Index 24 verified backups and publish eight-model five-round evaluation handoff
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README.md
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RHSCI 项目公开模型检查点仓库。
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- **
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- [检查点清单](checkpoint/INDEX.md)：任务、方案、版本、下载路径。
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- [文件大小、SHA256和来源版本](checkpoint/_metadata/backup-20-verified-20261027.json)。
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- 训练数据单独存放于同名 [RHSCI dataset仓库](https://huggingface.co/datasets/ds1x/RHSCI)。
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目录格式：`checkpoint/<骨干>/<方案>/<任务>/<版本或run>/<实际checkpoint文件或目录>`。
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骨干包括 `PSI0`、`pi05`、`ACT`、`Gr00t`。历史断点保留原生目录或原始压缩包；本机
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原仓库及本机原件均保留。上传后核对公开属性、文件清单、字节数及内容标识；本机
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RHSCI 项目公开模型检查点仓库。
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- **24份检查点已完成备份**：历史16份40k、本机ACT两份40k、GR00T Reader／无Reader／STATE各两份20k。
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- [检查点清单](checkpoint/INDEX.md)：任务、方案、版本、下载路径。
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- [文件大小、SHA256和来源版本](checkpoint/_metadata/backup-20-verified-20261027.json)。
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- 训练数据单独存放于同名 [RHSCI dataset仓库](https://huggingface.co/datasets/ds1x/RHSCI)。
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目录格式：`checkpoint/<骨干>/<方案>/<任务>/<版本或run>/<实际checkpoint文件或目录>`。
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骨干包括 `PSI0`、`pi05`、`ACT`、`Gr00t`。历史断点保留原生目录或原始压缩包；本机八份保存为包含恢复状态与配套源码/处理器资产的完整归档。
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原仓库及本机原件均保留。上传后核对公开属性、文件清单、字节数及内容标识；本机八份归档另做逐成员完整读回校验。备份通过不表示目标服务器GPU闭环评测通过。
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## 2026-10-28 本机八份权重评测交接
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新增无Reader和原RGB/STATE四份20k已完成上传；此前ACT/Reader四份重新核验复用。八份固定版本、大小、SHA及源码见 [执行清单](checkpoint/_handoff/20261028/EVALUATION_WEIGHTS_20261028.json)，先读 [五轮评测规则](checkpoint/_handoff/20261028/EVALUATION_HANDOFF_20261028.md)。上传验收不表示已启动目标机评测。
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checkpoint/INDEX.md
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# RHSCI 检查点备份清单
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2026-10-
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权重及配套恢复文件共
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| 骨干 | 方案 | 任务 | 步数 | 备份 |
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- GR00T两份是保留Reader的 `paper20k-reader-spacecache-v1`，不能作为无Reader版使用。
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- 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。
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- 训练数据单独放在 [同名dataset仓库](https://huggingface.co/datasets/ds1x/RHSCI)。
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# RHSCI 检查点备份清单
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2026-10-28会话：已备份24份检查点：历史16份40k、本机ACT两份40k及GR00T Reader／无Reader／STATE各两份20k。
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权重及配套恢复文件共 270,564,212,500 bytes；不含目录说明及本索引。源仓库和本机原件均保留。
