data_doc.md
February 6, 2026 ยท View on GitHub
Data documentation
Data download
After registering an account at here and then you will recieve a link to download PALM-Net/PALM and have access to the following files:
./PALM/XR20A/zips/0117.zip
./PALM/XR20A/zips/0201.zip
./PALM/XR20A/zips/0140.zip
./PALM/XR20A/zips/0251.zip
...
./PALM/XR20A/quality_dict_feb_27.npy
./PALM/XR20A/scan_ids.txt
./PALM/XR20A/MCU_04_env.exr
./PALM/XR20A/meshes/0221.zip
./PALM/XR20B/zips/0221.zip
./PALM/XR20B/zips/0226.zip
./PALM/XR20B/zips/0251.zip
./PALM/XR20B/zips/0003.zip
./PALM/XR20B/zips/0049.zip
...
./PALM/XR20B/quality_dict_feb_27.npy
./priors/0301-1442-124.zip
./pca_basis/0301-1442-124/epoch=0-step=24000.appearance.pca.npy
./pca_basis/0301-1442-124/epoch=0-step=24000.shape.pca.npy
./pretrained/flat_hand.right.dim32.7subj.feb.23.pt
./personalize_ckpts/0306-0218-596.zip
./personalize_ckpts/0306-1503-223.zip
./gt_checksums.json
There are two versions of PALM: XR20A and XR20B. The XR20A (137GB) version contains high-resolution 2K images while the XR20B (27GB) version resized the images for faster training. The camera intrinsics for XR20B are resized accordingly. Everything else in these two versions are the identical. We also have 3dMD scans for each frame at PALM. All 3D annotations are in meters.
./PALM/XR20A/zips/0117.zip: subject 0117 of PALM dataset with version XR20A../PALM/XR20A/quality_dict_feb_27.npy: fitting error for each frame../PALM/XR20A/MCU_04_env.exr: calibrated environment map./PALM/XR20A/meshes/0221.zip: Hand scans for subject 221./priors/0301-1442-124.zip: Pretrained multi-subject prior with version0301-1442-124(see Checkpoints below)./pca_basis/0301-1442-124/epoch=0-step=24000.appearance.pca.npy: PCA appearance space of the prior with version0301-1442-124./pca_basis/0301-1442-124/epoch=0-step=24000.shape.pca.npy: PCA shape space of the prior with version0301-1442-124./pretrained/flat_hand.right.dim32.7subj.feb.23.pt: pretrained geometry network on 7 subjects using MANO SDF values; we found using a pretrained hand geometry network stablizes the PALM model training../personalize_ckpts/0306-0218-596.zip: Personalization checkpoints in our InterHand2.6M experiments (see Checkpoints below)./gt_checksums.json: checksums of the files to check for file corruption.
About the calibrated environment map, we put a metal sphere in our 3dMD capture setup and fit a sphere to this metal sphere to unwrap an environment map from RGB observations.
Checkpoints
We offer three versions of priors trained on 14%, 50% and 100% of frames at PALM:
| Priors | Number of frames |
|---|---|
| 0301-1442-124 | 14% (ckpt in paper) |
| 0311-0806-124 | 50% |
| 0311-0910-389 | 100% |
Here are the personalized checkpoints for our InterHand2.6M experiments: ih_c0_ROM03_RT_No_Occlusion_cam400262 denotes the sequence with name ROM03_RT_No_Occlusion in capture 0 on the test set; cam400262 is the camera view.
| InterHand2.6M sequences | Personalized checkpoints |
|---|---|
| ih_c0_ROM03_RT_No_Occlusion_cam400262 | 0306-0218-303 |
| ih_c0_ROM03_RT_No_Occlusion_cam400451 | 0306-0218-212 |
| ih_c0_ROM04_RT_Occlusion_cam400275 | 0306-0218-171 |
| ih_c0_ROM04_RT_Occlusion_cam400418 | 0306-0218-458 |
| ih_c0_ROM05_RT_Wrist_ROM_cam400270 | 0306-0218-299 |
| ih_c0_ROM05_RT_Wrist_ROM_cam400488 | 0306-0218-402 |
| ih_c1_ROM03_RT_No_Occlusion_cam400456 | 0306-0218-443 |
| ih_c1_ROM03_RT_No_Occlusion_cam400486 | 0306-0219-214 |
| ih_c1_ROM04_RT_Occlusion_cam400266 | 0306-0218-596 |
| ih_c1_ROM04_RT_Occlusion_cam400439 | 0306-0219-262 |
| ih_c1_ROM05_RT_Wrist_ROM_cam400314 | 0306-0218-439 |
| ih_c1_ROM05_RT_Wrist_ROM_cam400469 | 0306-0218-495 |
Environment maps
Environment maps can be found here. You should put them under code/envs/*.hdri and code/envs/*.exr.