 @@
+lr: 0.0001
+c_in: 6
+zfar: 'Infinity'
+debug: null
+n_view: 1
+run_id: 3wy8qqex
+use_BN: true
+exp_name: 2024-01-11-20-02-45
+n_epochs: 62
+save_dir: /home/bowenw/debug/2024-01-11-20-02-45/
+use_mask: false
+loss_type: pairwise_valid
+optimizer: adam
+batch_size: 64
+crop_ratio: 1.1
+enable_amp: true
+use_normal: false
+max_num_key: null
+warmup_step: -1
+input_resize:
+- 160
+- 160
+max_step_val: 1000
+vis_interval: 1000
+weight_decay: 0
+normalize_xyz: true
+resume_run_id: null
+clip_grad_norm: 'Infinity'
+lr_epoch_decay: 500
+render_backend: nvdiffrast
+train_num_pair: 5
+lr_decay_epochs:
+- 50
+n_epochs_warmup: 1
+make_pair_online: false
+gradient_max_norm: 'Infinity'
+max_step_per_epoch: 10000
+n_rendering_workers: 1
+save_epoch_interval: 100
+n_dataloader_workers: 100
+split_objects_across_gpus: true

foundationpose/2024-01-11-20-02-45/model_best.pth

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+size 190229389

foundationpose/README.md

@@ -0,0 +1,7 @@
+# FoundationPose refiner and scorer
+
+Upstream: https://github.com/NVlabs/FoundationPose . Original weight download: https://drive.google.com/drive/folders/1DFezOAD0oD1BblsXVxqDsl8fj0qzB82i . Copyright NVIDIA Corporation and affiliates.
+
+Both `2023-10-28-18-33-37` (refiner) and `2024-01-11-20-02-45` (scorer) contain `model_best.pth` and `config.yml`. These files use the [NVIDIA Source Code License](../licenses/FoundationPose.txt), limited to non-commercial research/evaluation; they are not covered by the companion project's MIT license.
+
+Companion GitHub script: [foundation_cloth.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/object_annotation/foundation_cloth.py). [Setup and usage](https://github.com/pm1255/human-robot-transfer/blob/main/docs/MODEL_RELEASE.md). Cloth output is a rigid global proxy, not deformable-object ground truth.

hamer/README.md

@@ -1,11 +1,9 @@
 # HaMeR hand mesh checkpoint
 
-This checkpoint is used by the human-video hand annotation pipeline.
+Upstream: https://github.com/geopavlakos/hamer . Checkpoint source: https://huggingface.co/Leo-TX/hamer . These original files retain the upstream MIT license, reproduced in [HaMeR.txt](../licenses/HaMeR.txt).
 
-- Upstream project: https://github.com/geopavlakos/hamer
-- Original checkpoint source: https://huggingface.co/Leo-TX/hamer
-- Companion configuration: model_config.yaml
-- Companion MANO mean parameters: mano_mean_params.npz
+Companion GitHub scripts: [infer.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/hand_mesh/infer.py), [identity.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/hand_mesh/identity.py), [render.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/hand_mesh/render.py).
 
-The upstream HaMeR project and model terms apply. This archive does not include
-the upstream source repository or training data.
+The Hub keeps `hamer.ckpt`, `model_config.yaml`, and `mano_mean_params.npz` in this folder. The [download tool](https://github.com/pm1255/human-robot-transfer/blob/main/tools/model_assets.py) maps them to the nested installation paths expected by HaMeR. `MANO_RIGHT.pkl` must be obtained separately from https://mano.is.tue.mpg.de/ and is not distributed here.
+
+[Setup and usage](https://github.com/pm1255/human-robot-transfer/blob/main/docs/MODEL_RELEASE.md). Hand meshes are predictions, not calibrated 3D truth.

