Upload formal4 hlen3 best policy checkpoints

checkpoints/a800/formal4_hlen3_best_policy_20260804/README.md

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+# formal4 hlen3 best policy checkpoints
+
+Uploaded 2026-08-04. Contains encoder-only stage2 checkpoint, best ACT policies, dataset_stats, training configs, deploy configs, and eval logs.
+
+Success rates are from 100-episode eval logs where available.

checkpoints/a800/formal4_hlen3_best_policy_20260804/configs/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_HDMI_chunk20_kl7p5_lr7e-5_b384_16k.yml

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+# ACT + cached frozen ViTacDreamer formal4 hlen3 Stage2 feature-query policy; task-specific hyperparams for insert_HDMI.
+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: 384
+num_workers: 4
+save_freq: 2000
+position_embedding: sine
+lr_vision_backbone: 0.00001
+weight_decay: 0.0001
+lr: 0.00001
+vitacdreamer_adapter_lr: 0.00007
+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: 0.00001
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 3
+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/formal4_window_ablation_20260725/stage2_prior512_encoder500_multitask4_hlen3_stride5_e20_b192_from_stage1e30b304/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/{task_config_ep}/vitacdreamer_features_formal4_hlen3_stage2_depthdelta_20260727
+vitacdreamer_task_order:
+  - insert_HDMI
+  - insert_hole
+  - lift_bottle
+  - pull_out_key

checkpoints/a800/formal4_hlen3_best_policy_20260804/configs/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_hole_chunk30_kl10_lr3e-5_b384_16k.yml

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+# ACT + cached frozen ViTacDreamer formal4 hlen3 Stage2 feature-query policy; task-specific hyperparams for insert_hole.
+state_dim: 8
+kl_weight: 10.0
+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: 384
+num_workers: 4
+save_freq: 2000
+position_embedding: sine
+lr_vision_backbone: 0.00001
+weight_decay: 0.0001
+lr: 0.00001
+vitacdreamer_adapter_lr: 0.00003
+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: 0.00001
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 3
+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/formal4_window_ablation_20260725/stage2_prior512_encoder500_multitask4_hlen3_stride5_e20_b192_from_stage1e30b304/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/{task_config_ep}/vitacdreamer_features_formal4_hlen3_stage2_depthdelta_20260727
+vitacdreamer_task_order:
+  - insert_HDMI
+  - insert_hole
+  - lift_bottle
+  - pull_out_key

checkpoints/a800/formal4_hlen3_best_policy_20260804/configs/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_lift_bottle_chunk20_kl10_lr3e-5_b384_16k.yml

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+# ACT + cached frozen ViTacDreamer formal4 hlen3 Stage2 feature-query policy; task-specific hyperparams for lift_bottle.
+state_dim: 8
+kl_weight: 10.0
+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: 384
+num_workers: 4
+save_freq: 2000
+position_embedding: sine
+lr_vision_backbone: 0.00001
+weight_decay: 0.0001
+lr: 0.00001
+vitacdreamer_adapter_lr: 0.00003
+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: 0.00001
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 3
+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/formal4_window_ablation_20260725/stage2_prior512_encoder500_multitask4_hlen3_stride5_e20_b192_from_stage1e30b304/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/{task_config_ep}/vitacdreamer_features_formal4_hlen3_stage2_depthdelta_20260727
+vitacdreamer_task_order:
+  - insert_HDMI
+  - insert_hole
+  - lift_bottle
+  - pull_out_key

checkpoints/a800/formal4_hlen3_best_policy_20260804/configs/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_pull_out_key_chunk15_kl10_lr5e-5_b384_16k.yml

