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README.md

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+---
+license: other
+tags:
+  - 6dof-pose-estimation
+  - multi-view
+  - flow-matching
+  - robotics
+  - computer-vision
+library_name: pytorch
+---
+
+# mv-sam3d-6d — Multi-View 6D Object Pose Flow Model
+
+`mv-sam3d-6d` is a **multi-view 6D object pose** model built on top of the SAM-3D
+shape/decoder stack. Given multiple calibrated camera views of an object, it predicts
+the object's canonical shape (voxel), 6-DoF rotation, translation, and scale by
+**plain flow matching** in an anchor-frame canonical formulation. The repository
+publishes the full training checkpoint history for several runs, plus the
+`migrator/` package needed to reproduce data preparation and training.
+
+## Checkpoint families
+
+Checkpoints live under `checkpoints/<family>/` and are named to encode the training
+step, the data they were trained on, and the SSI mode:
+
+```
+step_{step:06d}__{trained-data}__{ssi-mode}.pt
+step_{step:06d}__{trained-data}__{ssi-mode}_optimizer.pt   (optimizer sidecar, 10k steps only)
+step_{step:06d}__{trained-data}__{ssi-mode}.pt.metadata.json
+```
+
+| Family | Path | Trained on | ssi_mode | Steps |
+|---|---|---|---|---|
+| **DexYCB base** | `checkpoints/dexycb-scene-ssi/` | DexYCB | scene | 10k – 100k (every 2k) |
+| Integrated scene-SSI | `checkpoints/integrated-scene-ssi/` | integrated 10 datasets | scene | 8k – 80k (every 2k) |
+| Integrated object-SSI | `checkpoints/integrated-object-ssi/` | integrated 10 datasets | object_centric | 8k – 80k (every 2k) |
+| DexYCB rot-aug | `checkpoints/dexycb-aug-scratch/` | DexYCB + rotation augmentation | scene | 8k – 34k (every 2k) |
+
+The **DexYCB-base** run is the originally-evaluated model; its **step-60k** checkpoint
+(`checkpoints/dexycb-scene-ssi/step_060000__dexycb__scene-ssi.pt`) is the reference
+model reported in evaluation.
+
+### Integrated dataset list
+
+The integrated runs are trained on 10 datasets:
+`dexycb, pace, graspnet, ycbv, hocap, h2o, hograspnet, dexh2r, contactpose`
+(held-out for evaluation: `housecat6d, graspnet-novel, ho3d`).
+
+## `ssi_mode` meaning
+
+`ssi_mode` selects the **shape-space input (SSI)** normalization frame used during
+training and inference:
+
+- **`scene`** — shape supervision / conditioning is expressed in the scene frame.
+- **`object_centric`** — shape supervision / conditioning is expressed in a
+  per-object canonical frame.
+
+The two integrated runs are identical except for this switch, so they can be compared
+head-to-head.
+
+## Optimizers
+
+Optimizer state is provided so training can be resumed:
+
+- For the **integrated** and **rot-aug** runs, a separate
+  `..._optimizer.pt` sidecar is uploaded **only at 10k-multiple steps**
+  (10k, 20k, 30k, …).
+- For the **DexYCB-base** run, some checkpoints bundle the optimizer state directly
+  inside the `.pt` file; these are uploaded as-is.
+
+Each checkpoint's `*.metadata.json` records `optimizer_included`, `optimizer_file`,
+`ssi_mode`, `trained_on`, and (where available) validation metrics
+(`shape_iou`, `rot_deg`, `trans_cm`) at that step.
+
+## `migrator/`
+
+The `migrator/` folder is the data + weights migration package: it contains the
+SAM-3D shape encoder/decoder/generator checkpoints, the DINOv2 backbone, canonical
+object caches, and the scripts used to download/prepare datasets and launch training.
+Start there to reproduce training or to run inference with the checkpoints above.
+
+## Usage
+
+Download a single checkpoint (example: the reference 60k DexYCB model):
+
+```python
+from huggingface_hub import hf_hub_download
+path = hf_hub_download(
+    "Ronaldo-GOAT/mv-sam3d-6d",
+    "checkpoints/dexycb-scene-ssi/step_060000__dexycb__scene-ssi.pt",
+)
+```