licenses/FoundationPose.txt

@@ -0,0 +1,94 @@
+Copyright (c) 2022-Present, NVIDIA Corporation & affiliates. All rights reserved.
+
+
+=======================================================================
+
+1. Definitions
+
+"Licensor" means any person or entity that distributes its Work.
+
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+this License.
+
+"Work" means the Software and any additions to or derivative works of
+the Software that are made available under this License.
+
+The terms "reproduce," "reproduction," "derivative works," and
+"distribution" have the meaning as provided under U.S. copyright law;
+provided, however, that for the purposes of this License, derivative
+works shall not include works that remain separable from, or merely
+link (or bind by name) to the interfaces of, the Work.
+
+Works, including the Software, are "made available" under this License
+by including in or with the Work either (a) a copyright notice
+referencing the applicability of this License to the Work, or (b) a
+copy of this License.
+
+2. License Grants
+
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+    works in any form.
+
+3. Limitations
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+    if (a) you do so under this License, (b) you include a complete
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+=======================================================================

licenses/HaMeR.txt

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 UC Regents, Georgios Pavlakos
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

licenses/MediaPipe.txt

@@ -0,0 +1,218 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
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+
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+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
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+      editorial revisions, annotations, elaborations, or other modifications
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+      "Contribution" shall mean any work of authorship, including
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+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
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+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
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+   3. Grant of Patent License. Subject to the terms and conditions of
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+
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+
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+
+      (d) If the Work includes a "NOTICE" text file as part of its
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+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
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+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
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+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
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+      Work (including but not limited to damages for loss of goodwill,
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+
+   9. Accepting Warranty or Additional Liability. While redistributing
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+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
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+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
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+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+===========================================================================
+For files under tasks/cc/text/language_detector/custom_ops/utils/utf/
+===========================================================================
+/*
+ * The authors of this software are Rob Pike and Ken Thompson.
+ *              Copyright (c) 2002 by Lucent Technologies.
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose without fee is hereby granted, provided that this entire notice
+ * is included in all copies of any software which is or includes a copy
+ * or modification of this software and in all copies of the supporting
+ * documentation for such software.
+ * THIS SOFTWARE IS BEING PROVIDED "AS IS", WITHOUT ANY EXPRESS OR IMPLIED
+ * WARRANTY.  IN PARTICULAR, NEITHER THE AUTHORS NOR LUCENT TECHNOLOGIES MAKE ANY
+ * REPRESENTATION OR WARRANTY OF ANY KIND CONCERNING THE MERCHANTABILITY
+ * OF THIS SOFTWARE OR ITS FITNESS FOR ANY PARTICULAR PURPOSE.
+ */

licenses/MoGe.txt

@@ -0,0 +1,224 @@
+    MIT License
+
+    Copyright (c) Microsoft Corporation.
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in all
+    copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+    SOFTWARE
+
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