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+# ACT + cached frozen ViTacDreamer formal4 hlen3 Stage2 feature-query policy; task-specific hyperparams for pull_out_key.
+state_dim: 8
+kl_weight: 10.0
+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: 384
+num_workers: 4
+save_freq: 2000
+position_embedding: sine
+lr_vision_backbone: 0.00001
+weight_decay: 0.0001
+lr: 0.00001
+vitacdreamer_adapter_lr: 0.00005
+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: 0.00001
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 3
+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/formal4_window_ablation_20260725/stage2_prior512_encoder500_multitask4_hlen3_stride5_e20_b192_from_stage1e30b304/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/{task_config_ep}/vitacdreamer_features_formal4_hlen3_stage2_depthdelta_20260727
+vitacdreamer_task_order:
+  - insert_HDMI
+  - insert_hole
+  - lift_bottle
+  - pull_out_key

checkpoints/a800/formal4_hlen3_best_policy_20260804/deploy/deploy_hlen3_insert_HDMI_newhp_best.yml

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+policy_name: ACT
+seed: 0
+ckpt_setting: default-balanced-50
+instruction_type: seen
+instuction_file: null
+train_config_name: train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_HDMI_chunk20_kl7p5_lr7e-5_b384_16k
+policy_checkpoint: act_ckpt/act-insert_HDMI/default-balanced-50/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_HDMI_chunk20_kl7p5_lr7e-5_b384_16k/policy_best.ckpt
+stats_path: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/act_ckpt/act-insert_HDMI/default-balanced-50/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_HDMI_chunk20_kl7p5_lr7e-5_b384_16k/dataset_stats.pkl

checkpoints/a800/formal4_hlen3_best_policy_20260804/deploy/deploy_hlen3_insert_hole_newhp_best.yml

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+policy_name: ACT
+seed: 0
+ckpt_setting: default-balanced-50
+instruction_type: seen
+instuction_file: null
+train_config_name: train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_hole_chunk30_kl10_lr3e-5_b384_16k
+policy_checkpoint: act_ckpt/act-insert_hole/default-balanced-50/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_hole_chunk30_kl10_lr3e-5_b384_16k/policy_best.ckpt
+stats_path: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/act_ckpt/act-insert_hole/default-balanced-50/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_hole_chunk30_kl10_lr3e-5_b384_16k/dataset_stats.pkl

checkpoints/a800/formal4_hlen3_best_policy_20260804/deploy/deploy_hlen3_lift_bottle_newhp_best.yml

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+policy_name: ACT
+seed: 0
+ckpt_setting: default-balanced-50
+instruction_type: seen
+instuction_file: null
+train_config_name: train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_lift_bottle_chunk20_kl10_lr3e-5_b384_16k
+policy_checkpoint: act_ckpt/act-lift_bottle/default-balanced-50/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_lift_bottle_chunk20_kl10_lr3e-5_b384_16k/policy_best.ckpt
+stats_path: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/act_ckpt/act-lift_bottle/default-balanced-50/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_lift_bottle_chunk20_kl10_lr3e-5_b384_16k/dataset_stats.pkl

checkpoints/a800/formal4_hlen3_best_policy_20260804/deploy/deploy_hlen3_pull_out_key_newhp_best.yml

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+policy_name: ACT
+seed: 0
+ckpt_setting: default-balanced-50
+instruction_type: seen
+instuction_file: null
+train_config_name: train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_pull_out_key_chunk15_kl10_lr5e-5_b384_16k
+policy_checkpoint: act_ckpt/act-pull_out_key/default-balanced-50/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_pull_out_key_chunk15_kl10_lr5e-5_b384_16k/policy_best.ckpt
+stats_path: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/act_ckpt/act-pull_out_key/default-balanced-50/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_pull_out_key_chunk15_kl10_lr5e-5_b384_16k/dataset_stats.pkl

checkpoints/a800/formal4_hlen3_best_policy_20260804/encoder/stage2_v2_encoder_only.pth

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checkpoints/a800/formal4_hlen3_best_policy_20260804/eval_evidence_summary.csv

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checkpoints/a800/formal4_hlen3_best_policy_20260804/selected_best.json

