Upload UR7e Sort RGBBlock DCT SmolVLA Phase2 artifacts

MANIFEST.json

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+{
+  "checkpoint": {
+    "batch_size": 16,
+    "dataset_repo_id": "CoRL2026-CSI/UR7e_phase1_Sort_RGBblock_10fps",
+    "empty_cameras": 1,
+    "gradient_accumulation_steps": 1,
+    "local_bundle_path": "pretrained_model",
+    "output_features": {
+      "action": {
+        "shape": [
+          7
+        ],
+        "type": "ACTION"
+      }
+    },
+    "rename_map": {
+      "observation.images.realsense_topview": "observation.images.camera2",
+      "observation.images.realsense_wrist": "observation.images.camera1"
+    },
+    "skill_dct_parquet": "/home/csiwoo/CORL2026/ur7e_autodata_workspace/runtime/AutoDataCollector-ur7e/results/skill_dct/UR7e_phase1_Sort_RGBblock_10fps.canonical.parquet",
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+    },
+    {
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+    }
+  ],
+  "hf_model_repo": "CoRL2026-CSI/UR7e_Sort_RGBblock_DCT_SmolVLA_3000s",
+  "name": "UR7e Sort RGBBlock DCT-tuned SmolVLA Phase2 Artifacts",
+  "phase2": {
+    "buffer": {
+      "filename": "server_skill_wise_vector_db.npz",
+      "save_dir": "grpc_server/buffer"
+    },
+    "mi_selection": {
+      "coverage_key_mode": "proprio",
+      "k_min": 3,
+      "min_covered_windows": 1,
+      "q1_chosen_strategy": "argq25",
+      "radius_k": 8,
+      "radius_quantile": 0.9,
+      "selection_mode": "Q1"
+    },
+    "phase1_dataset_path": "CoRL2026-CSI/UR7e_phase1_Sort_RGBblock_10fps",
+    "phase1_trained_vla_path": "results/method3_embed_vla/smolvla_dct_ur7e_sort_rgbblock_canonical_3000s_20260528_050642/checkpoints/003000/pretrained_model",
+    "selector_skill_dct_parquet": "results/skill_dct/UR7e_phase1_Sort_RGBblock_10fps.canonical.parquet",
+    "transport": {
+      "address": "127.0.0.1:50061",
+      "debug_verbose": true,
+      "timeout_s": 60.0
+    }
+  },
+  "server_command_hint": "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",
+  "source_dataset": "CoRL2026-CSI/UR7e_phase1_Sort_RGBblock_10fps",
+  "task": "Sort each colored block onto the dish of the matching color.",
+  "vector_db": {
+    "counts_per_skill": {
+      "skill_0": 20,
+      "skill_1": 20,
+      "skill_10": 20,
+      "skill_11": 20,
+      "skill_12": 20,
+      "skill_13": 20,
+      "skill_14": 20,
+      "skill_15": 20,
+      "skill_16": 20,
+      "skill_17": 20,
+      "skill_18": 20,
+      "skill_19": 20,
+      "skill_2": 20,
+      "skill_20": 20,
+      "skill_21": 20,
+      "skill_22": 20,
+      "skill_23": 20,
+      "skill_24": 20,
+      "skill_25": 20,
+      "skill_26": 20,
+      "skill_27": 20,
+      "skill_28": 20,
+      "skill_3": 20,
+      "skill_4": 20,
+      "skill_5": 20,
+      "skill_6": 20,
+      "skill_7": 20,
+      "skill_8": 20,
+      "skill_9": 20
+    },
+    "entries": 580,
+    "key_shapes_per_skill": {
+      "skill_0": [
+        20,
+        966
+      ],
+      "skill_1": [
+        20,
+        966
+      ],
+      "skill_10": [
+        20,
+        966
+      ],
+      "skill_11": [
+        20,
+        966
+      ],
+      "skill_12": [
+        20,
+        966
+      ],
+      "skill_13": [
+        20,
+        966
+      ],
+      "skill_14": [
+        20,
+        966
+      ],
+      "skill_15": [
+        20,
+        966
+      ],
+      "skill_16": [
+        20,
+        966
+      ],
+      "skill_17": [
+        20,
+        966
+      ],
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+        20,
+        966
+      ],
+      "skill_19": [
+        20,
+        966
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+        966
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+        20,
+        966
+      ],
+      "skill_21": [
+        20,
+        966
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+        20,
+        966
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+        966
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+        20,
+        966
+      ],
+      "skill_27": [
+        20,
+        966
+      ],
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+        20,
+        966
+      ],
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+        20,
+        966
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+        20,
+        966
+      ],
+      "skill_5": [
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+        966
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+      "skill_9": [
+        20,
+        966
+      ]
+    },
+    "skills": 29
+  }
+}