licenses/SAM3.1.txt

@@ -0,0 +1,61 @@
+SAM License
+Last Updated: November 19, 2025
+
+“Agreement” means the terms and conditions for use, reproduction, distribution and modification of the SAM Materials set forth herein.
+
+
+“SAM Materials” means, collectively, Documentation and the models, software and algorithms, including machine-learning model code, trained model weights, inference-enabling code, training-enabling code, fine-tuning enabling code, and other elements of the foregoing distributed by Meta and made available under this Agreement.
+
+“Documentation” means the specifications, manuals and documentation accompanying
+SAM Materials distributed by Meta.
+
+
+“Licensee” or “you” means you, or your employer or any other person or entity (if you are entering into this Agreement on such person or entity’s behalf), of the age required under applicable laws, rules or regulations to provide legal consent and that has legal authority to bind your employer or such other person or entity if you are entering in this Agreement on their behalf.
+
+
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+
+
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+
+
+“Trade Controls” means any of the following: Sanctions and applicable export and import controls.
+
+By using or distributing any portion or element of the SAM Materials, you agree to be bound by this Agreement.
+
+
+1. License Rights and Redistribution.
+
+
+a. Grant of Rights. You are granted a non-exclusive, worldwide, non-transferable and royalty-free limited license under Meta’s intellectual property or other rights owned by Meta embodied in the SAM Materials to use, reproduce, distribute, copy, create derivative works of, and make modifications to the SAM Materials.
+
+b. Redistribution and Use.
+i. Distribution of SAM Materials, and any derivative works thereof, are subject to the terms of this Agreement. If you distribute or make the SAM Materials, or any derivative works thereof, available to a third party, you may only do so under the terms of this Agreement and you shall provide a copy of this Agreement with any such SAM Materials.
+
+
+ii.  If you submit for publication the results of research you perform on, using, or otherwise in connection with SAM Materials, you must acknowledge the use of SAM Materials in your publication.
+
+
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+iv. Your use of the SAM Materials will not involve or encourage others to reverse engineer, decompile or discover the underlying components of the SAM Materials.
+v. You are not the target of Trade Controls and your use of SAM Materials must comply with Trade Controls. You agree not to use, or permit others to use, SAM Materials for any activities subject to the International Traffic in Arms Regulations (ITAR) or end uses prohibited by Trade Controls, including those related to military or warfare purposes, nuclear industries or applications, espionage, or the development or use of guns or illegal weapons.
+2. User Support. Your use of the SAM Materials is done at your own discretion; Meta does not process any information nor provide any service in relation to such use.  Meta is under no obligation to provide any support services for the SAM Materials. Any support provided is “as is”, “with all faults”, and without warranty of any kind.
+
+
+3. Disclaimer of Warranty. UNLESS REQUIRED BY APPLICABLE LAW, THE SAM MATERIALS AND ANY OUTPUT AND RESULTS THEREFROM ARE PROVIDED ON AN “AS IS” BASIS, WITHOUT WARRANTIES OF ANY KIND, AND META DISCLAIMS ALL WARRANTIES OF ANY KIND, BOTH EXPRESS AND IMPLIED, INCLUDING, WITHOUT LIMITATION, ANY WARRANTIES OF TITLE, NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE. YOU ARE SOLELY RESPONSIBLE FOR DETERMINING THE APPROPRIATENESS OF USING OR REDISTRIBUTING THE SAM MATERIALS AND ASSUME ANY RISKS ASSOCIATED WITH YOUR USE OF THE SAM MATERIALS AND ANY OUTPUT AND RESULTS.
+
+4. Limitation of Liability. IN NO EVENT WILL META OR ITS AFFILIATES BE LIABLE UNDER ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, TORT, NEGLIGENCE, PRODUCTS LIABILITY, OR OTHERWISE, ARISING OUT OF THIS AGREEMENT, FOR ANY LOST PROFITS OR ANY DIRECT OR INDIRECT, SPECIAL, CONSEQUENTIAL, INCIDENTAL, EXEMPLARY OR PUNITIVE DAMAGES, EVEN IF META OR ITS AFFILIATES HAVE BEEN ADVISED OF THE POSSIBILITY OF ANY OF THE FOREGOING.
+
+5. Intellectual Property.
+
+
+a. Subject to Meta’s ownership of SAM Materials and derivatives made by or for Meta, with respect to any derivative works and modifications of the SAM Materials that are made by you, as between you and Meta, you are and will be the owner of such derivative works and modifications.
+
+b. If you institute litigation or other proceedings against Meta or any entity (including a cross-claim or counterclaim in a lawsuit) alleging that the SAM Materials, outputs or results, or any portion of any of the foregoing, constitutes infringement of intellectual property or other rights owned or licensable by you, then any licenses granted to you under this Agreement shall terminate as of the date such litigation or claim is filed or instituted. You will indemnify and hold harmless Meta from and against any claim by any third party arising out of or related to your use or distribution of the SAM Materials.
+
+6. Term and Termination. The term of this Agreement will commence upon your acceptance of this Agreement or access to the SAM Materials and will continue in full force and effect until terminated in accordance with the terms and conditions herein. Meta may terminate this Agreement if you are in breach of any term or condition of this Agreement. Upon termination of this Agreement, you shall delete and cease use of the SAM Materials. Sections 3, 4 and 7 shall survive the termination of this Agreement.
+
+7. Governing Law and Jurisdiction. This Agreement will be governed and construed under the laws of the State of California without regard to choice of law principles, and the UN Convention on Contracts for the International Sale of Goods does not apply to this Agreement. The courts of California shall have exclusive jurisdiction of any dispute arising out of this Agreement.
+
+
+8. Modifications and Amendments. Meta may modify this Agreement from time to time; provided that they are similar in spirit to the current version of the Agreement, but may differ in detail to address new problems or concerns. All such changes will be effective immediately. Your continued use of the SAM Materials after any modification to this Agreement constitutes your agreement to such modification. Except as provided in this Agreement, no modification or addition to any provision of this Agreement will be binding unless it is in writing and signed by an authorized representative of both you and Meta.

