CenterPose

CenterPose for keypoint / pose estimation. Detects object centers and regresses keypoint locations. Used for 6-DoF object pose estimation.

Set model.backbone.pretrained_backbone_path.

For TAO Deploy TensorRT actions (

gen_trt_engine

, TensorRT

evaluate

, and TensorRT

inference

), read

references/tao-deploy-centerpose.md

first. Deploy spec templates live in this skill's

references/

folder with the

spec_template_deploy_*.yaml

prefix.

Dataclass Schemas

Generated TAO Core schemas are packaged in

schemas/<action>.schema.json

, with

schemas/manifest.json

listing available actions. Each generated schema also emits

references/spec_template_<action>.yaml

from the schema top-level

default

field. AutoML enablement is declared at the model layer in

references/skill_info.yaml

via

automl_enabled

. Runnable AutoML still requires

schemas/train.schema.json

and

references/spec_template_train.yaml

to exist and parse. Use the packaged train schema for

automl_default_parameters

automl_disabled_parameters

, defaults, min/max bounds, enums, option weights, math conditions, dependencies, and popular parameters. Do not expect

~/tao-core

at runtime; maintainers regenerate schemas/templates before packaging the skill bank.

Train Action Policy

This model is AutoML-enabled at the model layer. Before handling any train-stage request, read

references/skill_info.yaml

and resolve the run override from either an explicit

automl_policy

value or the user's workflow request. Treat phrases like "turn off AutoML", "disable AutoML", "no HPO", or "plain training" as

automl_policy: off

for this run only; otherwise default to

auto

. When

automl_policy: auto

automl_enabled: true

, and both

schemas/train.schema.json

and

references/spec_template_train.yaml

are packaged, route the train action through

tao-skill-bank:tao-run-automl

by default with this model's

skill_dir

. Preserve workflow/application overrides for datasets, specs, output directories, GPU/platform settings, parent checkpoints, and

automl_policy

. Use direct model training only when

automl_policy: off

or the packaged train schema/template is missing; in the missing-schema case, report that AutoML is enabled but not runnable for this model until schemas are generated.

Non-train actions such as

evaluate

inference

export

, and deploy flows stay in this model skill. The per-run

automl_policy

override does not change model metadata.

Training Requirements

Dataset type: centerpose
Formats: default
Monitoring metric: val_3DIoU

Per-Action Dataset Requirements

Action	Spec Key	Source	Files	List?
evaluate	dataset.test_data	eval_dataset	test.tar.gz	No
gen_trt_engine	gen_trt_engine.tensorrt.calibration.cal_image_dir	calibration_dataset	train.tar.gz	Yes
inference	dataset.inference_data	inference_dataset	val.tar.gz	No
train	dataset.train_data	train_datasets	train.tar.gz	No
train	dataset.val_data	eval_dataset	val.tar.gz	No

Typical Spec Overrides

Data source overrides are mandatory for every action — the agent MUST construct data source paths from the Per-Action Dataset Requirements table above and include them in

spec_overrides

python

S3_TRAIN = "s3://bucket/data/train"
S3_EVAL = "s3://bucket/data/eval"

train (mandatory data sources):

python

{
    "train.num_epochs": 30,
    "train.checkpoint_interval": 10,
    "train.validation_interval": 10,
    "train.num_gpus": 1,
    "dataset.category": "bike",
    "dataset.batch_size": 4,
    "dataset.train_data": f"{S3_TRAIN}/train.tar.gz",
    "dataset.val_data": f"{S3_EVAL}/val.tar.gz",
}

evaluate (mandatory data sources):

python

{
    "dataset.category": "bike",
    "dataset.test_data": f"{S3_EVAL}/test.tar.gz",
}

inference (mandatory data sources):

python

{
    "dataset.category": "bike",
    "dataset.inference_data": f"{S3_EVAL}/val.tar.gz",
}

gen_trt_engine (mandatory data sources):

python

{
    "gen_trt_engine.tensorrt.calibration.cal_image_dir": [f"{S3_TRAIN}/train.tar.gz"],
}

Eval Dataset

Optional. Val and test datasets are provided as separate tarballs.

