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GraspBleach_v1/shadow_right-last-300/README.md
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# GraspBleach_v1/shadow_right-last-300
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Image Diffusion Policy (official Chi et al. recipe, one ResNet18 per camera) on **Dexverse-GraspBleach-v1**, hand **shadow_right**,
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author v1 demos (48 train / 2 val), EMA weights at epoch **300** / 300.
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- cameras: ('rgb_image', 'wrist_rgb_image') (stored 128, crop 116), state groups ('proprio', 'goal')
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- obs / action horizon 2 / 16, U-Net chi (512, 1024, 2048)
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- training run: `20261016-091041_vast-isaac_dp-img-v1-graspbleach` (hscho_share experiments)
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- inference: DDPM 100 steps, replan every 8 steps (`scripts/diffusion/eval_online.py --observation_preset rgb`)
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- code: DexVerse branch `dp/image-v1`
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- role: **last.pt** — final EMA snapshot (epoch 300).
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- moved from the former repo `Dexverse-CSI/dp_image-shadow_right-GraspBleach_v1-300-last`
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