checkpoints/integrated-object-ssi/step_008000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 8000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0306,
+    "rot_deg": 118.3023,
+    "trans_cm": 6.0495
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_010000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 10000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": true,
+  "optimizer_file": "step_010000__integrated-10ds__object-ssi_optimizer.pt",
+  "val_metrics": {
+    "shape_iou": 0.0634,
+    "rot_deg": 126.3808,
+    "trans_cm": 8.3824
+  },
+  "note": "separate optimizer sidecar uploaded (10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_012000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 12000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0444,
+    "rot_deg": 93.4361,
+    "trans_cm": 8.4857
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_014000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 14000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0334,
+    "rot_deg": 101.8457,
+    "trans_cm": 10.8457
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_016000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 16000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0318,
+    "rot_deg": 103.3895,
+    "trans_cm": 6.2653
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_018000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 18000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0298,
+    "rot_deg": 91.2272,
+    "trans_cm": 6.4533
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_020000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 20000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": true,
+  "optimizer_file": "step_020000__integrated-10ds__object-ssi_optimizer.pt",
+  "val_metrics": {
+    "shape_iou": 0.0294,
+    "rot_deg": 115.5788,
+    "trans_cm": 7.8232
+  },
+  "note": "separate optimizer sidecar uploaded (10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_022000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 22000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0371,
+    "rot_deg": 82.3152,
+    "trans_cm": 7.573
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_024000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 24000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0333,
+    "rot_deg": 94.8255,
+    "trans_cm": 5.3165
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_026000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 26000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0316,
+    "rot_deg": 108.8635,
+    "trans_cm": 8.1935
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_028000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 28000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0253,
+    "rot_deg": 101.4198,
+    "trans_cm": 4.1132
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_030000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 30000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": true,
+  "optimizer_file": "step_030000__integrated-10ds__object-ssi_optimizer.pt",
+  "val_metrics": {
+    "shape_iou": 0.0304,
+    "rot_deg": 97.722,
+    "trans_cm": 4.524
+  },
+  "note": "separate optimizer sidecar uploaded (10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_032000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 32000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0318,
+    "rot_deg": 145.7717,
+    "trans_cm": 6.8097
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_034000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 34000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0363,
+    "rot_deg": 105.5069,
+    "trans_cm": 3.5567
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_036000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 36000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0291,
+    "rot_deg": 107.3744,
+    "trans_cm": 4.5559
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_038000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 38000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0345,
+    "rot_deg": 118.0618,
+    "trans_cm": 4.4218
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_040000__integrated-10ds__object-ssi.pt.metadata.json

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+{
+  "step": 40000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": true,
+  "optimizer_file": "step_040000__integrated-10ds__object-ssi_optimizer.pt",
+  "val_metrics": {
+    "shape_iou": 0.0376,
+    "rot_deg": 100.4356,
+    "trans_cm": 3.6363
+  },
+  "note": "separate optimizer sidecar uploaded (10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_042000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 42000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0337,
+    "rot_deg": 86.0183,
+    "trans_cm": 3.6138
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_044000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 44000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0273,
+    "rot_deg": 96.5812,
+    "trans_cm": 3.6956
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_046000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 46000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.025,
+    "rot_deg": 90.9512,
+    "trans_cm": 2.9385
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_048000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 48000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0329,
+    "rot_deg": 89.9461,
+    "trans_cm": 4.0873
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_050000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 50000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": true,
+  "optimizer_file": "step_050000__integrated-10ds__object-ssi_optimizer.pt",
+  "val_metrics": {
+    "shape_iou": 0.0298,
+    "rot_deg": 90.502,
+    "trans_cm": 3.5664
+  },
+  "note": "separate optimizer sidecar uploaded (10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_052000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 52000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0311,
+    "rot_deg": 88.1021,
+    "trans_cm": 4.0094
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_054000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 54000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0217,
+    "rot_deg": 92.3517,
+    "trans_cm": 3.6322
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_056000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 56000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.038,
+    "rot_deg": 115.8226,
+    "trans_cm": 3.1694
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_058000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 58000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0314,
+    "rot_deg": 105.3135,
+    "trans_cm": 3.9926
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_060000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 60000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": true,
+  "optimizer_file": "step_060000__integrated-10ds__object-ssi_optimizer.pt",
+  "val_metrics": {
+    "shape_iou": 0.0265,
+    "rot_deg": 91.1372,
+    "trans_cm": 2.5536
+  },
+  "note": "separate optimizer sidecar uploaded (10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_062000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 62000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.029,
+    "rot_deg": 93.8164,
+    "trans_cm": 2.8657
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_064000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 64000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0275,
+    "rot_deg": 93.2238,
+    "trans_cm": 2.4318
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_066000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 66000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.027,
+    "rot_deg": 91.3718,
+    "trans_cm": 3.2247
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_068000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 68000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0346,
+    "rot_deg": 90.0491,
+    "trans_cm": 3.2261
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_070000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 70000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": true,
+  "optimizer_file": "step_070000__integrated-10ds__object-ssi_optimizer.pt",
+  "val_metrics": {
+    "shape_iou": 0.0286,
+    "rot_deg": 91.9271,
+    "trans_cm": 3.0573
+  },
+  "note": "separate optimizer sidecar uploaded (10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_072000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 72000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0289,
+    "rot_deg": 92.5209,
+    "trans_cm": 3.0186
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_074000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 74000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0277,
+    "rot_deg": 90.395,
+    "trans_cm": 2.7917
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_076000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 76000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0277,
+    "rot_deg": 90.6883,
+    "trans_cm": 2.5871
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_078000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 78000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0291,
+    "rot_deg": 89.5044,
+    "trans_cm": 2.9123
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-object-ssi/step_080000__integrated-10ds__object-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 80000,
+  "run": "integrated-object-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "object_centric",
+  "optimizer_included": true,
+  "optimizer_file": "step_080000__integrated-10ds__object-ssi_optimizer.pt",
+  "val_metrics": {
+    "shape_iou": 0.029,
+    "rot_deg": 89.3273,
+    "trans_cm": 2.6644
+  },
+  "note": "separate optimizer sidecar uploaded (10k checkpoint)"
+}

