Add files using upload-large-folder tool

1011_sim2real_cube/A_sim_assets/sim_assets_ur5_and_4_objects.tar.gz

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+version https://git-lfs.github.com/spec/v1
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+size 21838266

1011_sim2real_cube/B_checkpoints/train_runs/v5rl_Kepisode_s0/.hydra/config.yaml

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+name: baseline_dp_unet
+_target_: algorithms.workspace.train_equi_workspace.TrainEquiWorkspace
+shape_meta: ${task.shape_meta}
+exp_name: default
+task_name: v5rl_Kepisode
+n_demo: 119
+horizon: 16
+n_obs_steps: 1
+n_action_steps: 8
+n_latency_steps: 0
+dataset_obs_steps: ${n_obs_steps}
+past_action_visible: false
+obs_as_global_cond: true
+dataset_path: /home/zhang/xxy/sim_data/v5rl_Kepisode
+policy:
+  _target_: algorithms.policy.diffusion_unet_baseline_policy.DiffusionUnetBaselinePolicy
+  shape_meta: ${shape_meta}
+  noise_scheduler:
+    _target_: diffusers.schedulers.scheduling_ddim.DDIMScheduler
+    num_train_timesteps: 100
+    beta_start: 0.0001
+    beta_end: 0.02
+    beta_schedule: squaredcos_cap_v2
+    clip_sample: true
+    set_alpha_to_one: true
+    steps_offset: 0
+    prediction_type: epsilon
+  horizon: ${horizon}
+  n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'}
+  n_obs_steps: ${n_obs_steps}
+  num_inference_steps: 16
+  crop_shape:
+  - 196
+  - 196
+  diffusion_step_embed_dim: 128
+  down_dims:
+  - 512
+  - 1024
+  - 2048
+  kernel_size: 5
+  n_groups: 8
+  cond_predict_scale: true
+  obs_encoder_group_norm: true
+  eval_fixed_crop: true
+ema:
+  _target_: algorithms.model.diffusion.ema_model.EMAModel
+  update_after_step: 0
+  inv_gamma: 1.0
+  power: 0.75
+  min_value: 0.0
+  max_value: 0.9999
+dataloader:
+  batch_size: 64
+  num_workers: 8
+  shuffle: true
+  pin_memory: true
+  persistent_workers: true
+val_dataloader:
+  batch_size: 64
+  num_workers: 1
+  shuffle: false
+  pin_memory: true
+  persistent_workers: true
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: 0.0001
+  betas:
+  - 0.95
+  - 0.999
+  eps: 1.0e-08
+  weight_decay: 1.0e-06
+training:
+  device: cuda:0
+  seed: 0
+  debug: false
+  resume: true
+  lr_scheduler: cosine
+  lr_warmup_steps: 500
+  num_epochs: 165
+  gradient_accumulate_every: 1
+  use_ema: true
+  rollout_every: 100000
+  checkpoint_every: 164
+  val_every: 100000
+  sample_every: 5
+  max_train_steps: null
+  max_val_steps: null
+  tqdm_interval_sec: 1.0
+logging:
+  project: baseline_dp_${task_name}
+  resume: true
+  mode: offline
+  name: ${name}_real
+  tags:
+  - ${name}
+  - ${task_name}
+  - ${exp_name}
+  id: null
+  group: null
+checkpoint:
+  topk:
+    monitor_key: train_loss
+    mode: min
+    k: 1
+    format_str: epoch={epoch:04d}-train_loss={train_loss:.3f}.ckpt
+  save_last_ckpt: true
+  save_last_snapshot: false
+multi_run:
+  run_dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+  wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}
+task:
+  name: sim_baseline
+  dataset_path: ${dataset_path}
+  shape_meta:
+    obs:
+      camera_0:
+        shape:
+        - 3
+        - 224
+        - 224
+        type: rgb
+      camera_1:
+        shape:
+        - 3
+        - 224
+        - 224
+        type: rgb
+      robot0_eef_pos:
+        shape:
+        - 3
+        type: low_dim
+      robot0_eef_quat:
+        shape:
+        - 4
+        type: low_dim
+      robot0_gripper_qpos:
+        shape:
+        - 2
+        type: low_dim
+    action:
+      shape:
+      - 10
+  env_runner:
+    _target_: algorithms.env_runner.fake_runner.FakeRunner
+  dataset:
+    _target_: algorithms.dataset.real_baseline_dataset.RealBaselineDataset
+    shape_meta:
+      obs:
+        camera_0:
+          shape:
+          - 3
+          - 224
+          - 224
+          type: rgb
+        camera_1:
+          shape:
+          - 3
+          - 224
+          - 224
+          type: rgb
+        robot0_eef_pos:
+          shape:
+          - 3
+          type: low_dim
+        robot0_eef_quat:
+          shape:
+          - 4
+          type: low_dim
+        robot0_gripper_qpos:
+          shape:
+          - 2
+          type: low_dim
+      action:
+        shape:
+        - 10
+    dataset_path: ${task.dataset_path}
+    horizon: ${horizon}
+    pad_before: ${eval:'${n_obs_steps}-1+${n_latency_steps}'}
+    pad_after: ${eval:'${n_action_steps}-1'}
+    n_obs_steps: ${n_obs_steps}
+    n_latency_steps: ${n_latency_steps}
+    rotation_rep: rotation_6d
+    use_cache: true
+    seed: 42
+    val_ratio: 0.0
+    n_demo: ${n_demo}
+    ws_x_center: 0.0
+    ws_y_center: 0.0
+    ws_z_center: 0.0

