| schema_version: "1.0" | |
| module: | |
| name: huginn | |
| version: "0.1.0" | |
| display_name: "HUGINN — OMG4 Optimized Minimal 4D Gaussian Splatting" | |
| description: "Optimized minimal 4D Gaussian splatting for efficient dynamic scene reconstruction" | |
| category: perception.scene_understanding | |
| license: Apache-2.0 | |
| paper: "OMG4: Optimized Minimal 4D Gaussian Splatting (Oct 2025)" | |
| capabilities: | |
| provides: | |
| - type: scene_reconstruction | |
| subtype: 4d_gaussian | |
| - type: dynamic_scene | |
| subtype: temporal_modeling | |
| interface: | |
| inputs: | |
| - name: rgb_images | |
| ros2_type: sensor_msgs/msg/Image | |
| - name: camera_poses | |
| ros2_type: geometry_msgs/msg/PoseArray | |
| outputs: | |
| - name: gaussian_field | |
| ros2_type: std_msgs/msg/String | |
| - name: rendered_view | |
| ros2_type: sensor_msgs/msg/Image | |
| hardware: | |
| platforms: | |
| - name: linux_x86 | |
| backends: [onnxruntime_cuda] | |
| - name: nvidia_jetson | |
| backends: [tensorrt] | |
| performance: | |
| profiles: | |
| - platform: linux_x86 | |
| model: huginn-base | |
| backend: onnxruntime_cuda | |
| fps: 5 | |
| latency_p50_ms: 200 | |
| safety: | |
| failure_mode: returns_empty | |
| timeout_ms: 5000 | |
| health_topic: /anima/huginn/health | |
| composability: | |
| pairs_well_with: | |
| - perception.slam | |
| - perception.tracking | |
| conflicts_with: [] | |
| container: | |
| image: ghcr.io/robotflow-labs/anima-huginn:0.1.0 | |
| port: 8095 | |