eerrr1/ViT-H-checkpoints

ViT-H Checkpoints

This repository contains the released checkpoints used by ViT-H inference and the optional G1 motion tracker.

Contents

• vith_offline_g1.ckpt: released offline G1 model checkpoint (epoch 629).
• model_step_020000_g1.onnx: 1570-input, 29-output G1 tracking policy used by g1_tracker.
• inputs/checkpoints/yolo/yolov8x.pt: YOLOv8x detector and tracker weights.
• inputs/checkpoints/vitpose/vitpose-h-multi-coco.pth: ViTPose-H pose-estimation weights.
• inputs/checkpoints/hmr2/epoch=10-step=25000.ckpt: optional HMR2 image-encoder weights.
• inputs/checkpoints/dpvo/dpvo.pth: optional DPVO camera-estimation weights.
• SHA256SUMS: file integrity checksums.

The SHA256 checksum of model_step_020000_g1.onnx is da875c31057e4d5f0e0b3ba30722c506fb3a9fa3e030998069b5ded3ac38403b.

G1 tracker policy

Download the policy into the ignored checkpoint directory of a ViT-H checkout:

hf download eerrr1/ViT-H-checkpoints \
  model_step_020000_g1.onnx \
  --repo-type dataset \
  --local-dir inputs/checkpoints/g1_tracker

Then pass it to the tracker:

python g1_tracker/tools/track_g1.py \
  --input outputs/example/motion.npz \
  --output outputs/example/tracked_motion.npz \
  --input-fps 30 \
  --policy-onnx inputs/checkpoints/g1_tracker/model_step_020000_g1.onnx

See the G1 tracker documentation for the full command, robot assets, rendering options, and output format.

Other dependencies

The released configuration uses SAM3D image features. HMR2 is included as an optional compatible image encoder. DPVO is only required when inference uses --use-dpvo; SimpleVO remains the default camera-motion estimator.

SAM3D code and weights are not included in this checkpoint repository. Install Fast-SAM-3D-Body under third-party/Fast-SAM-3D-Body and obtain its weights through the upstream project. Install optional DPVO under third-party/DPVO.

External model files remain subject to their respective upstream licenses and access terms.