EndeavourDD/ditar_re

DiTaR 真机测试权重（2026-11-08）

三个任务，每个任务一个独立的包。zip 和同名文件夹的内容一样，下哪个都行。

任务	包	先测这两个
knife：把刀放到手套上	deploy_package_knife_v2	ours.pt 和 bc_noreward_aug2.pt
bottle：把水瓶放到盘子上	deploy_package_bottle_v2	ours.pt 和 bc_noreward.pt
basket：把桌上的东西放进篮子	deploy_package_basket_v2	ours.pt 和 bc_noreward.pt（一定要加 --max-steps 450）

下载

hf download EndeavourDD/ditar_re deploy_package_knife_v2.zip --repo-type dataset --local-dir .
unzip deploy_package_knife_v2.zip

bottle、basket 把文件名里的 knife 换掉就行。也可以在网页上直接下载 zip。仓库是公开的，不需要 token。

怎么用（三个包一样）

cd deploy_package_knife_v2
pip install -r requirements.txt                                        # 6 月装过就跳过
python deploy.py --ckpt checkpoints/ours.pt --mode smoke               # 不接机器人，检查能跑
python deploy.py --ckpt checkpoints/ours.pt --mode robot --episodes 1  # 上机器人跑 1 个回合

• deploy.py 里机器人那部分是空壳。6 月已经接好机器人的，继续用你们自己那份 deploy.py，只把 --ckpt 指向新权重；第一次接线看包里的 README_v1_english.md。
• 场景怎么摆、相机怎么对、怎样算成功，看每个包里的 README.md 和 scene_reference/ 里的图。
• 测试：先测上表的两个权重，各 10 次左右，两个交替着跑。每次记成功还是失败，最好录视频。

English

Three tasks, one self-contained package per task. The zip and the folder with the same name have identical contents.

Task	Package	Test these two first
knife: put the knife on the glove	deploy_package_knife_v2	ours.pt and bc_noreward_aug2.pt
bottle: put the water bottle on the plate	deploy_package_bottle_v2	ours.pt and bc_noreward.pt
basket: put the objects on the table into the plastic basket	deploy_package_basket_v2	ours.pt and bc_noreward.pt (always pass --max-steps 450)

Download (public repository, no token needed):

hf download EndeavourDD/ditar_re deploy_package_knife_v2.zip --repo-type dataset --local-dir .
unzip deploy_package_knife_v2.zip

Run (same for all three packages):

cd deploy_package_knife_v2
pip install -r requirements.txt                                        # skip if installed in June
python deploy.py --ckpt checkpoints/ours.pt --mode smoke               # check without the robot
python deploy.py --ckpt checkpoints/ours.pt --mode robot --episodes 1  # one robot episode

• The robot section of deploy.py is a stub. If your robot is already wired into the June deploy.py, keep using your copy and just point --ckpt at the new checkpoints. For first-time wiring, see README_v1_english.md in each package.
• Scene layout, camera alignment, and the success criterion are in each package's README.md and the pictures in scene_reference/.
• Test the two checkpoints in the table first, about 10 episodes each, alternating between them. Record success or failure for every episode, ideally with video.