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| 骨干 | 方案 | 任务 | 步数 | 备份 |
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- GR00T两份是保留Reader的 `paper20k-reader-spacecache-v1`，不能作为无Reader版使用。
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- 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。
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- 训练数据单独放在 [同名dataset仓库](https://huggingface.co/datasets/ds1x/RHSCI)。
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## 新增四份 GR00T 20k（2026-10-28会话）
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| 骨干 | 方案 | 任务 | 步数 | 备份 |
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|---|---|---|---:|---|
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| Gr00t | VGQ-AE-NR | between | 20000 | [完整归档](Gr00t/VGQ-AE-NR/between/paper20k-fullvlm-rgb-spacecache-v1/checkpoint-20000.tar.zst) |
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| Gr00t | VGQ-AE-NR | hug | 20000 | [完整归档](Gr00t/VGQ-AE-NR/hug/paper20k-fullvlm-rgb-spacecache-v1/checkpoint-20000.tar.zst) |
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| Gr00t | STATE | between | 20000 | [完整归档](Gr00t/STATE/between/paper20k-fullvlm-rgb-spacecache-v1/checkpoint-20000.tar.zst) |
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| Gr00t | STATE | hug | 20000 | [完整归档](Gr00t/STATE/hug/paper20k-fullvlm-rgb-spacecache-v1/checkpoint-20000.tar.zst) |
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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。
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checkpoint/README.md
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# RHSCI 模型检查点
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完整清单见 [INDEX.md](INDEX.md)，共
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本仓库只放模型和复现资料；数据在独立 [dataset仓库](https://huggingface.co/datasets/ds1x/RHSCI)。
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原生checkpoint使用其对应配置与处理器补充包；压缩归档先校验SHA256，再解压到独立目录。模型版本、Reader状态、代码和评测协议必须匹配。
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# RHSCI 模型检查点
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完整清单见 [INDEX.md](INDEX.md)，共24份：18份40k、6份GR00T 20k。
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本轮八份测评先读 [_handoff/20261028/EVALUATION_HANDOFF_20261028.md](_handoff/20261028/EVALUATION_HANDOFF_20261028.md)。数据在同名 dataset 仓库；模型与处理器、配置、源码和协议必须匹配。
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checkpoint/_handoff/20261028/EVALUATION_HANDOFF_20261028.md
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# 本机新权重的五轮顺序评测交接
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日期：2026-10-28（会话日期；本机 UTC 时钟仍显示 2026-10-27，收据保留实际时钟）。所属 PSI0-RAW main 的交接文档。接手 AI 可自行完成目标机检查、必要的环境/路径适配、连续脚本和正式评测；不能停止别人的任务。本文不是已完成评测的报告。
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## 交给接手 AI 的任务
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请先读取本文、同目录 `EVALUATION_QUEUE_20261028.json` 和最终上传清单 `EVALUATION_WEIGHTS_20261028.json`，核对固定版本和 SHA256，再在你能访问的 RTX 评测机器上运行。不要照搬 A800 主机的绝对路径，不要把源码已下载或 HTTP 服务启动当作评测通过。
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你需要自行查看有哪些 GPU 空闲。**禁止使用物理 GPU 0、1，服务端、模拟器、物理计算、Vulkan/EGL 渲染均不能使用。** 默认一张合格空闲卡跑一个完整评测，整个清单严格串行，前组验收完再启动下一组。持续后台执行，建立每 1800 秒一次的健康巡检，正常时只更新文件和日志、不向用户刷屏；出现需要用户处理的阻塞或全部完成时才汇报。