manifest.json

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+      "delivery": "mirror"
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+  ],
+  "external_components": [
+    {
+      "component": "vace",
+      "purpose": "Optional robot-to-human video editing",
+      "repository": "Wan-AI/Wan2.1-VACE-1.3B",
+      "revision": "574e6a744642ce3bee319afc31496b88bde8aac4",
+      "license": "Apache-2.0",
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+      "script": "scripts/setup_vace.sh"
+    },
+    {
+      "component": "robot_assets",
+      "purpose": "Optional Aloha/G1 rendering and retargeting",
+      "repositories": [
+        "TianxingChen/RoboTwin2.0",
+        "https://github.com/unitreerobotics/unitree_mujoco"
+      ],
+      "delivery": "upstream",
+      "documentation": "docs/QUICKSTART.md"
+    }
+  ]
+}

mediapipe/README.md

@@ -1,8 +1,5 @@
-# MediaPipe hand landmarker
+# MediaPipe detection models
 
-This task model is used for hand landmark extraction before HaMeR mesh fitting.
+This folder contains Hand Landmarker, Pose Landmarker Full, and EfficientDet Lite0. Upstream: https://ai.google.dev/edge/mediapipe/solutions/vision . Apache-2.0 license: [MediaPipe.txt](../licenses/MediaPipe.txt).
 
-- Upstream documentation: https://ai.google.dev/edge/mediapipe/solutions/vision/hand_landmarker
-
-MediaPipe and the model's upstream terms apply. This repository stores the
-runtime task file only; it does not include annotation data.
+Companion GitHub scripts: [tools/run.py](https://github.com/pm1255/human-robot-transfer/blob/main/tools/run.py), [run_mediapipe_hand.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/v2/run_mediapipe_hand.py). [Download and verify](https://github.com/pm1255/human-robot-transfer/blob/main/tools/model_assets.py) using the repository manifest. No annotation data is included.

mediapipe/efficientdet_lite0.tflite

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+size 13836895

mediapipe/pose_landmarker_full.task

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+oid sha256:5134a3aad27a58b93da0088d431f366da362b44e3ccfbe3462b3827a839011b1
+size 9398198

model_manifest.json

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 {
   "repository": "erwtwert/embodied-data-loop-models",
-  "visibility": "private",
+  "canonical_manifest": "manifest.json",
+  "scope": "Core mirrored model assets; MANO and optional upstream models are excluded",
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 }

moge-3-vitl/README.md

@@ -1,9 +1,5 @@
 # MoGe-3 ViT-L depth model
 
-This model is used by the multimodal human-video annotation pipeline for
-monocular geometry/depth estimation.
+Upstream model: https://huggingface.co/Ruicheng/moge-3-vitl . Pinned source revision: `184008f877d7ad1ad4c2cd2182a9bd1f63d0e5be`. The original model card specifies MIT; dependency code retains its own licenses. [License notices](../licenses/MoGe.txt).
 
-- Upstream model: https://huggingface.co/Ruicheng/moge-3-vitl
-- Source revision used by the pipeline: 184008f877d7ad1ad4c2cd2182a9bd1f63d0e5be
-
-The upstream MoGe model license and terms apply.
+Companion GitHub script: [depth_video.py](https://github.com/pm1255/human-robot-transfer/blob/main/human2robot/object_annotation/depth_video.py). [Setup and usage](https://github.com/pm1255/human-robot-transfer/blob/main/docs/MODEL_RELEASE.md). Requires CUDA/FlexGEMM; monocular depth and scale are not independently calibrated.