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dexgarmentlab-folding-lifting-dynamics-gps
GPSDynamicsModel — graph-based (GNN + Transformer) dynamics model for
variable-vertex cloth meshes. Given the 3 previous mesh frames and a 3D
gripper action, predicts the next 5 mesh frames via DDPM diffusion, using each
cloth's own rest state and topology (no global template).
- Task data: DexGarmentLab mixed-garment fold + lift-place demos (
dexgarmentlab_folding_lifting_meshes.h5, Cloth-splatters/dexgarmentlab-folding-lifting-meshes) - Formulation: DDPM diffusion
- Max vertices per mesh: 2048
- Best validation loss: 0.00012608407087100204 (checkpoint in
model/ischeckpoint-best) - Training run:
dexgarment_dyn_gps_2026-08-03_12-45-01_7138502(full config inconfig.yml)
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