# 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)