1011_sim2real_cube/B_checkpoints/train_runs/v5rl_Kepisode_s0/.hydra/hydra.yaml

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+hydra:
+  run:
+    dir: /home/zhang/xxy/train_runs/v5rl_Kepisode_s0
+  sweep:
+    dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.run.dir=/home/zhang/xxy/train_runs/v5rl_Kepisode_s0
+    - hydra.mode=RUN
+    task:
+    - task=sim_baseline
+    - task_name=v5rl_Kepisode
+    - dataset_path=/home/zhang/xxy/sim_data/v5rl_Kepisode
+    - n_demo=119
+    - training.device=cuda:0
+    - training.seed=0
+    - training.num_epochs=165
+    - training.checkpoint_every=164
+    - checkpoint.topk.k=1
+    - dataloader.batch_size=64
+    - dataloader.num_workers=8
+    - logging.mode=offline
+  job:
+    name: train
+    chdir: null
+    override_dirname: checkpoint.topk.k=1,dataloader.batch_size=64,dataloader.num_workers=8,dataset_path=/home/zhang/xxy/sim_data/v5rl_Kepisode,logging.mode=offline,n_demo=119,task=sim_baseline,task_name=v5rl_Kepisode,training.checkpoint_every=164,training.device=cuda:0,training.num_epochs=165,training.seed=0
+    id: ???
+    num: ???
+    config_name: train_baseline_diffusion_unet
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /home/zhang/xxy/ur5_lab_code
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/zhang/xxy/ur5_lab_code/src/algorithms/config
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/zhang/xxy/train_runs/v5rl_Kepisode_s0
+    choices:
+      task: sim_baseline
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

1011_sim2real_cube/B_checkpoints/train_runs/v5rl_Kepisode_s0/.hydra/overrides.yaml

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+- task=sim_baseline
+- task_name=v5rl_Kepisode
+- dataset_path=/home/zhang/xxy/sim_data/v5rl_Kepisode
+- n_demo=119
+- training.device=cuda:0
+- training.seed=0
+- training.num_epochs=165
+- training.checkpoint_every=164
+- checkpoint.topk.k=1
+- dataloader.batch_size=64
+- dataloader.num_workers=8
+- logging.mode=offline

1011_sim2real_cube/B_checkpoints/train_runs/v5rl_Kepisode_s0/checkpoints/latest.ckpt

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+size 2372052983

1011_sim2real_cube/B_checkpoints/train_runs/v5rl_Kepisode_s0/train.log

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+[2026-09-28 05:00:47,832][algorithms.model.diffusion.conditional_unet1d][INFO] - number of parameters: 2.516840e+08

1011_sim2real_cube/B_checkpoints/train_runs/v5rl_Kepisode_s0/wandb.tar.gz

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+version https://git-lfs.github.com/spec/v1
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+size 2667285

