feat(action): add human hand pose dataset#71
Open
hans-yang-tps wants to merge 2 commits into
Open
Conversation
Author
|
Need Michael(Zhengyu) Huang's help to review it. |
Signed-off-by: Hans Yang <hayang@nvidia.com>
hans-yang-tps
force-pushed
the
data/hand-pose-fd
branch
from
fa6744b to
38944bf
Compare
hans-yang-tps
changed the title
Collaborator
|
one more comment. Please fix. |
Author
|
Also removed Mecka keywords. |
# Conflicts: # cosmos_framework/data/generator/action/datasets/human_hand_pose_lerobot_dataset.py # cosmos_framework/data/generator/action/datasets/human_hand_pose_lerobot_dataset_test.py # cosmos_framework/data/generator/action/normalizer_stats/human_hand_pose_lerobot_stats.json # cosmos_framework/data/vfm/action/datasets/__init__.py
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
Add a human hand-pose LeRobot dataset definition for Cosmos3 forward dynamics.
Companion cookbook example: NVIDIA/cosmos#253.
The dataset converts camera, wrist, and fingertip poses into a 57-dimensional dual-hand action representation, aligns wrist poses to the camera frame, samples 30 FPS source data at 15 FPS, and applies validation-derived quantile normalization.
Changes
HumanHandPoseLeRobotDatasetwith multi-episode-safe frame indexing.hand_poseaction domain.Validation