Sapiens2-1B-Pointmap

Per-pixel 3D pointmap (x, y, z coordinates per pixel in camera frame).

This repository contains the 1B Pointmap Estimation checkpoint, finetuned from the Sapiens2-1B pretrained backbone.

📄 Paper: arXiv:2604.21681
🌐 Project Page: rawalkhirodkar.github.io/sapiens2
💻 Code: github.com/facebookresearch/sapiens2

Model Details

Developed by: Meta
Model type: Vision Transformer
License: Sapiens2 License
Task: pointmap
Base model: facebook/sapiens2-pretrain-1b
Format: safetensors
File: sapiens2_1b_pointmap.safetensors

Quick Start

Install the Sapiens2 repo (pip install -e .), download the checkpoint, and run the demo:

# 1. Download the checkpoint to $SAPIENS_CHECKPOINT_ROOT/pointmap/
hf download facebook/sapiens2-pointmap-1b sapiens2_1b_pointmap.safetensors \
    --local-dir ~/sapiens2_host/pointmap

# 2. Run the demo (edit INPUT, OUTPUT, and MODEL_NAME inside the script)
cd $SAPIENS_ROOT/sapiens/dense
./scripts/demo/pointmap.sh

See the Pointmap Estimation guide for details on inputs, outputs, and visualization options.

Model Card

Field	Value
Architecture	Sapiens2 ViT backbone + Pointmap Estimation head
Backbone parameters	1.462 B
Backbone FLOPs	4.715 T
Embedding dim	1536
Layers	40
Attention heads	24
Inference resolution	1024 × 768 (H × W)
Patch size	16

Sapiens2-Pointmap Family

Model	Params	FLOPs	Embed dim	Layers	Heads
Sapiens2-0.4B	0.398 B	1.260 T	1024	24	16
Sapiens2-0.8B	0.818 B	2.592 T	1280	32	16
Sapiens2-1B (this)	1.462 B	4.715 T	1536	40	24
Sapiens2-1B-4K	1.607 B	—	1536	40	24
Sapiens2-5B	5.071 B	15.722 T	2432	56	32

See the Sapiens2 Collection for all variants and other downstream task checkpoints.

Intended Use

Pointmap Estimation on human-centric imagery
Research on human-centric vision

License

Released under the Sapiens2 License.

Citation

@article{khirodkarsapiens2,
  title={Sapiens2},
  author={Khirodkar, Rawal and Wen, He and Martinez, Julieta and Dong, Yuan and Su, Zhaoen and Saito, Shunsuke},
  journal={arXiv preprint arXiv:2604.21681},
  year={2026}
}