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本轮范围是本机新完成的八份权重，不是把历史全部模型无差别重测。历史结果只作协议参考，不能移用为这些新权重的结果。ACT 没有本机训练完成的独立原 RGB/STATE 基线；不要虚构该项。GR00T NO-STATE 暂未发现完成产物，不加入队列。
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## 权重、数据、源码
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- 模型仓库：<https://huggingface.co/ds1x/RHSCI>，类型 **model**，路径 `checkpoint/`。用最终权重清单中的固定 revision、归档路径、字节数、SHA256 下载；不要使用会漂移的 `main` 作为执行身份。
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- 数据资产仓库：<https://huggingface.co/datasets/ds1x/RHSCI>，类型 **dataset**，固定 revision `2bff75eb0ca574211ed95a5d88d4fc8482426369`。评测读 `eval-data/` 和 `ASSET_MANIFEST.json`，不为了评测全量下载 `train-data/`。按资产清单恢复 SIMPLE、布局、控制器及必要场景。
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- 本机新四份 GR00T 归档包含完整 20000 步 checkpoint、优化器/调度器/四 rank RNG、训练结束日志、处理器、统计和契约绑定的源码快照。旧两份 GR00T Reader 和两份 ACT 复用已经核验的完整归档。
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- 每份归档先查整体 SHA256，再读 `BACKUP_MANIFEST.json`，安全解压到该模型独立目录，拒绝越界路径和覆盖别的模型；逐文件检查大小/SHA256、`RSCI_COMPLETE.json`、最终步数及权重有限性。
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- 为了评测，只向 GPU 加载模型；优化器/RNG 保留在磁盘，不加载到 GPU。不得把“只加载推理文件”说成“缺失完整备份”。
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- **使用归档对应的训练源码和保存的配置**。不要直接用重新组织过的 RHSCI-Private 最新模块加载历史 checkpoint；它的路径/类名/源码契约可能不同。不要篡改 checkpoint、清除源码校验或重新初始化动作专家来绕过不匹配。
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- 交接源码已发布于 [`f83224fb1e734b91eb0794f3dc2f45d1e465a7c3`](https://github.com/Haoxuan0822/PSI0-RAW/tree/f83224fb1e734b91eb0794f3dc2f45d1e465a7c3)，分支 `handoff/evaluation-five-rounds-20261028`。该固定提交包含八份 checkpoint 的全部292条匹配源码契约记录；最终清单同时给出该定位。其中 `handoff_reference/ardy_psci/` 仅保存历史评测入口和协议证据，旧绝对路径必须显式适配。不能原封运行旧 Now 自动发现器，因为它的模型注册/50k 步数规则不覆盖本批 20k 新模型。
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- 数据和权重默认仍遵守 `/mnt/cfs/cqizhh/personal/huangkailun/haoxuan/{data,checkpoints}`；目标机不存在该挂载时，先发现当前用户的可写数据盘，记录目标机真实目录映射，不能冒用他人目录。依赖、下载缓存和大归档的空间按实际目标机先做预算。
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## 明确的顺序与工作量
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| 顺序 | 任务 | 模型 | 最终步数 |
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| --- | --- | --- | ---: |
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| 1 | 两桌 | GR00T 原 RGB / STATE | 20000 |
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| 2 | 两桌 | GR00T VGQ-AE / Reader | 20000 |
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| 3 | 两桌 | GR00T VGQ-AE / 无 Reader | 20000 |
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| 4 | 两桌 | ACT EGQ-AE | 40000 |
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| 5 | 抱箱 | GR00T 原 RGB / STATE | 20000 |
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| 6 | 抱箱 | GR00T VGQ-AE / Reader | 20000 |
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| 7 | 抱箱 | GR00T VGQ-AE / 无 Reader | 20000 |
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| 8 | 抱箱 | ACT EGQ-AE | 40000 |
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每行完整评测 **5 轮**，每轮按用户等级 1、2、3（CLI 为 level 0、1、2）各 **10 集**，episode 编号精确 0..9。每模型 15 组、150 集，八项共 **120 组、1200 集**。同一模型先完成第 1 轮三级，再第 2 轮，直到第 5 轮；之后才进入下一行。JSON 已给出完整队列。
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原协议固定 `eval_seed=0`，repeat 仅是重复编号，**不要自行改成 seed+repeat**。每组创建新服务/模拟器或证明 reset 等价，每集完整 reset 动作队列、状态、WBC 与随机流；噪声/请求 seed 保持对应骨干原生确定性包装，不能为五轮额外发明新采样规则。