checkpoints/integrated-scene-ssi/step_008000__integrated-10ds__scene-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 8000,
+  "run": "integrated-scene-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "scene",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0306,
+    "rot_deg": 119.412,
+    "trans_cm": 6.6361
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-scene-ssi/step_012000__integrated-10ds__scene-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 12000,
+  "run": "integrated-scene-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "scene",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0509,
+    "rot_deg": 119.8427,
+    "trans_cm": 7.1983
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-scene-ssi/step_014000__integrated-10ds__scene-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 14000,
+  "run": "integrated-scene-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "scene",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0415,
+    "rot_deg": 107.6768,
+    "trans_cm": 6.6278
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-scene-ssi/step_022000__integrated-10ds__scene-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 22000,
+  "run": "integrated-scene-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "scene",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0292,
+    "rot_deg": 95.0888,
+    "trans_cm": 7.4382
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-scene-ssi/step_024000__integrated-10ds__scene-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 24000,
+  "run": "integrated-scene-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "scene",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0299,
+    "rot_deg": 92.462,
+    "trans_cm": 6.9203
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-scene-ssi/step_030000__integrated-10ds__scene-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 30000,
+  "run": "integrated-scene-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "scene",
+  "optimizer_included": true,
+  "optimizer_file": "step_030000__integrated-10ds__scene-ssi_optimizer.pt",
+  "val_metrics": {
+    "shape_iou": 0.0516,
+    "rot_deg": 90.4005,
+    "trans_cm": 5.0226
+  },
+  "note": "separate optimizer sidecar uploaded (10k checkpoint)"
+}

checkpoints/integrated-scene-ssi/step_042000__integrated-10ds__scene-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 42000,
+  "run": "integrated-scene-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "scene",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0248,
+    "rot_deg": 92.9885,
+    "trans_cm": 4.2709
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-scene-ssi/step_044000__integrated-10ds__scene-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 44000,
+  "run": "integrated-scene-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "scene",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0244,
+    "rot_deg": 90.1015,
+    "trans_cm": 4.2023
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-scene-ssi/step_056000__integrated-10ds__scene-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 56000,
+  "run": "integrated-scene-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "scene",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0321,
+    "rot_deg": 140.796,
+    "trans_cm": 5.6773
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}

checkpoints/integrated-scene-ssi/step_060000__integrated-10ds__scene-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 60000,
+  "run": "integrated-scene-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "scene",
+  "optimizer_included": true,
+  "optimizer_file": "step_060000__integrated-10ds__scene-ssi_optimizer.pt",
+  "val_metrics": {
+    "shape_iou": 0.0263,
+    "rot_deg": 112.9837,
+    "trans_cm": 3.5674
+  },
+  "note": "separate optimizer sidecar uploaded (10k checkpoint)"
+}

checkpoints/integrated-scene-ssi/step_070000__integrated-10ds__scene-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 70000,
+  "run": "integrated-scene-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "scene",
+  "optimizer_included": true,
+  "optimizer_file": "step_070000__integrated-10ds__scene-ssi_optimizer.pt",
+  "val_metrics": {
+    "shape_iou": 0.0324,
+    "rot_deg": 109.452,
+    "trans_cm": 2.982
+  },
+  "note": "separate optimizer sidecar uploaded (10k checkpoint)"
+}

checkpoints/integrated-scene-ssi/step_074000__integrated-10ds__scene-ssi.pt.metadata.json

@@ -0,0 +1,14 @@
+{
+  "step": 74000,
+  "run": "integrated-scene-ssi",
+  "trained_on": "integrated 10 datasets: dexycb,pace,graspnet,ycbv,hocap,h2o,hograspnet,dexh2r,contactpose (held-out: housecat6d, graspnet-novel, ho3d)",
+  "ssi_mode": "scene",
+  "optimizer_included": false,
+  "optimizer_file": null,
+  "val_metrics": {
+    "shape_iou": 0.0282,
+    "rot_deg": 102.2193,
+    "trans_cm": 2.4657
+  },
+  "note": "model weights only; optimizer omitted (not a 10k checkpoint)"
+}