1011_sim2real_cube/B_checkpoints/train_runs/v5rld_Kepisode_s0/.hydra/config.yaml

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+name: baseline_dp_unet
+_target_: algorithms.workspace.train_equi_workspace.TrainEquiWorkspace
+shape_meta: ${task.shape_meta}
+exp_name: default
+task_name: v5rld_Kepisode
+n_demo: 118
+horizon: 16
+n_obs_steps: 1
+n_action_steps: 8
+n_latency_steps: 0
+dataset_obs_steps: ${n_obs_steps}
+past_action_visible: false
+obs_as_global_cond: true
+dataset_path: /home/zhang/xxy/sim_data/v5rld_Kepisode
+policy:
+  _target_: algorithms.policy.diffusion_unet_baseline_policy.DiffusionUnetBaselinePolicy
+  shape_meta: ${shape_meta}
+  noise_scheduler:
+    _target_: diffusers.schedulers.scheduling_ddim.DDIMScheduler
+    num_train_timesteps: 100
+    beta_start: 0.0001
+    beta_end: 0.02
+    beta_schedule: squaredcos_cap_v2
+    clip_sample: true
+    set_alpha_to_one: true
+    steps_offset: 0
+    prediction_type: epsilon
+  horizon: ${horizon}
+  n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'}
+  n_obs_steps: ${n_obs_steps}
+  num_inference_steps: 16
+  crop_shape:
+  - 196
+  - 196
+  diffusion_step_embed_dim: 128
+  down_dims:
+  - 512
+  - 1024
+  - 2048
+  kernel_size: 5
+  n_groups: 8
+  cond_predict_scale: true
+  obs_encoder_group_norm: true
+  eval_fixed_crop: true
+ema:
+  _target_: algorithms.model.diffusion.ema_model.EMAModel
+  update_after_step: 0
+  inv_gamma: 1.0
+  power: 0.75
+  min_value: 0.0
+  max_value: 0.9999
+dataloader:
+  batch_size: 64
+  num_workers: 8
+  shuffle: true
+  pin_memory: true
+  persistent_workers: true
+val_dataloader:
+  batch_size: 64
+  num_workers: 1
+  shuffle: false
+  pin_memory: true
+  persistent_workers: true
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: 0.0001
+  betas:
+  - 0.95
+  - 0.999
+  eps: 1.0e-08
+  weight_decay: 1.0e-06
+training:
+  device: cuda:0
+  seed: 0
+  debug: false
+  resume: true
+  lr_scheduler: cosine
+  lr_warmup_steps: 500
+  num_epochs: 164
+  gradient_accumulate_every: 1
+  use_ema: true
+  rollout_every: 100000
+  checkpoint_every: 163
+  val_every: 100000
+  sample_every: 5
+  max_train_steps: null
+  max_val_steps: null
+  tqdm_interval_sec: 1.0
+logging:
+  project: baseline_dp_${task_name}
+  resume: true
+  mode: offline
+  name: ${name}_real
+  tags:
+  - ${name}
+  - ${task_name}
+  - ${exp_name}
+  id: null
+  group: null
+checkpoint:
+  topk:
+    monitor_key: train_loss
+    mode: min
+    k: 1
+    format_str: epoch={epoch:04d}-train_loss={train_loss:.3f}.ckpt
+  save_last_ckpt: true
+  save_last_snapshot: false
+multi_run:
+  run_dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+  wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}
+task:
+  name: sim_baseline
+  dataset_path: ${dataset_path}
+  shape_meta:
+    obs:
+      camera_0:
+        shape:
+        - 3
+        - 224
+        - 224
+        type: rgb
+      camera_1:
+        shape:
+        - 3
+        - 224
+        - 224
+        type: rgb
+      robot0_eef_pos:
+        shape:
+        - 3
+        type: low_dim
+      robot0_eef_quat:
+        shape:
+        - 4
+        type: low_dim
+      robot0_gripper_qpos:
+        shape:
+        - 2
+        type: low_dim
+    action:
+      shape:
+      - 10
+  env_runner:
+    _target_: algorithms.env_runner.fake_runner.FakeRunner
+  dataset:
+    _target_: algorithms.dataset.real_baseline_dataset.RealBaselineDataset
+    shape_meta:
+      obs:
+        camera_0:
+          shape:
+          - 3
+          - 224
+          - 224
+          type: rgb
+        camera_1:
+          shape:
+          - 3
+          - 224
+          - 224
+          type: rgb
+        robot0_eef_pos:
+          shape:
+          - 3
+          type: low_dim
+        robot0_eef_quat:
+          shape:
+          - 4
+          type: low_dim
+        robot0_gripper_qpos:
+          shape:
+          - 2
+          type: low_dim
+      action:
+        shape:
+        - 10
+    dataset_path: ${task.dataset_path}
+    horizon: ${horizon}
+    pad_before: ${eval:'${n_obs_steps}-1+${n_latency_steps}'}
+    pad_after: ${eval:'${n_action_steps}-1'}
+    n_obs_steps: ${n_obs_steps}
+    n_latency_steps: ${n_latency_steps}
+    rotation_rep: rotation_6d
+    use_cache: true
+    seed: 42
+    val_ratio: 0.0
+    n_demo: ${n_demo}
+    ws_x_center: 0.0
+    ws_y_center: 0.0
+    ws_z_center: 0.0