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## 评测协议：沿用旧 Now 的控制、渲染和评分
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历史依据：ARDY_PSCI 的 `RSCI_EVALUATION.md` 中“2026-10-19 官方RGB同样五轮”“2026-10-18 当前Now录像自动上传”“全任务作废重测与Now持久队列”及 2026-10-23/25 单卡优先补充。历史 lock 的 `repeats: 2` 被后续五轮要求覆盖，不能按那个旧字段只测两轮。
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- SIMPLE 源版本 `6d10628794d9c7de4596b4f2afb2c054a637c2bc`；`decoupled_wbc` 为 `5b304e4d643fe89cd000068dcbba7e7519539caa`，机器人 XML/ONNX/资产身份同样核对。对面机器上执行 WBC，但应部署我们锁定的版本和适配层，不是随便用对面现成的 WBC。
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- 控制协议基础为 `rsci-simple-v3-speed-selector-hand-v2`：`sim-step-v1` 仿真步时钟，`legacy-rate-v1-speed-selector-v1` 导航，`wbc-hand-names-legacy-actions-v2` 手部映射，两桌和抱箱均 `legacy-zero-arms-v1` 初姿、`localized-v1` HSSD 引用。优先复用历史 `rsci_simple_control.py`、手指/初姿/时钟等适配层，不自己重写控制语义。
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- 使用 SIMPLE 默认渲染，保持分辨率、相机、AA、物理步长和控制频率；不关闭阴影、降低画质、重置每帧历史或开诊断物理/评分修复来提速。headless 仍须渲染相机画面。
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- 任务为 `G1WholebodyLocomotionPickBetweenTablesTeleop-v0` 与 `G1WholebodyPickAndPlaceAndHugContainerTeleop-v0`，使用对应 `dr-level-0/1/2` 布局；成功判定、策略步预算和稳定阶段处理使用所锁版本的真实任务/入口，禁止擅改或把稳定步计入策略预算。
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- **ACT 和 GR00T 均无 RTC**：不要继承旧 Ψ0 的 `--rtc`。GR00T 使用原生 4 步 flow；ACT 使用原生 latent-zero 推理；两者均返回/执行完整 **16×36** 动作块，不能套用 Ψ0/π0.5 的“输出30执行24”。
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- 三种 GR00T 都用当前单帧 RGB＋语言；STATE 另输入 32D state（前31维实测反馈＋上一已下发高度命令），不得用预测腰角替代反馈。VGQ-AE 两种均不输入 state、历史或教师标签，不执行辅助 Reader/Query。ACT EGQ-AE 仅当前单帧 RGB，无语言、无 state、无历史。
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- 服务端处理器、动作顺序、归一化/反归一化严格从该权重恢复。核对实际训练字节和请求→响应→客户端队列的形状/帧数，不能只看 HTTP 200。
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| 52 |
+
- 允许机器/GPU/路径发生明确迁移；原环境锁包含旧 GPU/驱动和旧绝对路径，不可为通过检查直接把期望值改成现状。先逐项区分机器差异与模型/控制/渲染语义差异，形成新的目标机环境收据和独立 campaign ID，保留原锁。不能承诺跨 GPU 渲染或随机结果逐位相同。
|
| 53 |
+
|
| 54 |
+
## 4090 资源选择和运行边界
|
| 55 |
+
|
| 56 |
+
1. 用 `nvidia-smi`/NVML 记录物理 index、UUID、PCI bus、型号、显存、驱动；允许候选的物理 index 必须 ≥2，具有 RT Core，并满足实际 Isaac 版本要求。**如果只有 GPU0 或 GPU1，记录 WAITING_FOR_ALLOWED_GPU 并等待；不能启用它们。**
|
| 57 |
+
2. 同时检查计算进程和图形进程，不是只查 utilization 或剩余显存。结合 NVML compute/graphics processes、`nvidia-smi` 进程表及设备占用核对；无法取得可靠进程信息则等待，不将查询失败解释成空闲。无其他进程挂载才有资格。
|
| 58 |
+
3. 对候选卡先取得按物理 UUID 命名的独占 flock/租约，再观察至少120秒无其他进程；启动前再次复核。初始沿用至少14000MiB空闲的下限，但这不是保证能装下任意模型；预检还要给模型＋模拟器实际占用留足空间。运行期每卡余量至少512MiB，不监视别的训练速度、不杀别人的进程/保活来腾卡。
|
| 59 |
+
4. 子进程使用选定 GPU UUID 隔离 CUDA；进程内部 `cuda:0` 只表示已选卡的逻辑0。Isaac/Vulkan/EGL 也必须按 UUID/PCI bus 对应的物理卡绑定，并用 GPU 进程表确认渲染没有落到物理0/1。不能把 CUDA_VISIBLE_DEVICES 当作 Vulkan 已绑定的证明。
|
| 60 |
+
5. 默认一张卡同时跑服务端与模拟器，禁止因“4090只有24GB”就先占两张。只有明确单卡 CUDA OOM/显存保护中断，留存失败证据并确认本组进程全部退出后，才可按历史规则尝试一次双卡分工；两张卡也均须 ≥2、空闲且独占。没有第二张合法卡就等待，不改精度、量化、减少动作块或使用0/1卡绕过。
|
| 61 |
+
6. 跨机推理可以作为有记录的后备：4090 跑仿真/WBC、另一台允许使用的GPU跑服务，通过SSH隧道通信；本轮不授权回到本机A800启动推理任务。接手AI只有在相关服务主机/GPU已获授权且不违反0/1限制时采用，记录网络和布局，仿真等动作返回再推进、保持sim-step时钟。不得把它与同机运行混为逐位等价。
|
| 62 |
+
|
| 63 |
+
## 连续脚本、半小时巡检与失败规则
|
| 64 |
+
|
| 65 |
+
请在目标机实现并启动一个持续的串行调度脚本，而不是只返回命令。把机器路径、解释器、服务端与评测客户端参数经真实 `--help` 和小规模启动检查后写入目标机专属配置；本文件不提供假定已经适配完成的通用启动命令。
