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ViTacDreamer 4-task bilateral eval assets

Minimal trained artifacts for evaluation/open-source use with GitHub branch codex/four-task-multitask-publish. GitHub: https://github.com/ACondaway/ViTacDreamer/tree/codex/four-task-multitask-publish Included: ViTacDreamer stage1/stage2 best checkpoints, encoder-only checkpoint, ACT/ViTacACT/DP/ViTacDP best policy checkpoints and dataset stats for four tasks. Excluded: raw HDF5 data, feature caches, training logs, policy_step_*, policy_last, and reconstruction outputs. Tasks: lift_bottle, insert_HDMI, insert_hole, pull_out_key. Temporal config: history_len=5, sample_stride=5, num_tail_frames=2. Tactile mode: bilateral concat.

Flow/no-action release

  • flow_noaction/ contains the flow/no-action evaluation artifacts for GitHub branch codex/flow-noaction-policy-release.
  • Included there: Stage 2 flow/no-action checkpoint, encoder-only checkpoint, ACT baseline and ViTacACT flow/no-action policy best checkpoints, dataset stats, configs, loss curves, and full-episode reconstruction MP4s.
  • Excluded there: raw HDF5 data, feature caches, logs, frame PNG directories, and DP/ViTacDP flow/no-action checkpoints that were not present locally at upload time.

Files

  • checkpoints/stage1_v2_multitask4_bilateral_concat/stage1_v2_best.pth (2429985406 bytes)
  • checkpoints/stage2_v2_multitask4_bilateral_concat/stage2_v2_best.pth (1787420228 bytes)
  • checkpoints/vitacdreamer/stage2_v2_bilateral_concat/stage2_v2_bilateral_concat_encoder_only.pth (825435126 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-lift_bottle/default-50/train_config_baseline_v2paper/policy_best.ckpt (382746500 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-lift_bottle/default-50/train_config_baseline_v2paper/dataset_stats.pkl (10934 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-lift_bottle/default-50/train_config_vitacdreamer_cached_v2/policy_best.ckpt (383275978 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-lift_bottle/default-50/train_config_vitacdreamer_cached_v2/dataset_stats.pkl (10934 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-insert_HDMI/default-50/train_config_baseline_v2paper/policy_best.ckpt (382746500 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-insert_HDMI/default-50/train_config_baseline_v2paper/dataset_stats.pkl (4213 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-insert_HDMI/default-50/train_config_vitacdreamer_cached_v2/policy_best.ckpt (383275978 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-insert_HDMI/default-50/train_config_vitacdreamer_cached_v2/dataset_stats.pkl (4213 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-insert_hole/default-50/train_config_baseline_v2paper/policy_best.ckpt (382746500 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-insert_hole/default-50/train_config_baseline_v2paper/dataset_stats.pkl (6005 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-insert_hole/default-50/train_config_vitacdreamer_cached_v2/policy_best.ckpt (383275978 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-insert_hole/default-50/train_config_vitacdreamer_cached_v2/dataset_stats.pkl (6005 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-pull_out_key/default-50/train_config_baseline_v2paper/policy_best.ckpt (382746500 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-pull_out_key/default-50/train_config_baseline_v2paper/dataset_stats.pkl (5941 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-pull_out_key/default-50/train_config_vitacdreamer_cached_v2/policy_best.ckpt (383275978 bytes)
  • UniVTAC/policy/ACT/act_ckpt/act-pull_out_key/default-50/train_config_vitacdreamer_cached_v2/dataset_stats.pkl (5941 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-lift_bottle/default-50/train_config_baseline_v2paper/policy_best.ckpt (483680146 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-lift_bottle/default-50/train_config_baseline_v2paper/dataset_stats.pkl (715 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-lift_bottle/default-50/train_config_vitacdreamer_cached_v2/policy_best.ckpt (498360210 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-lift_bottle/default-50/train_config_vitacdreamer_cached_v2/dataset_stats.pkl (715 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-insert_HDMI/default-50/train_config_baseline_v2paper/policy_best.ckpt (483680146 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-insert_HDMI/default-50/train_config_baseline_v2paper/dataset_stats.pkl (715 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-insert_HDMI/default-50/train_config_vitacdreamer_cached_v2/policy_best.ckpt (498360210 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-insert_HDMI/default-50/train_config_vitacdreamer_cached_v2/dataset_stats.pkl (715 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-insert_hole/default-50/train_config_baseline_v2paper/policy_best.ckpt (483680146 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-insert_hole/default-50/train_config_baseline_v2paper/dataset_stats.pkl (715 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-insert_hole/default-50/train_config_vitacdreamer_cached_v2/policy_best.ckpt (498360210 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-insert_hole/default-50/train_config_vitacdreamer_cached_v2/dataset_stats.pkl (715 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-pull_out_key/default-50/train_config_baseline_v2paper/policy_best.ckpt (483680146 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-pull_out_key/default-50/train_config_baseline_v2paper/dataset_stats.pkl (715 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-pull_out_key/default-50/train_config_vitacdreamer_cached_v2/policy_best.ckpt (498360210 bytes)
  • UniVTAC/policy/DP/dp_ckpt/dp-pull_out_key/default-50/train_config_vitacdreamer_cached_v2/dataset_stats.pkl (715 bytes)