| --- |
| license: apache-2.0 |
| tags: |
| - robotics |
| - imitation-learning |
| - maniflow |
| - ditx |
| - dexterous-manipulation |
| library_name: pytorch |
| --- |
| |
| # ManiFlow Real-Robot Baseline (plastic / pill) |
|
|
| ManiFlow DiTX image policy on Inspire-G1 real-robot Stage-2 data. |
|
|
| Org: [Humantwin](https://huggingface.co/Humantwin) |
| Repo: [`Humantwin/maniflow`](https://huggingface.co/Humantwin/maniflow) |
|
|
| ## Contract |
|
|
| - Action chunk **`[30, 41]`** = Body29 (GMT) + Hand12 (Inspire) @ **30 Hz** |
| - Obs: RGB `[B,1,3,H,W]`, state `[B,1,41]` |
| - Vision: R3M + DiTX (`n_layer=12`, `n_emb=768`, `visual_cond_len=1024`) |
| - Checkpoint: **15k** / 30k |
|
|
| ## Layout |
|
|
| ```text |
| plastic/ |
| step15000.ckpt |
| latest.ckpt # symlink → step15000 |
| norm_stats.json |
| pill/ |
| step15000.ckpt |
| latest.ckpt |
| norm_stats.json |
| ``` |
|
|
| ## Train loss @ 15k (approx) |
|
|
| | Task | train loss | val_loss@15k | |
| |---|---:|---:| |
| | plastic | ~0.05 | (see local logs; val higher) | |
| | pill | ~0.08 | lower than plastic | |
| |
| ## Load |
| |
| ```python |
| import torch |
| from maniflow.deploy.maniflow_robot_worker import ManiFlowRobotWorker |
| |
| w = ManiFlowRobotWorker("plastic/step15000.ckpt", device="cuda", use_ema=True) |
| w.load() |
| chunk, ms = w.infer({"rgb": rgb, "state": state}) # chunk: [30,41] raw |
| ``` |
| |
