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e83699a 0ac6b35 e83699a 025c6a9 e83699a 8e848c4 025c6a9 228b768 0ac6b35 c5a9d2c 0ac6b35 c5a9d2c 0ac6b35 c5a9d2c 6c5eed9 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 | # RHSCI 检查点备份清单
ACT原RGB入库时的历史统计（不含下方Goal新增）：26份检查点：历史16份40k、本机ACT EGQ-AE／原RGB-STATE各两份40k及GR00T Reader／无Reader／STATE各两份20k。
权重及配套恢复文件共 271,688,992,588 bytes；不含目录说明及本索引。源仓库和本机原件均保留。
| 骨干 | 方案 | 任务 | 步数 | 备份 |
|---|---|---|---:|---|
| ACT | EGQ-AE | between | 40000 | [完整归档](ACT/EGQ-AE/between/simple-act-spacecache-v4-cfs-20261027/checkpoint-40000.tar.zst) |
| ACT | EGQ-AE | hug | 40000 | [完整归档](ACT/EGQ-AE/hug/simple-act-spacecache-v4-cfs-20261027/checkpoint-40000.tar.zst) |
| Gr00t | VGQ-AE | between | 20000 | [完整归档](Gr00t/VGQ-AE/between/paper20k-reader-spacecache-v1/checkpoint-20000.tar.zst) |
| Gr00t | VGQ-AE | hug | 20000 | [完整归档](Gr00t/VGQ-AE/hug/paper20k-reader-spacecache-v1/checkpoint-20000.tar.zst) |
| PSI0 | (VGQ-AE-D) | betweentables | 40000 | [原生目录](PSI0/%28VGQ-AE-D%29/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-%28VGQ-AE-D%29-frozen-direct-d-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610191130/checkpoints/ckpt_40000) |
| PSI0 | (VGQ-AE-D) | hug | 40000 | [原生目录](PSI0/%28VGQ-AE-D%29/hug/frozen/RSCI-G1WholebodyPickAndPlaceAndHugContainerTeleop-v0-%28VGQ-AE-D%29-frozen-direct-d-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610182244/checkpoints/ckpt_40000) |
| PSI0 | NO-STATE | betweentables | 40000 | [原生目录](PSI0/NO-STATE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-NO-STATE-frozen-nostate-newh264-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610201206/checkpoints/ckpt_40000) |
| PSI0 | NO-STATE | hug | 40000 | [原生目录](PSI0/NO-STATE/hug/frozen/RSCI-G1WholebodyPickAndPlaceAndHugContainerTeleop-v0-NO-STATE-frozen-nostate-newh264-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610201717/checkpoints/ckpt_40000) |
| PSI0 | STATE | betweentables | 40000 | [原生目录](PSI0/STATE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-STATE-frozen-official-rgb-newh264-v2.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610200129/checkpoints/ckpt_40000) |
| PSI0 | STATE | hug | 40000 | [原生目录](PSI0/STATE/hug/frozen/RSCI-G1WholebodyPickAndPlaceAndHugContainerTeleop-v0-STATE-frozen-official-rgb-newh264-v2.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610200636/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE | betweentables | 40000 | [原生目录](PSI0/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-newh264-speed-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610171045/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE | faucet | 40000 | [原生目录](PSI0/VGQ-AE/faucet/frozen/RSCI-G1WholebodyOpenFaucetTeleop-v0-VGQ-AE-frozen-faucet99-newh264-speed-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610181101/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE | handover | 40000 | [原生目录](PSI0/VGQ-AE/handover/frozen/RSCI-G1WholebodyHandoverTeleop-v0-VGQ-AE-frozen-handover100-newh264-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610210130/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE | hug | 40000 | [原生目录](PSI0/VGQ-AE/hug/frozen/RSCI-G1WholebodyPickAndPlaceAndHugContainerTeleop-v0-VGQ-AE-frozen-newh264-speed-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610170035/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE | oven | 40000 | [原生目录](PSI0/VGQ-AE/oven/frozen/RSCI-G1WholebodyOpenOvenTeleop-v0-VGQ-AE-frozen-oven99-newh264-speed-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610180003/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE-F10 | betweentables | 40000 | [原生目录](PSI0/VGQ-AE-F10/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-future200ms-noreader-resume2000-b16-v8.