1011_sim2real_cube/B_checkpoints/train_runs/v5rld_Kepisode_s0/.hydra/hydra.yaml

@@ -0,0 +1,168 @@
+hydra:
+  run:
+    dir: /home/zhang/xxy/train_runs/v5rld_Kepisode_s0
+  sweep:
+    dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.run.dir=/home/zhang/xxy/train_runs/v5rld_Kepisode_s0
+    - hydra.mode=RUN
+    task:
+    - task=sim_baseline
+    - task_name=v5rld_Kepisode
+    - dataset_path=/home/zhang/xxy/sim_data/v5rld_Kepisode
+    - n_demo=118
+    - training.device=cuda:0
+    - training.seed=0
+    - training.num_epochs=164
+    - training.checkpoint_every=163
+    - checkpoint.topk.k=1
+    - dataloader.batch_size=64
+    - dataloader.num_workers=8
+    - logging.mode=offline
+  job:
+    name: train
+    chdir: null
+    override_dirname: checkpoint.topk.k=1,dataloader.batch_size=64,dataloader.num_workers=8,dataset_path=/home/zhang/xxy/sim_data/v5rld_Kepisode,logging.mode=offline,n_demo=118,task=sim_baseline,task_name=v5rld_Kepisode,training.checkpoint_every=163,training.device=cuda:0,training.num_epochs=164,training.seed=0
+    id: ???
+    num: ???
+    config_name: train_baseline_diffusion_unet
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /home/zhang/xxy/ur5_lab_code
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/zhang/xxy/ur5_lab_code/src/algorithms/config
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/zhang/xxy/train_runs/v5rld_Kepisode_s0
+    choices:
+      task: sim_baseline
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

1011_sim2real_cube/B_checkpoints/train_runs/v5rld_Kepisode_s0/.hydra/overrides.yaml

@@ -0,0 +1,12 @@
+- task=sim_baseline
+- task_name=v5rld_Kepisode
+- dataset_path=/home/zhang/xxy/sim_data/v5rld_Kepisode
+- n_demo=118
+- training.device=cuda:0
+- training.seed=0
+- training.num_epochs=164
+- training.checkpoint_every=163
+- checkpoint.topk.k=1
+- dataloader.batch_size=64
+- dataloader.num_workers=8
+- logging.mode=offline

1011_sim2real_cube/B_checkpoints/train_runs/v5rld_Kepisode_s0/checkpoints/latest.ckpt

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+size 2372052983

1011_sim2real_cube/B_checkpoints/train_runs/v5rld_Kepisode_s0/train.log

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+[2026-09-29 08:05:29,102][algorithms.model.diffusion.conditional_unet1d][INFO] - number of parameters: 2.516840e+08

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1011_sim2real_cube/MANIFEST.sha256

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1011_sim2real_cube/README.md