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+[
+  {
+    "task": "lift_bottle",
+    "hlen": 3,
+    "config": "train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_lift_bottle_chunk20_kl10_lr3e-5_b384_16k",
+    "success": 60,
+    "total": 100,
+    "success_rate": 0.6,
+    "encoder_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/encoder/stage2_v2_encoder_only.pth",
+    "policy_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/policies/lift_bottle/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_lift_bottle_chunk20_kl10_lr3e-5_b384_16k/policy_best.ckpt",
+    "dataset_stats_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/policies/lift_bottle/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_lift_bottle_chunk20_kl10_lr3e-5_b384_16k/dataset_stats.pkl",
+    "config_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/configs/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_lift_bottle_chunk20_kl10_lr3e-5_b384_16k.yml",
+    "deploy_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/deploy/deploy_hlen3_lift_bottle_newhp_best.yml",
+    "eval_log_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/eval_evidence/eval_newhp_hlen3_lift_bottle_g0_20260801_155014.log",
+    "note": "clean 100-episode Final Result"
+  },
+  {
+    "task": "insert_hole",
+    "hlen": 3,
+    "config": "train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_hole_chunk30_kl10_lr3e-5_b384_16k",
+    "success": 57,
+    "total": 100,
+    "success_rate": 0.57,
+    "encoder_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/encoder/stage2_v2_encoder_only.pth",
+    "policy_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/policies/insert_hole/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_hole_chunk30_kl10_lr3e-5_b384_16k/policy_best.ckpt",
+    "dataset_stats_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/policies/insert_hole/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_hole_chunk30_kl10_lr3e-5_b384_16k/dataset_stats.pkl",
+    "config_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/configs/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_hole_chunk30_kl10_lr3e-5_b384_16k.yml",
+    "deploy_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/deploy/deploy_hlen3_insert_hole_newhp_best.yml",
+    "eval_log_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/eval_evidence/eval_newhp_hlen3_insert_hole_g1_20260801_155014.log",
+    "note": "clean 100-episode Final Result"
+  },
+  {
+    "task": "pull_out_key",
+    "hlen": 3,
+    "config": "train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_pull_out_key_chunk15_kl10_lr5e-5_b384_16k",
+    "success": 23,
+    "total": 100,
+    "success_rate": 0.23,
+    "encoder_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/encoder/stage2_v2_encoder_only.pth",
+    "policy_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/policies/pull_out_key/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_pull_out_key_chunk15_kl10_lr5e-5_b384_16k/policy_best.ckpt",
+    "dataset_stats_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/policies/pull_out_key/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_pull_out_key_chunk15_kl10_lr5e-5_b384_16k/dataset_stats.pkl",
+    "config_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/configs/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_pull_out_key_chunk15_kl10_lr5e-5_b384_16k.yml",
+    "deploy_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/deploy/deploy_hlen3_pull_out_key_newhp_best.yml",
+    "eval_log_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/eval_evidence/eval_newhp_hlen3_pull_out_key_g2_20260801_155014.log",
+    "note": "clean 100-episode Final Result"
+  },
+  {
+    "task": "insert_HDMI",
+    "hlen": 3,
+    "config": "train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_HDMI_chunk20_kl7p5_lr7e-5_b384_16k",
+    "success": 14,
+    "total": 100,
+    "success_rate": 0.14,
+    "encoder_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/encoder/stage2_v2_encoder_only.pth",
+    "policy_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/policies/insert_HDMI/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_HDMI_chunk20_kl7p5_lr7e-5_b384_16k/policy_best.ckpt",
+    "dataset_stats_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/policies/insert_HDMI/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_HDMI_chunk20_kl7p5_lr7e-5_b384_16k/dataset_stats.pkl",
+    "config_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/configs/train_config_vitacdreamer_formal4_hlen3_stage2_depthdelta_insert_HDMI_chunk20_kl7p5_lr7e-5_b384_16k.yml",
+    "deploy_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/deploy/deploy_hlen3_insert_HDMI_newhp_best.yml",
+    "eval_log_path": "checkpoints/a800/formal4_hlen3_best_policy_20260804/eval_evidence/eval_newhp_hlen3_insert_HDMI_g3_20260801_155014.log",
+    "note": "clean 100-episode Final Result"
+  }
+]