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GraspBleach_v1/shadow_right-best-30/README.md
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# GraspBleach_v1/shadow_right-best-30
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State-input Diffusion Policy (no images) on **Dexverse-GraspBleach-v1**, hand **shadow_right**, author v1 demos, epoch **30** / max 300
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(early stopping on validation loss, patience 40); role **best** = lowest validation loss.
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- state: previous action + joints + object state + goal + contact (87 dims), obs / action horizon 2 / 16
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- U-Net diffusers (256, 512, 1024), batch 256, lr 0.0001
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- inference: DDPM 20 steps, 16-step chunks (`scripts/diffusion/eval_online.py`)
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- training run: `20261015-111200_a4_dp-v1-graspbleach` (hscho_share experiments/a4/dexverse-dp-no-images)
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