README.md

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+---
+license: mit
+tags:
+- robotics
+- ur7e
+- smolvla
+- method3
+- dct
+- phase2
+pipeline_tag: robotics
+---
+
+# 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
+
+```bash
+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
+```

config/phase2_config.yaml

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+# ============================================================
+# Phase2 Config — UR7e Method3 MI-based Acquisition
+# ============================================================
+
+skill_planner_transport:
+  mode: grpc
+
+phase1_trained_vla_path: "results/method3_embed_vla/smolvla_dct_ur7e_sort_rgbblock_canonical_3000s_20260528_050642/checkpoints/003000/pretrained_model"
+phase1_dataset_path: "CoRL2026-CSI/UR7e_phase1_Sort_RGBblock_10fps"
+
+budget: 100
+phase1_min: 40
+phase1_max: 60
+tau_ready: 0.7
+saturation_window: 10
+enable_phase2_early_stop: true
+dct_coeffs: 3
+verbose: false
+
+readiness:
+  k_min: 3
+  radius_k: 5
+  radius_quantile: 0.7
+
+mi_selection:
+  selection_mode: Q1
+  q1_chosen_strategy: argq25
+  tau_U_strategy: null
+  k_nn_a: 5
+  q_quantile: 0.5
+  # UR7e Curobo candidates share observation-level VLA keys within a plan_batch.
+  # Gate support by trajectory proprio; keep VLA for U_VLA ranking.
+  coverage_key_mode: proprio
+  # Normalize M_MI over supported candidates only; under-covered candidates
+  # are still rejected and should not lift the Useful-OOD threshold.
+  mi_norm_scope: supported
+  # Median/MAD keeps the supported-candidate threshold robust to MI outliers.
+  mi_norm_center: median
+  mi_norm_scale: mad
+  mi_norm_mad_consistency: true
+  k_min: 3
+  radius_k: 8
+  radius_quantile: 0.9
+  s_min_a: 0.001
+  eps: 1.0e-6
+  beta: 1.0
+  lambda: 1.0
+  tau_MI: 0.0
+  amb_agg: mean
+  min_covered_windows: 1
+  debug_verbose: true
+  arm_dof: 6
+  # UR7e Phase1 DB state/action descriptors are already arm-only 6D.
+  # Keep VLA action-head dimensionality separate via METHOD3_VLA_ACTION_DOF=7.
+  full_dof: 6
+  dct_L0: 50
+
+vla_informativeness:
+  enabled: true
+  scorer_type: dct
+  R: 4
+  agg: mean
+  sigma: 0.5
+
+skill_perturbation:
+  enabled_forward: true
+  enabled_reset: false
+  n_candidates: 64
+  # This file must be supplied before PHASE=phase2 can run on hardware.
+  curobo_robot_cfg_path: robot_configs/curobo/ur7e.yml
+  curobo_num_trajopt_seeds: 4
+  curobo_num_ik_seeds: 16
+  # Dynamic scene collision updates the Curobo world per skill request. CUDA
+  # graph capture can retain stale collision-world state, so keep it disabled.
+  curobo_use_cuda_graph: false
+  curobo_via_offset_mag: 0.12
+  curobo_junction_smooth_k: 5
+  curobo_max_vias_per_candidate: 2
+  # Do not perturb Curobo joint waypoints after collision-aware planning; doing
+  # so can invalidate the checked trajectory geometry.
+  curobo_joint_perturb_k: 0
+  curobo_joint_perturb_mag: 0.0
+  dynamic_collision_enabled: true
+  dynamic_collision_fail_closed: true
+  dynamic_collision_max_cuboids: 16
+  dynamic_collision_include_table: true
+  dynamic_collision_table_size: [1.2, 1.2, 0.05]
+  dynamic_collision_table_y_max_base_link: -0.18
+  dynamic_collision_table_z_floor_enabled: true
+  dynamic_collision_table_z_clearance_m: 0.02
+  dynamic_collision_table_z_check_stride: 1
+  dynamic_collision_disable_joint_perturbation: true
+  fixed_joint_indices: []
+  arm_joint_count: 6
+  # Curobo returns UR7e arm-only joint waypoints. The VLA scorer pads to
+  # METHOD3_VLA_ACTION_DOF=7 when a policy action head expects gripper state.
+  dct_target_dof: 6
+  ee_arm_dof: 6
+  servo_calibration_file: null
+
+reembedding:
+  skip_invalid: false
+  show_progress: true
+  frame_stride: 1
+  batch_size: 32
+  subgoal_filter_radius_m: 0.03
+  subgoal_filter_min_keep: 30
+  decode_workers: 4
+
+camera_rename:
+  realsense_wrist: camera1
+  realsense_topview: camera2
+
+transport:
+  address: "127.0.0.1:50061"
+  timeout_s: 60.0
+  debug_verbose: true
+
+server_build_phase1: false
+
+policy:
+  family: smolvla
+  device: "cuda"
+  autocast_dtype: bfloat16
+  state_weight: 1.0
+
+selector:
+  action_horizon: 50
+  max_T_eval: null
+  skill_dct_parquet: "results/skill_dct/UR7e_phase1_Sort_RGBblock_10fps.canonical.parquet"
+
+buffer:
+  save_dir: "grpc_server/buffer"
+  filename: "server_skill_wise_vector_db.npz"
+
+remote:
+  ssh_alias: ""
+  user: "csiwoo"
+  hostname: "61.107.202.230"
+  port: 22
+  identity_file: ""
+  # Clone root of this superproject on the remote server.
+  workspace_path: "/home/csiwoo/CORL2026/ur7e_autodata_workspace"
+  # Materialized patched AutoDataCollector runtime under workspace_path.
+  project_path: "/home/csiwoo/CORL2026/ur7e_autodata_workspace/runtime/AutoDataCollector-ur7e"
+  conda_env: "gpu_server"
+  gpu_id: 0
+  tmux_session: "phase2_server_ur7e"
+  git_pull_before_start: true
+  ready_timeout_s: 360
+  nvidia_backport_path: ""
+
+server_runtime:
+  recording_config: "pipeline_config/recording_config_ur7e_phase2.yaml"
+  urdf: "assets/urdf/ur7e.urdf"

