Phase B.3 populate: from old/policy/1_success_train_history/deploy/1_success_pour_20260519_merged_ds5_action_history_36/checkpoints/Success_005000/pretrained_model/deployments/success

deployment_info.yaml

@@ -0,0 +1,167 @@
+run_stamp: '20260526_145414'
+deployed_at: '2026-05-26T14:54:14'
+policy_path: /lerobot-ros/data/rama/liquid_pouring/policy/1_success_train_history/deploy/1_success_pour_20260519_merged_ds5_action_history_36/checkpoints/Success_005000/pretrained_model
+hz: 10.0
+deploy_settings:
+  hz: 10.0
+  policy_type: action_history_diffusion
+  n_obs_steps: 1
+  n_action_steps: 64
+  horizon: 64
+  num_inference_steps: 10
+  num_train_timesteps: 100
+  noise_scheduler_type: DDPM
+  prediction_type: epsilon
+  use_amp: false
+  vision_backbone: resnet18
+  device: cuda
+differs_from_training:
+  _summary: 1 of 11 fields differ (n_action_steps)
+  fields:
+    policy_type:
+      train: action_history_diffusion
+      deploy: action_history_diffusion
+      match: true
+    n_obs_steps:
+      train: 1
+      deploy: 1
+      match: true
+    n_action_steps:
+      train: 32
+      deploy: 64
+      match: false
+    horizon:
+      train: 64
+      deploy: 64
+      match: true
+    num_inference_steps:
+      train: 10
+      deploy: 10
+      match: true
+    num_train_timesteps:
+      train: 100
+      deploy: 100
+      match: true
+    noise_scheduler_type:
+      train: DDPM
+      deploy: DDPM
+      match: true
+    prediction_type:
+      train: epsilon
+      deploy: epsilon
+      match: true
+    use_amp:
+      train: false
+      deploy: false
+      match: true
+    vision_backbone:
+      train: resnet18
+      deploy: resnet18
+      match: true
+    device:
+      train: cuda
+      deploy: cuda
+      match: true
+camera_settings_source: /lerobot-ros/data/rama/liquid_pouring/original_data/pour_20260514_2/recording_config.yaml
+camera_defaults:
+  settings:
+    auto_exposure: 1
+    white_balance_automatic: 0
+    focus_automatic_continuous: 0
+    exposure_time_absolute: 100
+    white_balance_temperature: 4000
+    power_line_frequency: 1
+    gain: 1
+    brightness: 50
+    contrast: 50
+    saturation: 50
+    sharpness: 50
+    hue: 50
+    pan_absolute: 0
+    tilt_absolute: 0
+    zoom_absolute: 0
+    pan_speed: 0
+    tilt_speed: 0
+cameras:
+  front:
+    port: /dev/video6
+    video_file: front.mp4
+    width: 1280
+    height: 720
+    requested_settings:
+      auto_exposure: 1
+      white_balance_automatic: 0
+      focus_automatic_continuous: 0
+      exposure_time_absolute: 100
+      white_balance_temperature: 4000
+      power_line_frequency: 1
+      gain: 1
+      brightness: 50
+      contrast: 50
+      saturation: 50
+      sharpness: 50
+      hue: 50
+      pan_absolute: 0
+      tilt_absolute: 0
+      zoom_absolute: 0
+      pan_speed: 0
+      tilt_speed: 0
+    applied_settings:
+      auto_exposure: 1
+      white_balance_automatic: 0
+      focus_automatic_continuous: 0
+      exposure_time_absolute: 100
+      white_balance_temperature: 4000
+      power_line_frequency: 1
+      gain: 1
+      brightness: 50
+      contrast: 50
+      saturation: 50
+      sharpness: 50
+      hue: 50
+      pan_absolute: 0
+      tilt_absolute: 0
+      zoom_absolute: 0
+      pan_speed: 0
+      tilt_speed: 0
+  right_wrist_top:
+    port: /dev/video2
+    video_file: right_wrist_top.mp4
+    width: 1280
+    height: 720
+    requested_settings:
+      auto_exposure: 1
+      white_balance_automatic: 0
+      focus_automatic_continuous: 0
+      exposure_time_absolute: 100
+      white_balance_temperature: 4000
+      power_line_frequency: 1
+      gain: 1
+      brightness: 50
+      contrast: 50
+      saturation: 50
+      sharpness: 50
+      hue: 50
+      pan_absolute: 0
+      tilt_absolute: 0
+      zoom_absolute: 0
+      pan_speed: 0
+      tilt_speed: 0
+    applied_settings:
+      auto_exposure: 1
+      white_balance_automatic: 0
+      focus_automatic_continuous: 0
+      exposure_time_absolute: 100
+      white_balance_temperature: 4000
+      power_line_frequency: 1
+      gain: 1
+      brightness: 50
+      contrast: 50
+      saturation: 50
+      sharpness: 50
+      hue: 50
+      pan_absolute: 0
+      tilt_absolute: 0
+      zoom_absolute: 0
+      pan_speed: 0
+      tilt_speed: 0

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