Limit cup arm hold to the release chunk while maintaining the gripper opening until the model catches up. Include the reviewed task2 lift, PA2 lift and pose rounding adjustments.
Fix task2 final-close deferral and approach5mm before closing
Anchor final-close predictions across the complete32-row horizon and accept a still-deferred close after its deadline. Add5mm along hand-local +X over4 output steps immediately before final closing. No early approach on preclose alone. Preserve PA1 compression and other tasks.
Compose small SE3 steps before PA1 grasp with bounded merged-step motion. Preserve normal motion, gripper transitions, place advance and fingertip pivot. Keep16 action rows. Official checker:10 passed,0 warnings,0 failed.
12 days ago
Update u1 42000 continuous submission with task corrections
Half speed with two calls per model inference; task1 continuous place advance and fingertip pivot; task2 pen close defer and arm retention. Official openpi 1.0.0 checker: 10 passed, 0 warnings, 0 failed.
