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+- cam_high
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+- tac_right
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+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
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+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..0bf28f93c22d84fade803ce10aa6b71f591f9b4a
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 25
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..3105e8e73675fe939e5c760ab15b3bdb84930809
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 30
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..5b7f946012aabc07473bdd50ede3b321f30a5653
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 15
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..c3f4e56b92400ec9098626a9bc683aff2d7a53d0
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 20
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..9ad02059b3b136dea94258c04e2e1cb288c23439
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 25
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..ed9e7c2a2a89f29739b7a307445b49b1cbc8f8c7
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 30
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..9eb5cdd5bbd46c2ea650b935085c870b7dba7b46
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 15
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..90e769534704a9311b617492425aaab93da72012
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 20
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..3b19457bdf9fbd0a9f77a13cec63cdaf2010eca2
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 25
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..08c1410e044c06d5a07136184d3c92beca734463
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 30
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..7edb9eaed9186d338445a8b0740376d89360dfac
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 15
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..90f08a94005839cd1ff1d065d117a57854e53420
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 20
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..e73bbd90379cb8a0f5cc10f00adc4419306b6087
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 25
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..c2f2b51c9a29530fcd1f3541508940e38a5fe0ab
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_press_toaster_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 30
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..41bbf48212de19645e3ad9381f9e8603409f5b11
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 15
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..2f4192c27407c1afb2e539b1648c1319df0bf75c
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 20
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..0bf28f93c22d84fade803ce10aa6b71f591f9b4a
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 25
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..3105e8e73675fe939e5c760ab15b3bdb84930809
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 30
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..5b7f946012aabc07473bdd50ede3b321f30a5653
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 15
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..c3f4e56b92400ec9098626a9bc683aff2d7a53d0
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 20
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..9ad02059b3b136dea94258c04e2e1cb288c23439
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 25
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..ed9e7c2a2a89f29739b7a307445b49b1cbc8f8c7
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 5.0
+chunk_size: 30
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..9eb5cdd5bbd46c2ea650b935085c870b7dba7b46
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 15
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..90e769534704a9311b617492425aaab93da72012
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 20
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..3b19457bdf9fbd0a9f77a13cec63cdaf2010eca2
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 25
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..08c1410e044c06d5a07136184d3c92beca734463
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 30
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..7edb9eaed9186d338445a8b0740376d89360dfac
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 15
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..90f08a94005839cd1ff1d065d117a57854e53420
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 20
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..e73bbd90379cb8a0f5cc10f00adc4419306b6087
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 25
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml
new file mode 100644
index 0000000000000000000000000000000000000000..c2f2b51c9a29530fcd1f3541508940e38a5fe0ab
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml
@@ -0,0 +1,59 @@
+state_dim: 8
+kl_weight: 7.5
+chunk_size: 30
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 5.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board
+use_contact_gate: true
+contact_gate_mode: gripper
+contact_gate_gripper_delta: 0.006
+contact_gate_gripper_closed_threshold: null
+contact_gate_tactile_delta_threshold: 0.03
+contact_gate_hold_after_first: true
+contact_gate_mask_tactile: true
+contact_gate_mask_vitac_feature: true
+save_step_ckpts: false
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/encoder/stage2_v2_encoder_only.pth b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/encoder/stage2_v2_encoder_only.pth
new file mode 100644
index 0000000000000000000000000000000000000000..0e50ee13a1e6736a89870c128689c22c31d00059
--- /dev/null
+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/encoder/stage2_v2_encoder_only.pth
@@ -0,0 +1,3 @@
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+oid sha256:a8b6cdf1a587bf965ac92effefc56ef547b6a1c6b004b08a4768f5ccd9fea690
+size 940365846
diff --git a/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/manifests/upload_manifest.jsonl b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/manifests/upload_manifest.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c502547e3808d51716086f6fb076c86bffdd01
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+++ b/checkpoints/a800/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/manifests/upload_manifest.jsonl
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+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper", "chunk_size": 15, "kl": 5, "adapter_lr": 3e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper", "chunk_size": 15, "kl": 5, "adapter_lr": 5e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs15_s16000_contactgate_gripper", "chunk_size": 15, "kl": 7.5, "adapter_lr": 3e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs15_s16000_contactgate_gripper", "chunk_size": 15, "kl": 7.5, "adapter_lr": 5e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper", "chunk_size": 20, "kl": 5, "adapter_lr": 3e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper", "chunk_size": 20, "kl": 5, "adapter_lr": 5e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs20_s16000_contactgate_gripper", "chunk_size": 20, "kl": 7.5, "adapter_lr": 3e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs20_s16000_contactgate_gripper", "chunk_size": 20, "kl": 7.5, "adapter_lr": 5e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper", "chunk_size": 25, "kl": 5, "adapter_lr": 3e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper", "chunk_size": 25, "kl": 5, "adapter_lr": 5e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs25_s16000_contactgate_gripper", "chunk_size": 25, "kl": 7.5, "adapter_lr": 3e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs25_s16000_contactgate_gripper", "chunk_size": 25, "kl": 7.5, "adapter_lr": 5e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper", "chunk_size": 30, "kl": 5, "adapter_lr": 3e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper", "chunk_size": 30, "kl": 5, "adapter_lr": 5e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr3e-5_cs30_s16000_contactgate_gripper", "chunk_size": 30, "kl": 7.5, "adapter_lr": 3e-05}
+{"task": "pull_out_drawer", "name": "train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_real4_contactgate_sweep16_20260811/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_vitacdreamer_encoder_policy_contactgate_sweep16_20260811/act_ckpt/act-pull_out_drawer/real-50/train_config_vitacdreamer_real4_50_stage2_depthdelta_pull_out_drawer_kl7p5_plr1e-5_adaplr5e-5_cs30_s16000_contactgate_gripper", "chunk_size": 30, "kl": 7.5, "adapter_lr": 5e-05}
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