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Dexverse-BimanualLiftTray-v0 floating_inspire_bimanual: DP image, best step 047000, last step 056400, 47/50 (vast-isaac, 20261101-133446_vast-isaac_lifttray-inspire)

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  1. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/README.md +80 -0
  2. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/best/config.json +254 -0
  3. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/best/model.safetensors +3 -0
  4. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/best/policy_postprocessor.json +56 -0
  5. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/best/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  6. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/best/policy_preprocessor.json +228 -0
  7. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/best/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  8. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/best/train_config.json +381 -0
  9. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/config.yaml +13 -0
  10. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/last/config.json +254 -0
  11. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/last/model.safetensors +3 -0
  12. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/last/policy_postprocessor.json +56 -0
  13. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/last/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  14. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/last/policy_preprocessor.json +228 -0
  15. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/last/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  16. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/last/train_config.json +381 -0
  17. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/meta.json +15 -0
  18. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/metrics.csv +848 -0
  19. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/select.log +5 -0
  20. v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/settings.md +27 -0
v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/README.md ADDED
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+ # Dexverse-BimanualLiftTray-v0 / floating_inspire_bimanual β€” Diffusion Policy (image, 240Γ—320)
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+
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+ LeRobot 0.4.2 official Diffusion Policy trained on the teleop demos `Dexverse-CSI/dv-demos-v0` β†’ `v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual` (50 episodes).
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+
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+ | ν•­λͺ© | κ°’ |
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+ |---|---|
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+ | run_id | `20261101-133446_vast-isaac_lifttray-inspire` |
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+ | ν•™μŠ΅ μ„œλ²„ | vast-isaac |
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+ | ν•™μŠ΅ κΈ°κ°„ (KST) | 2026-11-02T15:39:26+09:00 β†’ 2026-11-02T20:17:45+09:00 |
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+ | μ½”λ“œ | https://github.com/ycyao216/DexVerse.git @ 8d0a6b5d7ccbcafe3a0b31852721a4adb9f8a50e (clean), ν•™μŠ΅Β·ν‰κ°€ 슀크립트 `experiments/vast-isaac/20261031_teleop_single/teleop_dp_image/` |
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+ | λͺ…λ Ή | `RID=20261101-133446 NUM_WORKERS=24 run_sets.sh 1 BimanualLiftTray:inspire_bimanual` |
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+ | seed | 42 |
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+ | best 체크포인트 | `best/` = ν•™μŠ΅ step 047000 (50 epochλ§ˆλ‹€ μ €μž₯ν•œ μŠ€λƒ…μˆ 쀑 pkl μ—ν”Όμ†Œλ“œ 0–9 성곡 μˆ˜κ°€ κ°€μž₯ 큰 것, 동λ₯ μ΄λ©΄ λ’€ μŠ€λƒ…μˆ) |
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+ | last 체크포인트 | `last/` = μ΅œμ’… step 056400 (300 epoch 끝, 평가 μ•ˆ 함, 재개용) |
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+ | **μ΅œμ’… 평가** | **47/50 (0.94)** β€” pkl μ—ν”Όμ†Œλ“œ 0–49의 initial_state 볡원, DDPM 100 step, 8 step μ‹€ν–‰, μ΅œλŒ€ 3000 step, μ‹œλ“œ μ—†μŒ |
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+
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+ ## μŠ€λƒ…μˆ 선택 (μ—ν”Όμ†Œλ“œ 0–9, 10회)
