Add real150 ViTacDreamer encoder policy artifacts

checkpoints/h100/real150_vitacdreamer_encoder_policy_20260727/README.md

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+# Real150 ViTacDreamer Encoder Policy Artifacts (2026-07-27)
+
+Tasks: insert_tube, wipe_board.
+
+Includes final ACT policy checkpoints trained with frozen ViTacDreamer Stage2 encoder features, per-task dataset_stats.pkl, training plots, logs, config, and the ViTacDreamer Stage2 encoder checkpoint used for feature precompute/deployment.
+
+Policy config: train_config_vitacdreamer_real150_stage2_depthdelta_16k.yml
+Feature cache used during training: vitacdreamer_features_real150_stage2_depthdelta_20260727
+
+Best validation:
+- insert_tube: val loss 0.059148 @ epoch 11
+- wipe_board: val loss 0.068180 @ epoch 8

checkpoints/h100/real150_vitacdreamer_encoder_policy_20260727/act-insert_tube/dataset_stats.pkl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f211fce4da0d79cdc606d5413c28440ae6f92e0783547929e80baf43cdeeccca
+size 12087

checkpoints/h100/real150_vitacdreamer_encoder_policy_20260727/act-insert_tube/policy_best.ckpt

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+oid sha256:987e52c4dde317eee207fd2f28f0a96da0a7ae16f6c27ea6d587b6514094b8f4
+size 404146048

checkpoints/h100/real150_vitacdreamer_encoder_policy_20260727/act-insert_tube/policy_last.ckpt

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+oid sha256:026e48aa027d9e0b81bdaa6d2cb0551b784cda6a8645cd84c0a0b934c4b0d256
+size 404146048

checkpoints/h100/real150_vitacdreamer_encoder_policy_20260727/act-insert_tube/policy_step16000.ckpt

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+version https://git-lfs.github.com/spec/v1
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+size 404146048

checkpoints/h100/real150_vitacdreamer_encoder_policy_20260727/act-wipe_board/dataset_stats.pkl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d4abad969ad4669ae193fb85f6cb80bf76c7c73b19df144a89354a22984fe2d5
+size 9623

checkpoints/h100/real150_vitacdreamer_encoder_policy_20260727/act-wipe_board/policy_best.ckpt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:aab0130750f926d89bb2e911cafe31b1f05b55fb846b1aecade3785ba25339b9
+size 404146048

checkpoints/h100/real150_vitacdreamer_encoder_policy_20260727/act-wipe_board/policy_last.ckpt

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+oid sha256:ba28630596653c49e092567e7458892234348a0d3b3a81b1d03c6b1a8c227090
+size 404146048

checkpoints/h100/real150_vitacdreamer_encoder_policy_20260727/act-wipe_board/policy_step16000.ckpt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ba28630596653c49e092567e7458892234348a0d3b3a81b1d03c6b1a8c227090
+size 404146048

checkpoints/h100/real150_vitacdreamer_encoder_policy_20260727/encoder/stage2_v2_encoder_only.pth

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+version https://git-lfs.github.com/spec/v1
+oid sha256:08c0f77194ec5840a92bf95b7fd41efdda60d9d6dd2850b18002b9c60ad60e76
+size 940359958

checkpoints/h100/real150_vitacdreamer_encoder_policy_20260727/logs/precompute_insert_tube_gpu2.log

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+/dev/shm/muse/src/ViTacDreamer_policy/vitacdreamer/policy_wrapper.py:91: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  checkpoint = torch.load(checkpoint_path, map_location=device)
+
+[transformers] ViTModel LOAD REPORT from: /dev/shm/muse/src/ViTacDreamer_policy/.hf_cache/google_vit_base_patch16_224
+Key                 | Status     | 
+--------------------+------------+-
+classifier.bias     | UNEXPECTED | 
+classifier.weight   | UNEXPECTED | 
+pooler.dense.weight | MISSING    | 
+pooler.dense.bias   | MISSING    | 
+
+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+- MISSING:	those params were newly initialized because missing from the checkpoint. Consider training on your downstream task.
+
+[transformers] ViTModel LOAD REPORT from: /dev/shm/muse/src/ViTacDreamer_policy/.hf_cache/google_vit_base_patch16_224
+Key                 | Status     | 
+--------------------+------------+-
+classifier.bias     | UNEXPECTED | 
+classifier.weight   | UNEXPECTED | 
+pooler.dense.weight | MISSING    | 
+pooler.dense.bias   | MISSING    | 
+
+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+- MISSING:	those params were newly initialized because missing from the checkpoint. Consider training on your downstream task.
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+Saved cached ViTacDreamer features to data/sim-insert_tube/real-150/vitacdreamer_features_real150_stage2_depthdelta_20260727

checkpoints/h100/real150_vitacdreamer_encoder_policy_20260727/logs/precompute_wipe_board_gpu3.log

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+/dev/shm/muse/src/ViTacDreamer_policy/vitacdreamer/policy_wrapper.py:91: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  checkpoint = torch.load(checkpoint_path, map_location=device)
+
+[transformers] ViTModel LOAD REPORT from: /dev/shm/muse/src/ViTacDreamer_policy/.hf_cache/google_vit_base_patch16_224
+Key                 | Status     | 
+--------------------+------------+-
+classifier.bias     | UNEXPECTED | 
+classifier.weight   | UNEXPECTED | 
+pooler.dense.bias   | MISSING    | 
+pooler.dense.weight | MISSING    | 
+
+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+- MISSING:	those params were newly initialized because missing from the checkpoint. Consider training on your downstream task.
+
+[transformers] ViTModel LOAD REPORT from: /dev/shm/muse/src/ViTacDreamer_policy/.hf_cache/google_vit_base_patch16_224
+Key                 | Status     | 
+--------------------+------------+-
+classifier.bias     | UNEXPECTED | 
+classifier.weight   | UNEXPECTED | 
+pooler.dense.bias   | MISSING    | 
+pooler.dense.weight | MISSING    | 
+
+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+- MISSING:	those params were newly initialized because missing from the checkpoint. Consider training on your downstream task.
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+Saved cached ViTacDreamer features to data/sim-wipe_board/real-150/vitacdreamer_features_real150_stage2_depthdelta_20260727

checkpoints/h100/real150_vitacdreamer_encoder_policy_20260727/train_config_vitacdreamer_real150_stage2_depthdelta_16k.yml

@@ -0,0 +1,54 @@
+# Real-robot ACT + cached frozen ViTacDreamer Stage2 depth-delta feature-query policy, 150 demos/task.
+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: 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: 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: /dev/shm/muse/checkpoints/real_insert_tube_wipe_board_150_h32_20260725/stage2_prior512_hlen5_depthdelta_120train30val_b192_from_stage1_prior512_hlen5_120train30val_b192/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/sim-{task_stem}/real-150/vitacdreamer_features_real150_stage2_depthdelta_20260727
+vitacdreamer_task_order:
+  - insert_tube
+  - wipe_board