Add six ACT-GAZER clean-prior student models (teacher KL 0, student KL 0.01)

ACT-GAZER/gazer_distractor_strong-beat_block_hammer-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/dataset_stats.pkl

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ACT-GAZER/gazer_distractor_strong-beat_block_hammer-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/policy_best.ckpt

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ACT-GAZER/gazer_distractor_strong-beat_block_hammer-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/training_complete.json

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ACT-GAZER/gazer_distractor_strong-beat_block_hammer-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/training_config.json

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+{
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+  "variant": "two_stage_student",
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+    "fixed_prior_variance": false,
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+  "dataset_dir": "/N/scratch/cuican/robotwin_act_gazer/processed_data/gazer_distractor_strong/beat_block_hammer/aloha_agilex-joint",
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+    "prior_input_mode": "paired_clean",
+    "ckpt_dir": "/N/scratch/cuican/robotwin_act_gazer/checkpoints/gazer_distractor_strong-beat_block_hammer-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0",
+    "variant": "two_stage_student",
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+    "seed": 0,
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+    "max_episodes": null,
+    "max_train_batches": null,
+    "max_val_batches": null
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+}

ACT-GAZER/gazer_distractor_strong-click_bell-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/dataset_stats.pkl

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ACT-GAZER/gazer_distractor_strong-click_bell-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/policy_best.ckpt

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ACT-GAZER/gazer_distractor_strong-click_bell-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/training_complete.json

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+}

ACT-GAZER/gazer_distractor_strong-click_bell-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/training_config.json

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+    "fixed_prior_variance": false,
+    "head_only_visual_ib": true,
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+    "cam_right_wrist",
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+    "ckpt_dir": "/N/scratch/cuican/robotwin_act_gazer/checkpoints/gazer_distractor_strong-click_bell-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0",
+    "variant": "two_stage_student",
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+    "max_val_batches": null
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ACT-GAZER/gazer_distractor_strong-lift_pot-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/dataset_stats.pkl

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ACT-GAZER/gazer_distractor_strong-lift_pot-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/policy_best.ckpt

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ACT-GAZER/gazer_distractor_strong-lift_pot-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/training_complete.json

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ACT-GAZER/gazer_distractor_strong-lift_pot-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/training_config.json

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+{
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ACT-GAZER/gazer_distractor_strong-place_container_plate-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/dataset_stats.pkl

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ACT-GAZER/gazer_distractor_strong-place_container_plate-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/policy_best.ckpt

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ACT-GAZER/gazer_distractor_strong-place_container_plate-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/training_complete.json

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ACT-GAZER/gazer_distractor_strong-place_container_plate-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/training_config.json

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ACT-GAZER/gazer_distractor_strong-place_empty_cup-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/dataset_stats.pkl

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ACT-GAZER/gazer_distractor_strong-place_empty_cup-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/policy_best.ckpt

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ACT-GAZER/gazer_distractor_strong-place_empty_cup-aloha_agilex-joint-two_stage_student-allcam-cleanprior-noteacherkl-0/training_complete.json

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+}

README.md

@@ -11,13 +11,14 @@ license: mit
 
 # Sigma_0: ACT-GAZER and DP-GAZER
 
-18 student policies for six RoboTwin tasks, trained with **teacher visual KL = 0** and **student visual KL = 0.01**, training seed 0.
+24 student policies for six RoboTwin tasks, trained with **teacher visual KL = 0** and **student visual KL = 0.01**, training seed 0.
 
 Code: [Cuixxx/Sigma_0 v1.0.0](https://github.com/Cuixxx/Sigma_0/tree/v1.0.0), commit `e02e6325a87738491b2ca182bdd244da47ab162c`.
 
 | Family | Teacher prior | Tasks | Checkpoint |
 |---|---|---:|---|
 | ACT-GAZER | Gray-mask, all-camera | 6 | `policy_best.ckpt` |
+| ACT-GAZER | Clean, all-camera | 6 | `policy_best.ckpt` |
 | DP-GAZER-ATTN | Clean | 6 | `600.ckpt` |
 | DP-GAZER-ATTN | Gray-mask | 6 | `600.ckpt` |
 

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