| --- |
| license: other |
| library_name: pytorch |
| tags: |
| - robotics |
| - diffusion-policy |
| - latent-action |
| - bridge-v2 |
| - semantic-latent-action-space |
| datasets: |
| - bridge |
| --- |
| |
| # Semantic Latent Diffusion Policy |
|
|
| This repository stores checkpoint artifacts for the semantic latent action space experiments. |
|
|
| ## Scope |
|
|
| The uploaded artifacts cover the full BRIDGE experiment suite under `full_bridge_seed0`: |
|
|
| - RoLD baseline LAT. |
| - Multi-delta semantic LAT. |
| - Plain monolithic LDP on RoLD LAT. |
| - Plain monolithic LDP on multi-delta LAT. |
| - Semantic-intent LDP on multi-delta LAT. |
| - Semantic-intent + semantic-denoising LDP. |
| - K=4 RoLD and multi-delta expert policies. |
| - K=4 observation routers and semantic-intent router. |
| - Evaluation metrics, training configs, and launch scripts. |
|
|
| The BRIDGE dataset and cached R3M feature directories are **not** included. |
|
|
| ## Important Conditioning Note |
|
|
| The full dataset metadata contains `task_name` strings, but the completed runs used |
| `task_label_mode=original`, i.e. categorical task-id conditioning. These checkpoints |
| are not language-token-conditioned policies. |
|
|
| ## Main Full-Dataset Results |
|
|
| | Model | Test MSE | Motion MSE | Gripper MSE | Gripper Acc | |
| |---|---:|---:|---:|---:| |
| | RoLD plain LDP | 0.037981 | 0.001409 | 0.257416 | 0.7278 | |
| | Multi-delta plain LDP | 0.038589 | 0.001408 | 0.261680 | 0.7257 | |
| | Multi-delta semantic-intent LDP | 0.036052 | 0.001372 | 0.244134 | 0.7434 | |
| | Multi-delta semantic-intent + semantic denoising | 0.036084 | 0.001366 | 0.244389 | 0.7433 | |
|
|
| ## Key Interpretation |
|
|
| The multi-delta semantic LAT strongly improves visual-effect latent geometry, but a |
| plain monolithic LDP does not automatically benefit. Semantic-intent LDP improves |
| offline action prediction, supporting the representation-policy gap hypothesis. |
|
|
| ## Structure |
|
|
| - `checkpoints/full_bridge_seed0/`: all full-dataset checkpoints, configs, metrics, and summaries. |
| - `scripts/`: launch/evaluation scripts used to run the experiments. |
| - `MODEL_INDEX.md`: map from experiment names to checkpoint paths. |
| - `manifest.json`: uploaded file manifest. |
|
|
| Repository target used by uploader: `bageldotcom/semantic-latent-diffusion-policy`. |
|
|