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610222149/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE-NR | betweentables | 40000 | [原生目录](PSI0/VGQ-AE-NR/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000) |
| pi05 | STATE | hug | 40000 | [完整归档](pi05/STATE/hug/official-state-newh264-v1/checkpoint-40000.tar.zst) |
| pi05 | VGQ-AE | betweentables | 40000 | [原生目录](pi05/VGQ-AE/betweentables/frozen/simple-default-v4-speed-both-v1/checkpoint-40000) |
| pi05 | VGQ-AE | hug | 40000 | [完整归档](pi05/VGQ-AE/hug/newh264-v1/checkpoint-40000.tar.zst) |
## 核验与使用
- 文件清单、大小、SHA256及来源版本见 [_metadata/backup-20-verified-20261027.json](_metadata/backup-20-verified-20261027.json)。
- 历史16份的补充配置与处理器包位于 `_metadata/20261025/`；原生checkpoint需配合该包恢复缺失的外部元数据。
- 本机四份归档已经全量读回，逐成员大小/SHA256与原始保存标记一致；包含模型、优化器、调度器、四rank RNG、配置、源码快照及所需辅助资产。
- 压缩包先校验SHA256，再解压至独立目录。ACT内部检查点目录为 `checkpoint-40000`，GR00T为 `checkpoint-20000`。
- GR00T两份是保留Reader的 `paper20k-reader-spacecache-v1`，不能作为无Reader版使用。
- 备份核验不等于目标服务器评测通过；绝对路径、依赖、缓存及模型推理入口仍须适配并核对。
- 训练数据单独放在 [同名dataset仓库](https://huggingface.co/datasets/ds1x/RHSCI)。
## 新增四份 GR00T 20k（2026-10-28会话）
| 骨干 | 方案 | 任务 | 步数 | 备份 |
|---|---|---|---:|---|
| Gr00t | VGQ-AE-NR | between | 20000 | [完整归档](Gr00t/VGQ-AE-NR/between/paper20k-fullvlm-rgb-spacecache-v1/checkpoint-20000.tar.zst) |
| Gr00t | VGQ-AE-NR | hug | 20000 | [完整归档](Gr00t/VGQ-AE-NR/hug/paper20k-fullvlm-rgb-spacecache-v1/checkpoint-20000.tar.zst) |
| Gr00t | STATE | between | 20000 | [完整归档](Gr00t/STATE/between/paper20k-fullvlm-rgb-spacecache-v1/checkpoint-20000.tar.zst) |
| Gr00t | STATE | hug | 20000 | [完整归档](Gr00t/STATE/hug/paper20k-fullvlm-rgb-spacecache-v1/checkpoint-20000.tar.zst) |
本轮八份顺序测评见 [_handoff/20261028/EVALUATION_HANDOFF_20261028.md](_handoff/20261028/EVALUATION_HANDOFF_20261028.md)。此前20份收据保留；新增四份及本轮八份的身份以交接清单为准。
## ACT 原RGB/STATE新增两份40k
| 模型 | 任务 | 步数 | 备份 |
|---|---|---:|---|
| ACT STATE | between | 40000 | [完整归档](ACT/STATE/between/simple-act-rgb-spacecache-20261028-v1/checkpoint-40000.tar.zst) |
| ACT STATE | hug | 40000 | [完整归档](ACT/STATE/hug/simple-act-rgb-spacecache-20261028-v1/checkpoint-40000.tar.zst) |
补充定位见 [_handoff/20261028-act-rgb/RGB_UPLOAD_20261028.json](_handoff/20261028-act-rgb/RGB_UPLOAD_20261028.json)。
<!-- training-goal-hug-40k -->
2026-10-28：π0.5 NO-STATE hug 40000步完整模型、Adam、scheduler、八rank RNG及复现资料已核验，见[备份清单](_handoff/20261028-training-goal/hug-40k.json)。原件保留，未执行GPU评测。
<!-- training-goal-summary:start -->
本Goal新增 π0.5 NO-STATE 完整40k归档 2 份，共 18,750,196,235 bytes；不包含在此前26份历史统计中。
- [between 固定版本与SHA256](_handoff/20261028-training-goal/between-40k.json)
- [hug 固定版本与SHA256](_handoff/20261028-training-goal/hug-40k.json)
<!-- training-goal-summary:end -->
<!-- training-goal-between-40k -->
2026-10-28：π0.5 NO-STATE between 40000步完整模型、Adam、scheduler、八rank RNG及复现资料已核验，见[备份清单](_handoff/20261028-training-goal/between-40k.json)。原件保留，未执行GPU评测。
<!-- goal-new-40k-audit-20261028 -->
2026-10-28本机新完成4万步查漏：ACT EGQ-AE两份、ACT原RGB/STATE两份、π0.5 NO-STATE两份，合计6份20,995,097,092 bytes，全部已上传，漏传0；见[固定清单与逐份SHA256](_handoff/20261028-training-goal/NEW_40K_UPLOAD_AUDIT_20261028.json)。不重复计算缓存副本。
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