| --- |
| pretty_name: Direction-Speed Reinforcement Learning Experiments |
| language: |
| - en |
| - zh |
| tags: |
| - reinforcement-learning |
| - robotics |
| - experiment-results |
| - action-space-shaping |
| --- |
| |
| # DS Experiments |
|
|
| Direction-Speed 动作分解实验数据集。对应代码仓库 [SZUEAILab/Q-chunking](https://github.com/SZUEAILab/Q-chunking)。 |
|
|
| ## 精简研究归档 |
|
|
| 新增 [2026-10-19 精简归档](summaries/2026-10-19/README.md)：包含历史分析图表、2026-10-18 |
| 研究报告、三组 RLPD 筛选的逐运行评估/配置、协议、来源与 SHA-256。保留负结果和删失边界， |
| 不上传新权重、轨迹或逐步日志。文件一致性和运行完整性检查不等于科学结论通过。 |
| 详细清单见各归档的 `manifest.json`、`run_checks.json` 和 `SHA256SUMS`。 |
|
|
| [2026-10-19 阶段总结](summaries/2026-10-19-phase-review/README.md)补充状态条件筛选的冻结数值分析、 |
| 失效退出凭证审计、Action Adapter 历史评估重核与 critic 机制诊断，并登记条件性后续计划。 |
| 旧报告不改判；72-run 新筛选的本地启动快照不代表本包已认证其完整终态。 |
|
|
| ## 结构 |
|
|
| ``` |
| cube-triple-play-singletask/ |
| └── {task}/ |
| └── {horizon}/ |
| └── {method}/ |
| └── {ds_mode}/ |
| └── seed{N}/ |
| ├── eval.csv # step, success, episode.return, ... |
| ├── flags.json # ds_mode, horizon_length, seed, ... |
| ├── online_agent.csv # critic_loss, actor_loss, alpha, ... |
| ├── env.csv # qpos, qvel, time, ... |
| └── params_*.pkl # 模型 checkpoint（仅 seed0） |
| ``` |
|
|
| ## 目录 |
|
|
| | 目录 | 内容 | Seeds | Eval | Runs | |
| |------|------|:---:|:---:|:---:| |
| | `task1/h1/rlpd/` | cube-triple-task1 RLPD H=1 | 4 | 50 | 16 | |
| | `task1/h5/rlpd/` | cube-triple-task1 RLPD-AC H=5 | 10 | 100 | 40 | |
| | `task1/h5/rlpd-4s/` | cube-triple-task1 RLPD-AC H=5（旧） | 4 | 50 | 16 | |
| | `task2/h1/rlpd/` | cube-triple-task2 RLPD H=1 | 4 | 50 | 16 | |
| | `task2/h5/rlpd/` | cube-triple-task2 RLPD-AC H=5 | 4 | 50 | 16 | |
| | `task2/h5/fql/` | cube-triple-task2 FQL H=5 | 3 | 50 | 6 | |
| | `task3/h1/rlpd/` | cube-triple-task3 RLPD H=1 | 10 | 100 | 40 | |
| | `task3/h5/rlpd/` | cube-triple-task3 RLPD-AC H=5 | 10 | 100 | 40 | |
| | `task4/h1/rlpd/` | cube-triple-task4 RLPD H=1 | 10 | 100 | 40 | |
| | `task4/h5/rlpd/` | cube-triple-task4 RLPD-AC H=5 | 10 | 100 | 40 | |
| | `task5/h1/rlpd/` | cube-triple-task5 RLPD H=1 | 10 | 100 | 40 | |
| | `task5/h5/rlpd/` | cube-triple-task5 RLPD-AC H=5 | 10 | 100 | 40 | |
|
|
| | 其他目录 | 内容 | 实验数 | |
| |------|------|:---:| |
| | `reproduce/` | QC 论文复现实验 | 4 | |
| | `parallel_benchmark/` | 并行训练压力测试 | 2 | |
|
|
| > **命名约定**：`h1`/`h5` = horizon length；`none` = TanhNormal baseline；`posthoc`/`stereographic`/`spherical` = DS 模式。`rlpd-4s` 为旧版 4-seed 实验，与新 10-seed 版区分。 |
|
|
| ## 使用 |
|
|
| ```python |
| from huggingface_hub import hf_hub_download |
| |
| # 下载 task4 H=5 stereographic seed0 的 eval.csv |
| hf_hub_download("SZUEAILab/ds-experiments", |
| "ds_experiments/cube-triple-play-singletask/task4/h5/rlpd/stereographic/seed0/eval.csv", |
| repo_type="dataset") |
| ``` |
|
|