|
| 66 |
+
|
| 67 |
+
- 使用队列 JSON 的稳定 `job_id`（模型/任务/checkpoint SHA、repeat、level、协议身份）；状态持久化为 queued/waiting/running/complete/technical_failed，原子写 `state.json`，flock 防止重复调度器。
|
| 68 |
+
- 每组保存准确 argv、环境变量白名单、GPU UUID/PCI、代码版本、权重哈希、处理器、资产/控制协议、运行布局和开始/退出时间。不要把令牌、SSH密钥、完整环境变量转储进公开资料。
|
| 69 |
+
- 组间自动接续；每10秒左右处理子进程退出和状态，另用持久进程/定时器每 **1800 秒**写 `health.json`，核对PID＋start_ticks、后代进程、HTTP请求/episode推进、异常、录像/结果、空间和GPU映射。AI自身也每半小时读取这些证据处理异常，正常不发消息。会话结束后仍必须有实际后台定时巡检；仅写“我会半小时查看”不算实现。
|
| 70 |
+
- 服务初始化慢时不要凭无日志就杀；健康检查发现停滞先结合加载/CPU/GPU/HTTP/错误证据诊断。外层每组10集沿用43200秒预算，超时为技术中断，不等于策略失败；不得缩短单集仿真预算或设置新的短加载超时。
|
| 71 |
+
- 正常 episode False 保留、计入分母，不重试以挑成绩。其他错误留存原目录；除上文明确显存故障的一次双卡转换外，不自动无限重试。修复技术故障后用新attempt整组重跑并关联旧证据，不能拼接不同attempt冒充完整组。
|
| 72 |
+
- 本轮严格顺序：前组技术失败就暂停后续组，写阻塞原因；不跳过失败模型继续报“队列完成”。重启只复用满足同一模型/哈希/协议的完整组，先核验原进程已退出，不重复占卡或覆盖历史结果。
|
| 73 |
+
- 清理只能针对本次追踪且身份匹配的PID/进程组；禁止 `pkill python`、杀显存占用者、停训练、全局GPU reset。GPU租约在本组后代全部退出后释放。
|
| 74 |
+
|
| 75 |
+
## 结果验收与录像
|
| 76 |
+
|
| 77 |
+
每个10集组只有同时满足以下条件才能 complete：服务与模拟器正常退出（兼容入口有 `SMOKE_FINISHED` 时核对），episode_0..9精确齐全、无重复，任务/步数/权重/轮次/等级/协议匹配，无未处理基础设施异常，录像封装完成。HTTP 200、退出码0、CSV表头、进程消失，任何单项都不够。
|
| 78 |
+
|
| 79 |
+
默认沿用双目录像，每组20份、每模型300份；按真实camera列表核对，不把未完成集录像计入完成。至少做容器可读、时长/帧数/大小及SHA256检查；需要宣称全片解码或视觉正确，必须实际执行相应检查。每轮和每模型同时输出成功数、失败数、分母和各等级汇总；技术失败单列，不补成False。八项最终应有120个验收组、1200个完整episode。
|
| 80 |
+
|
| 81 |
+
录像沿用历史要求：所有五轮保存本地，**只发布前两轮**，成功失败都保留，repeat3..5不上传。历史发布格式为 `new_video/<任务简称>/<模型名>/episodeN/<任务简称_第n次_成功或失败_UTC日期_SIMPLE>/`，模型名必须含骨干/Reader状态/step避免覆盖。发布仓库必须核对目标机已有的、用户已确认的目的地，不能擅自覆盖他人的分支；目的地尚未确定时先保留本地、记录待发布，不为此阻塞已授权的评测。
|
| 82 |
+
|
| 83 |
+
只在全部验收完成时报告“完成”，附逐模型5轮150集的成绩、失败/补跑证据、权重/代码/环境版本和视频位置。当前交接只验证上传和文档/队列，目标4090环境、服务和完整闭环仍需你现场执行。
|
checkpoint/_handoff/20261028/EVALUATION_QUEUE_20261028.json
ADDED
|
@@ -0,0 +1,1513 @@
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|
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|
| 1484 |
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|
| 1485 |
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|
| 1486 |
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|
| 1487 |
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|
| 1488 |
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|
| 1489 |
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|
| 1490 |
+
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|
| 1491 |
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|
| 1492 |
+
16,
|
| 1493 |
+
36
|
| 1494 |
+
],
|
| 1495 |
+
"state": "STATE: measured first31 + last commanded height; VGQ/ACT EGQ: absent",
|
| 1496 |
+
"source_lock": "handoff_reference/ardy_psci/configs/rsci/eval_environment.lock.json",
|
| 1497 |
+
"overrides": [
|
| 1498 |
+
"five repeats",
|
| 1499 |
+
"ACT/GR00T: no RTC",
|
| 1500 |
+
"ACT/GR00T: execute 16 actions"
|
| 1501 |
+
]
|
| 1502 |
+
},
|
| 1503 |
+
"resume_identity_fields": [
|
| 1504 |
+
"campaign",
|
| 1505 |
+
"model_id",
|
| 1506 |
+
"checkpoint_marker_sha256",
|
| 1507 |
+
"repeat",
|
| 1508 |
+
"level",
|
| 1509 |
+
"eval_seed",
|
| 1510 |
+
"protocol",
|
| 1511 |
+
"policy"
|
| 1512 |
+
]
|
| 1513 |
+
}
|
checkpoint/_handoff/20261028/EVALUATION_WEIGHTS_20261028.json
ADDED
|
@@ -0,0 +1,228 @@
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