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+
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+ | step | 성곡 |
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+ |---|---|
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+ | 009400 | 9/10 |
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+ | 018800 | 8/10 |
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+ | 028200 | 10/10 |
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+ | 037600 | 9/10 |
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+ | 047000 | 10/10 |
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+
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+ ## config.yaml
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+
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+ ```yaml
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+ task: Dexverse-BimanualLiftTray-v0
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+ hand: inspire_bimanual
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+ input_width: 320
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+ pickle: /workspace/datasets/dexverse/teleop_pkl_bs1/bimanual/Dexverse-BimanualLiftTray-v0/Dexverse-BimanualLiftTray-v0_20261029_071324_floating_inspire_bimanual.pkl
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+ dataset_root: /workspace/datasets/dexverse/teleop_lerobot/Dexverse-BimanualLiftTray-v0/inspire_bimanual/bimanuallifttray-v0-floating_inspire_bimanual
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+ checkpoints: /workspace/checkpoints/20261031_teleop_single/20261101-133446_vast-isaac_lifttray-inspire
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+ epochs: 300
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+ batch_size: 64
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+ seed: 42
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+ num_workers: 24
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+ policy: lerobot diffusion
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+ separate_rgb_encoders: true
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+ resize_stage: dataloader
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+ ```
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+
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+ ## settings.md (μ‹€ν—˜ 폴더 μžλ™ 생성)
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+
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+ # 20261101-133446_vast-isaac_lifttray-inspire
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+
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+ ## νƒœμŠ€ν¬Β·λ°μ΄ν„°
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+ - νƒœμŠ€ν¬ Dexverse-BimanualLiftTray-v0, 손 inspire_bimanual
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+ - 데λͺ¨ pkl: /workspace/datasets/dexverse/teleop_pkl_bs1/bimanual/Dexverse-BimanualLiftTray-v0/Dexverse-BimanualLiftTray-v0_20261029_071324_floating_inspire_bimanual.pkl
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+ - 데이터셋: /workspace/datasets/dexverse/teleop_lerobot/Dexverse-BimanualLiftTray-v0/inspire_bimanual/bimanuallifttray-v0-floating_inspire_bimanual (LeRobot v3.0, 50 μ—ν”Όμ†Œλ“œ 12007 ν”„λ ˆμž„, 60 fps, 전체 ν•™μŠ΅, val λΆ„ν•  μ—†μŒ)
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+
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+ ## μž…λ ₯ (Input)
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+ - 이미지: μ‚¬μš©, ['observation.images.third_person', 'observation.images.eye_in_hand', 'observation.images.eye_in_hand_left'], 480Γ—640 β†’ 240Γ—320 bilinear antialias resize (dataloader 단계), crop [216, 288] (ν•™μŠ΅ 랜덀, 평가 쀑앙)
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+ - μƒνƒœ: observation.state 36차원 (joint_pos), κ΄€μΈ‘ 길이 2
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+ - μ •κ·œν™”: {'VISUAL': 'MEAN_STD', 'STATE': 'MIN_MAX', 'ACTION': 'MIN_MAX'}
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+
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+ ## 좜λ ₯ (Output)
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+ - action 24차원 (env 행동 κ·ΈλŒ€λ‘œ), 예츑 16, μ‹€ν–‰ 8, 60 Hz
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+
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+ ## λͺ¨λΈ