config/recording_config_ur7e_phase2.yaml

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+# UR7e Phase2 gRPC server recording config.
+#
+# This file is intentionally minimal. Phase2 Method3 server settings such as
+# VLA checkpoint, Curobo config, selector, buffer, and camera key remapping live
+# in pipeline_config/phase2_config.yaml. The gRPC server still requires a
+# recording config path for legacy compatibility and reads only a few generic
+# values from it.
+
+dataset_repo_id: "CoRL2026-CSI/UR7e_Pnp_phase2_server"
+recording_fps: 10
+robot_type: "ur7e"
+
+# Server-side Phase2 does not write reset datasets. Local robot recording uses
+# run_forward_and_reset_ur7e_method.sh and its selected dataset repo.
+enable_reset_dataset_recording: false
+
+# Keep transit pitch unconstrained for UR7e Curobo candidates unless explicitly
+# overridden by an experiment-specific recording config.
+transit_pitch_max_deg: null
+
+# Legacy compatibility only. The actual Method3 Phase2 source of truth is
+# pipeline_config/phase2_config.yaml.
+preselective_filter: {}
+perturbation:
+  skill: {}

pretrained_model/config.json

@@ -0,0 +1,109 @@
+{
+    "type": "smolvla",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.camera1": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                256,
+                256
+            ]
+        },
+        "observation.images.camera2": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                256,
+                256
+            ]
+        },
+        "observation.images.camera3": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                256,
+                256
+            ]
+        },
+        "observation.images.empty_camera_0": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                7
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "lerobot/smolvla_base",
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "resize_imgs_with_padding": [
+        512,
+        512
+    ],
+    "empty_cameras": 1,
+    "adapt_to_pi_aloha": false,
+    "use_delta_joint_actions_aloha": false,
+    "tokenizer_max_length": 48,
+    "num_steps": 10,
+    "use_cache": true,
+    "freeze_vision_encoder": true,
+    "train_expert_only": true,
+    "train_state_proj": true,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-10,
+    "optimizer_grad_clip_norm": 10.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06,
+    "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+    "load_vlm_weights": true,
+    "add_image_special_tokens": false,
+    "attention_mode": "cross_attn",
+    "prefix_length": 0,
+    "pad_language_to": "max_length",
+    "num_expert_layers": 0,
+    "num_vlm_layers": 16,
+    "self_attn_every_n_layers": 2,
+    "expert_width_multiplier": 0.75,
+    "min_period": 0.004,
+    "max_period": 4.0,
+    "rtc_config": null,
+    "compile_model": false,
+    "compile_mode": "max-autotune"
+}

pretrained_model/model.safetensors

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+oid sha256:b3f36316a140b608f1404d823bc51c300858332200ec2496b4079d2b565d4f3b
+size 906712520

pretrained_model/policy_postprocessor.json

@@ -0,0 +1,32 @@
+{
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