{ "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", "train_steps": 3000 }, "created_at_unix": 1779939970, "files": [ { "bytes": 4519, "path": "config/phase2_config.yaml", "sha256": "d3221b62e48e829828a3d45535d87a3942513758493b77689262c665fb3ea746" }, { "bytes": 984, "path": "config/recording_config_ur7e_phase2.yaml", "sha256": "f7915a2bdebbf67e2e90f0f32710fc539b422f1b0a33031d478af85cf30a0c7e" }, { "bytes": 2645, "path": "pretrained_model/config.json", "sha256": "f6f994dcaea938d2602dac3bbe77aff1170ac5029446a24483a58a2878f412a2" }, { "bytes": 906712520, "path": "pretrained_model/model.safetensors", "sha256": "b3f36316a140b608f1404d823bc51c300858332200ec2496b4079d2b565d4f3b" }, { "bytes": 660, "path": "pretrained_model/policy_postprocessor.json", "sha256": "3b51f092c70c710ce0213ee1b63bf51b4878ec67828dd2d67daf9ef51081a41a" }, { "bytes": 15124, "path": "pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors", "sha256": "9bb5dbd493da25bfa7f225edcf47d85c85788fad965ebd86aa87877cb9d674e5" }, { "bytes": 2246, "path": "pretrained_model/policy_preprocessor.json", "sha256": "9f2f42a4a8ef6c09a5e453dc9fc8bdcff550c95d6d5b8fded8fcc343267da6ee" }, { "bytes": 15124, "path": "pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors", "sha256": "9bb5dbd493da25bfa7f225edcf47d85c85788fad965ebd86aa87877cb9d674e5" }, { "bytes": 7427, "path": "pretrained_model/train_config.json", "sha256": "c6cb73590ed5ea777ef779318338256e268787ae1ee76499c0bfdadbd7434dc7" }, { "bytes": 1167, "path": "session/dataset_judge_rejected_skips.json", "sha256": "f40f273b4f93de4dc9d9d82881eb27373547c3e82b18aa4bf6ba725956a0ef2e" }, { "bytes": 506, "path": "session/resume_append_status.json", "sha256": "aec2fd8dc6f9398740decfe66b6bf51e97872f6f53c2cb5e1c1230126e030bb7" }, { "bytes": 44251, "path": "session/session_summary.json", "sha256": "a910888c0415da922aea4c5832829319af67039cc21b22cb6bd293a6e3947576" }, { "bytes": 302162, "path": "session/subgoal_buffer.npz", "sha256": "0f11ec4ac1aca73d9766e9af8611a5e2fe8bfac3389a4928c11e30e7acfd1697" }, { "bytes": 1361616, "path": "skill_dct/UR7e_phase1_Sort_RGBblock_10fps.canonical.parquet", "sha256": "6a3a60175a2e1462ea85b75f66e5e4ba599a249b81d084a0309821866ea1770f" }, { "bytes": 1358948, "path": "skill_dct/UR7e_phase1_Sort_RGBblock_10fps.parquet", "sha256": "d3fb466912f11a750c736c7b8cc29fb751775e9c15945b2db3dd10e1ec26b77a" }, { "bytes": 7102690, "path": "vector_db/server_skill_wise_vector_db.npz", "sha256": "9748b78a48c19e5bd87f865f220d7fa9d6141a7777b53855752d522926cce0ab" }, { "bytes": 7102690, "path": "vector_db/skill_wise_vector_db.npz", "sha256": "9748b78a48c19e5bd87f865f220d7fa9d6141a7777b53855752d522926cce0ab" } ], "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 ], "skill_18": [ 20, 966 ], "skill_19": [ 20, 966 ], "skill_2": [ 20, 966 ], "skill_20": [ 20, 966 ], "skill_21": [ 20, 966 ], "skill_22": [ 20, 966 ], "skill_23": [ 20, 966 ], "skill_24": [ 20, 966 ], "skill_25": [ 20, 966 ], "skill_26": [ 20, 966 ], "skill_27": [ 20, 966 ], "skill_28": [ 20, 966 ], "skill_3": [ 20, 966 ], "skill_4": [ 20, 966 ], "skill_5": [ 20, 966 ], "skill_6": [ 20, 966 ], "skill_7": [ 20, 966 ], "skill_8": [ 20, 966 ], "skill_9": [ 20, 966 ] }, "skills": 29 } }