@@ -0,0 +1,68 @@
+# 1011_sim2real_cube：UR5 抓木块（pick_block）v5 sim2real 所需文件
+
+只用仿真数据训练的 Diffusion Policy，零样本部署到真实 UR5，抓起桌上 40 mm 的绿色木块。
+这里放的是复现它需要、但代码包（`share_v5_sim2real_20260929`）里没有的大文件：仿真资产、checkpoint、数据集。
+全部从机器 `ye` 的 `/home/zhang/xxy` 原样复制，2026-10-11 打包。下载后先用 `MANIFEST.sha256` 校验
+（`sha256sum -c MANIFEST.sha256`，在本目录下运行）。
+
+| 目录 | 内容 | 大小 | 用途 |
+|---|---|---|---|
+| `A_sim_assets/` | UR5 + 2F-85 机器人资产、4 个 real2sim 物体 | 22 MB（解压后 ~100 MB） | **必需**：没有就建不了场景 |
+| `B_checkpoints/` | `v5rld_Kepisode_s0`、`v5rl_Kepisode_s0` 两个 ckpt 及其 hydra 配置、训练日志 | 2 × 2.37 GB | 不想重训时用 |
+| `C_sim_data/` | 两个数据集 + 两个训练缓存 | ~1.7 GB | 可选：不想重新采数据时用 |
+
+最少要 A，再加 B 里的 `v5rld_Kepisode_s0`，约 2.4 GB。
+
+## A. 仿真资产
+
+```bash
+# <BEHAVIOR-1K> = ye 上的 /home/zhang/xxy/SimFoundry/deps/BEHAVIOR-1K
+tar xzf A_sim_assets/sim_assets_ur5_and_4_objects.tar.gz -C <BEHAVIOR-1K>
+export OMNIGIBSON_DATA_PATH=<BEHAVIOR-1K>/datasets
+```
+
+解压后得到：
+
+- `datasets/omnigibson-robot-assets/models/ur5/`（288 个文件，86 MB）：`usd/ur5.usda`、`urdf/`、`ur5.yaml`、`curobo/`、`misc/`。
+  从 OmniGibson 官方 `ur5e` 派生，只改了运动学（见 `ur5_import/PROGRESS.md`）。
+- `datasets/real2sim-assets/objects/` 下 4 个物体（13 MB）：`green_block/stnnvm`、`red_t_shaped_block/teqwty`、
+  `orange_toy_bread/nnodff`、`red_bowl/pvwsdn`。
+
+说明：
+
+- pick_block 场景里不放碗，但 `ur5_import/scripts/scene_version.py:45-49` 会把 `build_scene.TASK_OBJECTS` 里所有
+  DatasetObject（木块、碗、T 块、面包）的资产文件都算进场景指纹，缺任何一个都会 `FileNotFoundError`，所以 4 个都要。
+  `redcube` 是 PrimitiveObject，没有资产文件。
+- 这些文件没有加密，不需要 `omnigibson.key`。
+- `build_scene.py:60` 里 `DATASET_NAME = 'real2sim-assets'`；桌子、屏风、地面都是用基础几何体搭的，代码里没有读
+  BEHAVIOR-1K 官方物体库（`behavior-1k-assets`）。这一条是看代码判断的，没有在一台不装 BEHAVIOR-1K 物体库的机器上实测过。
+
+## B. Checkpoint
+
+| ckpt | 放到 | 大小（字节） | md5 | 训练数据 |
+|---|---|---|---|---|
+| **v5rld_Kepisode_s0**（DART 纠偏，真机 5/5，主要用这个） | `/home/zhang/xxy/train_runs/v5rld_Kepisode_s0/` | 2372052983 | `b3160a2b1901b0698c10ec172682b969` | `sim_data/v5rld_Kepisode`（118 条） |
+| v5rl_Kepisode_s0（不加纠偏，对照用） | `/home/zhang/xxy/train_runs/v5rl_Kepisode_s0/` | 2372052983 | `13ef9ad661b3555cb419924d1818f674` | `sim_data/v5rl_Kepisode`（119 条） |
+
+- md5 是 2026-10-11 上传前重新算的，与代码包里 `ckpt_info/CKPTS.md` 的记录一致。
+- `latest.ckpt` 已经去掉了优化器状态（`strip_checkpoint.py --verify`，推理结果逐位相同）。
+  原始的 `epoch=*.ckpt`（4.56 GB，带优化器）没有上传。
+- 推理还要读同目录下的 `.hydra/config.yaml`，已经一起放了。
+- `wandb.tar.gz` 是离线的 wandb 运行记录（里面有符号链接，所以打成了 tar）：`tar xzf wandb.tar.gz -C /home/zhang/xxy`。
+
+## C. 数据集与训练缓存（可选）
+
+```bash
+tar xf C_sim_data/v5rld_Kepisode.tar -C /home/zhang/xxy     # -> sim_data/v5rld_Kepisode/
+tar xf C_sim_data/v5rl_Kepisode.tar  -C /home/zhang/xxy     # -> sim_data/v5rl_Kepisode/
+cp C_sim_data/*.zarr.zip /home/zhang/xxy/sim_data/
+```
+
+- `v5rld_Kepisode/`（382 个文件，319 MB）、`v5rl_Kepisode/`（385 个文件，310 MB）：`replay_buffer.zarr`、`episodes/`、
+  `videos/`、`collect_meta.json`、`scene_manifest.json`、`instructions.json`。
+- `v5rld_Kepisode.baseline.118.rotation_6d.zarr.zip`、`v5rl_Kepisode.baseline.119.rotation_6d.zarr.zip`：训练用的缓存
+  （约 0.5 GB 一个），有了就不用再跑打包缓存那一步。
+- ckpt 的 `.hydra/overrides.yaml` 和数据集元数据里写的是 ye 上的绝对路径 `/home/zhang/xxy/...`；
+  放在别的路径下时，用代码包里的 `tools/fix_paths.sh` 改。
+
+有了 A 就能自己采数据、自己训。