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+ - LeRobot 0.4.2 Diffusion Policy, 카메라별 ResNet18, UNet [512, 1024, 2048]
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+
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+ ## ν•™μŠ΅ ν•˜μ΄νΌνŒŒλΌλ―Έν„°
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+ - Adam lr 0.0001, cosine warmup 500, batch 64, 300 epoch, grad clip 10, EMA μ—†μŒ, seed 42, fp32, early stop μ—†μŒ, 데이터 worker 24
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+ - ν•™μŠ΅ μ½”λ“œ commit 8d0a6b5d7ccbcafe3a0b31852721a4adb9f8a50e
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+
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+ ## μΆ”λ‘ (평가) ν•˜μ΄νΌνŒŒλΌλ―Έν„°
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+ - 체크포인트: best = 047000 10/10 (평가), last = μ΅œμ’… step (재개용 보관, 평가 μ•ˆ 함)
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+ - DDPM 100 step, 8 step μ‹€ν–‰, μ΅œλŒ€ 3000 step
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+ - pkl μ—ν”Όμ†Œλ“œ 50개의 initial_state 볡원, μ‹œλ“œ μ—†μŒ, 평가 μ½”λ“œ commit 8d0a6b5d7ccbcafe3a0b31852721a4adb9f8a50e
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+ - κ²°κ³Ό: best 47/50
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+
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+ ## μ‚¬μš©
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+
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+ ```python
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+ from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
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+ policy = DiffusionPolicy.from_pretrained("<local path to best/>") # lerobot==0.4.2; μž…λ ₯ μ΄λ―Έμ§€λŠ” 240Γ—320으둜 resizeν•΄μ„œ λ„£λŠ”λ‹€
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+ ```
v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/best/config.json ADDED
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+ {
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+ "type": "diffusion",
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+ "type": "VISUAL",
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+ 640
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v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/select.log ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ 009400 9/10
2
+ 018800 8/10
3
+ 028200 10/10
4
+ 037600 9/10
5
+ 047000 10/10
v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/settings.md ADDED
@@ -0,0 +1,27 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # 20261101-133446_vast-isaac_lifttray-inspire
2
+
3
+ ## νƒœμŠ€ν¬Β·λ°μ΄ν„°
4
+ - νƒœμŠ€ν¬ Dexverse-BimanualLiftTray-v0, 손 inspire_bimanual
5
+ - 데λͺ¨ pkl: /workspace/datasets/dexverse/teleop_pkl_bs1/bimanual/Dexverse-BimanualLiftTray-v0/Dexverse-BimanualLiftTray-v0_20261029_071324_floating_inspire_bimanual.pkl
6
+ - 데이터셋: /workspace/datasets/dexverse/teleop_lerobot/Dexverse-BimanualLiftTray-v0/inspire_bimanual/bimanuallifttray-v0-floating_inspire_bimanual (LeRobot v3.0, 50 μ—ν”Όμ†Œλ“œ 12007 ν”„λ ˆμž„, 60 fps, 전체 ν•™μŠ΅, val λΆ„ν•  μ—†μŒ)
7
+
8
+ ## μž…λ ₯ (Input)
9
+ - 이미지: μ‚¬μš©, ['observation.images.third_person', 'observation.images.eye_in_hand', 'observation.images.eye_in_hand_left'], 480Γ—640 β†’ 240Γ—320 bilinear antialias resize (dataloader 단계), crop [216, 288] (ν•™μŠ΅ 랜덀, 평가 쀑앙)
10
+ - μƒνƒœ: observation.state 36차원 (joint_pos), κ΄€μΈ‘ 길이 2
11
+ - μ •κ·œν™”: {'VISUAL': 'MEAN_STD', 'STATE': 'MIN_MAX', 'ACTION': 'MIN_MAX'}
12
+
13
+ ## 좜λ ₯ (Output)
14
+ - action 24차원 (env 행동 κ·ΈλŒ€λ‘œ), 예츑 16, μ‹€ν–‰ 8, 60 Hz
15
+
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+ ## λͺ¨λΈ
17
+ - LeRobot 0.4.2 Diffusion Policy, 카메라별 ResNet18, UNet [512, 1024, 2048]
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+
19
+ ## ν•™μŠ΅ ν•˜μ΄νΌνŒŒλΌλ―Έν„°
20
+ - Adam lr 0.0001, cosine warmup 500, batch 64, 300 epoch, grad clip 10, EMA μ—†μŒ, seed 42, fp32, early stop μ—†μŒ, 데이터 worker 24
21
+ - ν•™μŠ΅ μ½”λ“œ commit 8d0a6b5d7ccbcafe3a0b31852721a4adb9f8a50e
22
+
23
+ ## μΆ”λ‘ (평가) ν•˜μ΄νΌνŒŒλΌλ―Έν„°
24
+ - 체크포인트: best = 047000 10/10 (평가), last = μ΅œμ’… step (재개용 보관, 평가 μ•ˆ 함)
25
+ - DDPM 100 step, 8 step μ‹€ν–‰, μ΅œλŒ€ 3000 step
26
+ - pkl μ—ν”Όμ†Œλ“œ 50개의 initial_state 볡원, μ‹œλ“œ μ—†μŒ, 평가 μ½”λ“œ commit 8d0a6b5d7ccbcafe3a0b31852721a4adb9f8a50e
27
+ - κ²°κ³Ό: best 47/50