Important Parameters

dataset.num_classes: Number of object categories. Default 1.
dataset.num_joints: Number of keypoints per object. Fixed at 8 (bbox keypoints). Valid range: exactly 8.
dataset.input_res: Input resolution. Fixed at 512. Output resolution fixed at 128.
dataset.category: Object category name. Default "cereal_box".
model.backbone.model_type: Default fan_small. Backbone options limited in schema.
train.optim.lr: Learning rate. Default 6e-5. MultiStep scheduler with lr_steps=[90, 120], lr_decay=0.1.
train.loss_config: Rich loss config with toggles: mse_loss, obj_scale, obj_scale_uncertainty, hps_uncertainty, reg_bbox, hm_hp. Weights: wh_weight=0.1, off_weight=1, hp_weight=1.
inference.use_pnp: Use PnP for 6-DoF pose. Default True. Requires camera intrinsics (focal_length_x/y, principle_point_x/y).
export.input_width: Export input size. Fixed at 512x512. opset_version=16.

Multi-GPU / Multi-Node

Launch method: Lightning-managed (single

python

process, Lightning spawns workers).

Spec Key	Description	Default
`train.num_gpus`	Number of GPUs	1
`train.gpu_ids`	GPU device indices	[0]

Strategy:
```
auto
```
(Lightning picks the best strategy automatically)
No explicit
```
num_nodes
```
or
```
distributed_strategy
```
config — single-node only
No
```
sync_batchnorm
```

Export / TRT Defaults

Export input: 512x512 (fixed), opset 16
TRT data types: FP32, FP16, INT8
TRT opt_batch_size: 4, max_batch_size: 8

Full TAO Deploy reference: tao-deploy-centerpose.

Hardware

Minimum 1 GPU(s), recommended 2 GPU(s). 16GB+ VRAM per GPU. CenterPose is moderately memory-intensive depending on input resolution and number of keypoints.

Error Patterns

num_joints mismatch: Ensure dataset.num_joints matches the keypoint count in your annotations.

Spec Param / Parent Model Inference

Model-specific inference mappings belong in this MD file, not in

config.json

. Generated runners should read this section and apply the mappings with SDK helpers before

create_job()

. This mirrors the old microservices

infer_params.py

flow.

Inference mappings from TAO Core

centerpose.config.json

Action	Spec Field	Inference Function	Meaning
evaluate	`encryption_key`	`key`	encryption key
evaluate	`evaluate.checkpoint`	`parent_model`	model file inferred from the parent job results folder
evaluate	`evaluate.trt_engine`	`parent_model`	model file inferred from the parent job results folder
evaluate	`results_dir`	`output_dir`	current job results directory
export	`encryption_key`	`key`	encryption key
export	`export.checkpoint`	`parent_model`	model file inferred from the parent job results folder
export	`export.onnx_file`	`create_onnx_file`	output ONNX path
export	`results_dir`	`output_dir`	current job results directory
gen_trt_engine	`encryption_key`	`key`	encryption key
gen_trt_engine	`gen_trt_engine.onnx_file`	`parent_model`	model file inferred from the parent job results folder
gen_trt_engine	`gen_trt_engine.tensorrt.calibration.cal_cache_file`	`create_cal_cache`	calibration cache path
gen_trt_engine	`gen_trt_engine.trt_engine`	`create_engine_file`	output TensorRT engine path
gen_trt_engine	`results_dir`	`output_dir`	current job results directory
inference	`encryption_key`	`key`	encryption key
inference	`inference.checkpoint`	`parent_model`	model file inferred from the parent job results folder
inference	`inference.trt_engine`	`parent_model`	model file inferred from the parent job results folder
inference	`results_dir`	`output_dir`	current job results directory
train	`encryption_key`	`key`	encryption key
train	`model.backbone.pretrained_backbone_path`	`ptm_if_no_resume_model`	PTM when no resume checkpoint exists
train	`results_dir`	`output_dir`	current job results directory
train	`train.resume_training_checkpoint_path`	`resume_model`	model file inferred from the current job results folder

For

parent_model

parent_model_folder

, pass the upstream train/export/AutoML child job id as

parent_job_id

. The SDK lists the parent result folder, filters checkpoint artifacts, and returns the selected model file or folder. Do not add these mappings back to

config.json

and do not patch generated runner scripts to guess checkpoint paths.

tao-train-centerpose

NPX Install

Tags

SKILL.md Content

CenterPose

Dataclass Schemas

Train Action Policy

Training Requirements

Per-Action Dataset Requirements

Typical Spec Overrides

Eval Dataset

Important Parameters

Multi-GPU / Multi-Node

Export / TRT Defaults

Hardware

Error Patterns

Spec Param / Parent Model Inference