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PoseLoop data, weights, and third-party notices

This document records the license boundaries of the external material used to produce PoseLoop v1.0.0. It is informational and is not legal advice.

PoseLoop original material

This repository currently has no top-level LICENSE. No copyright license for PoseLoop's original scripts, documentation, aggregate result bundle, or figures is granted by this notice. A project license must be selected separately by the copyright holder.

The absence of a PoseLoop license does not replace or weaken any third-party terms below. Likewise, an upstream license does not automatically license PoseLoop's original material.

External components

Component Exact source used by PoseLoop License and redistribution boundary
XYZ Industrial Bin-picking Dataset (XYZ-IBD) bop-benchmark/xyzibd@4fe4671783172622313ac0c7182012cee618f217 CC BY-NC-SA 4.0. Use is non-commercial; sharing requires attribution, a license link, indication of changes, and share-alike treatment of adaptations. The dataset card says commercial users should request separate permission.
FoundationPose source NVlabs/FoundationPose@a1b694b83e633c2cb6115b9063d940a687759392 NVIDIA Source Code License. Use and derivative works are limited to non-commercial research or evaluation. Redistribution must retain the license and notices and satisfy its terms.
FoundationPose refiner/scorer checkpoints Experiments and the downloader use nvidia/PhysicalAI-Robotics-Locomanipulation-GRAIL@39a143ab8ff830a593f92b7ddf5d66c99e59bb44. The same model bytes were also verified at 943946a972d5de2eb0d2ff214b236d0e43575fd7. The later official GRAIL card explicitly assigns checkpoint/FoundationPose/ to the NVIDIA Open Model License Agreement, rather than GRAIL's top-level Apache-2.0 dataset license. That component-specific statement is not present in the historical snapshot's card, so users relying on the historical distribution should confirm the applicable terms with NVIDIA. Review the agreement, including notice and acceptable-use requirements, before use or redistribution.
BOP Toolkit thodan/bop_toolkit@cea62d651c7e395b2e1962b9749e4e89693c6ac4 MIT. Redistribution of the toolkit or substantial portions must retain its copyright and permission notice.
torch-ngp grid encoder bundled by FoundationPose Present inside the ignored FoundationPose checkout MIT. Its license is retained at third_party/FoundationPose/bundlesdf/mycuda/torch_ngp_grid_encoder/LICENSE when the upstream checkout is present.
nvdiffrast Installed separately by the FoundationPose environment NVIDIA Source Code License 1-Way Commercial. Non-NVIDIA users are limited to non-commercial research/evaluation under the upstream terms; see the upstream license.
PyTorch3D Installed separately by the FoundationPose environment BSD 3-Clause; see the upstream license.
Other Conda and pip dependencies Installed separately; not vendored by PoseLoop Each dependency remains under its own upstream license. PoseLoop v1.0.0 does not claim that this notice is a complete environment SBOM.

BOP Toolkit also contains file-level notices, including Apache-2.0 terms for the bundled Droid Sans Mono font and a BSD-style notice in bop_toolkit_lib/transform.py. Those notices remain in the ignored pinned checkout and must be retained if BOP files are redistributed.

XYZ-IBD attribution

PoseLoop uses the XYZ Industrial Bin-picking Dataset (XYZ-IBD) by Junwen Huang, Jiaqi Hu, Peter K. T. Yu, Martin Sundermeyer, Slobodan Ilic, and Benjamin Busam, licensed under CC BY-NC-SA 4.0.

PoseLoop downloads the base, object-model, and validation archives and computes derived evaluation metrics and figures. No raw XYZ-IBD images, depth maps, masks, annotations, or meshes are redistributed, and no endorsement by the dataset authors is implied.

The v1.1.0 demo video and poster are visibly annotated adaptations of two validation RGB frames and the frozen PoseLoop output overlays. They are distributed separately under CC BY-NC-SA 4.0 with attribution and an indication of changes; see docs/media/README.md. They are not licensed as PoseLoop original source code.

Project and license references:

Weight identity

scripts/fetch_foundationpose_weights.py uses the historical official NVIDIA GRAIL experiment snapshot 39a143ab8ff830a593f92b7ddf5d66c99e59bb44 and verifies both checkpoint files. Their sizes and SHA-256 values also match the later official license-labeled snapshot 943946a972d5de2eb0d2ff214b236d0e43575fd7:

Checkpoint Bytes SHA-256
Refiner 2023-10-28-18-33-37/model_best.pth 68,220,109 774700586ddc435d408fc01c9809c43e151232936369dfbea0f0f964ba471d60
Scorer 2024-01-11-20-02-45/model_best.pth 190,229,389 81924d384bf5c26c646ee4783104982ae3d1e049c181c36641b6a7aeae494c26

The checkpoint files are not part of this repository or tag. The download script verifies identity; it does not grant a license. The smoke runner retains a legacy mirror identifier solely because that exact allowlist is hashed into the frozen M1–M4 inference provenance. The release downloader exposes only the official NVIDIA source, and the released results record that official source.

What is and is not distributed

The root .gitignore excludes:

  • data/, archives/ — dataset files and download archives;
  • weights/ — model checkpoints;
  • third_party/ — FoundationPose, BOP Toolkit, and their bundled notices;
  • artifacts/ — raw manifests, predictions, metrics, fitted models, and logs.

The tracked release/v1.1.0/results.json and legacy precomputed/v1.0.0/results.json files contain only compact aggregate numbers and provenance references. Tracked reports and figures are derived research outputs. Users remain responsible for determining whether upstream attribution, non-commercial, or share-alike terms apply to their intended reuse.