Cache-SCA/UR7e_Sort_RGBblock_DCT_SmolVLA_3000s

UR7e Sort RGBBlock DCT-tuned SmolVLA 3000-step Checkpoint

This repository preserves the DCT-tuned SmolVLA checkpoint and Method3 Phase2 server artifacts for the UR7e Sort RGBBlock task.

Source

• Phase1 dataset: CoRL2026-CSI/UR7e_phase1_Sort_RGBblock_10fps
• Task: Sort each colored block onto the dish of the matching color.
• Training: steps=3000, batch_size=16, gradient_accumulation_steps=1, empty_cameras=1
• Camera rename: realsense_wrist -> camera1, realsense_topview -> camera2

Contents

• pretrained_model/: LeRobot/SmolVLA from_pretrained checkpoint.
• skill_dct/: raw and canonical skill DCT sidecar parquet files.
• vector_db/: Phase2 P_phase1 vector DB and server buffer DB.
• session/: minimal Phase1 session artifacts needed by UR7e Phase2 replay.
• config/: Phase2 and recording configs used for server startup.
• MANIFEST.json: file hashes, training metadata, and DB summary.

Verified DB Summary

• Skills: 29
• Entries: 580
• Per-skill entries: 20 to 20
• Key shape example: [20, 966]

Server Startup Hint

cd /home/csiwoo/CORL2026/ur7e_autodata_workspace/runtime/AutoDataCollector-ur7e
PATH=/home/csiwoo/robobridge/nvidia_580_126_09/usr/bin:$PATH \
LD_LIBRARY_PATH=/home/csiwoo/robobridge/nvidia_580_126_09/usr/lib/x86_64-linux-gnu:${LD_LIBRARY_PATH:-} \
SKIP_SETUP=1 GPU_ID=0 ENV_NAME=gpu_server HOST=0.0.0.0 PORT=50061 \
RECORDING_CONFIG=pipeline_config/recording_config_ur7e_phase2.yaml \
URDF=assets/urdf/ur7e.urdf \
bash grpc_server/run_server.sh