File size: 15,446 Bytes
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ACT原RGB入库时的历史统计（不含下方Goal新增）：26份检查点：历史16份40k、本机ACT EGQ-AE／原RGB-STATE各两份40k及GR00T Reader／无Reader／STATE各两份20k。
权重及配套恢复文件共 271,688,992,588 bytes；不含目录说明及本索引。源仓库和本机原件均保留。
| 骨干 | 方案 | 任务 | 步数 | 备份 |
|---|---|---|---:|---|
| ACT | EGQ-AE | between | 40000 | [完整归档](ACT/EGQ-AE/between/simple-act-spacecache-v4-cfs-20261027/checkpoint-40000.tar.zst) |
| ACT | EGQ-AE | hug | 40000 | [完整归档](ACT/EGQ-AE/hug/simple-act-spacecache-v4-cfs-20261027/checkpoint-40000.tar.zst) |
| Gr00t | VGQ-AE | between | 20000 | [完整归档](Gr00t/VGQ-AE/between/paper20k-reader-spacecache-v1/checkpoint-20000.tar.zst) |
| Gr00t | VGQ-AE | hug | 20000 | [完整归档](Gr00t/VGQ-AE/hug/paper20k-reader-spacecache-v1/checkpoint-20000.tar.zst) |
| PSI0 | (VGQ-AE-D) | betweentables | 40000 | [原生目录](PSI0/%28VGQ-AE-D%29/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-%28VGQ-AE-D%29-frozen-direct-d-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610191130/checkpoints/ckpt_40000) |
| PSI0 | (VGQ-AE-D) | hug | 40000 | [原生目录](PSI0/%28VGQ-AE-D%29/hug/frozen/RSCI-G1WholebodyPickAndPlaceAndHugContainerTeleop-v0-%28VGQ-AE-D%29-frozen-direct-d-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610182244/checkpoints/ckpt_40000) |
| PSI0 | NO-STATE | betweentables | 40000 | [原生目录](PSI0/NO-STATE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-NO-STATE-frozen-nostate-newh264-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610201206/checkpoints/ckpt_40000) |
| PSI0 | NO-STATE | hug | 40000 | [原生目录](PSI0/NO-STATE/hug/frozen/RSCI-G1WholebodyPickAndPlaceAndHugContainerTeleop-v0-NO-STATE-frozen-nostate-newh264-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610201717/checkpoints/ckpt_40000) |
| PSI0 | STATE | betweentables | 40000 | [原生目录](PSI0/STATE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-STATE-frozen-official-rgb-newh264-v2.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610200129/checkpoints/ckpt_40000) |
| PSI0 | STATE | hug | 40000 | [原生目录](PSI0/STATE/hug/frozen/RSCI-G1WholebodyPickAndPlaceAndHugContainerTeleop-v0-STATE-frozen-official-rgb-newh264-v2.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610200636/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE | betweentables | 40000 | [原生目录](PSI0/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-newh264-speed-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610171045/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE | faucet | 40000 | [原生目录](PSI0/VGQ-AE/faucet/frozen/RSCI-G1WholebodyOpenFaucetTeleop-v0-VGQ-AE-frozen-faucet99-newh264-speed-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610181101/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE | handover | 40000 | [原生目录](PSI0/VGQ-AE/handover/frozen/RSCI-G1WholebodyHandoverTeleop-v0-VGQ-AE-frozen-handover100-newh264-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610210130/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE | hug | 40000 | [原生目录](PSI0/VGQ-AE/hug/frozen/RSCI-G1WholebodyPickAndPlaceAndHugContainerTeleop-v0-VGQ-AE-frozen-newh264-speed-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610170035/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE | oven | 40000 | [原生目录](PSI0/VGQ-AE/oven/frozen/RSCI-G1WholebodyOpenOvenTeleop-v0-VGQ-AE-frozen-oven99-newh264-speed-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610180003/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE-F10 | betweentables | 40000 | [原生目录](PSI0/VGQ-AE-F10/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-future200ms-noreader-resume2000-b16-v8.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610222149/checkpoints/ckpt_40000) |
| PSI0 | VGQ-AE-NR | betweentables | 40000 | [原生目录](PSI0/VGQ-AE-NR/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000) |
| pi05 | STATE | hug | 40000 | [完整归档](pi05/STATE/hug/official-state-newh264-v1/checkpoint-40000.tar.zst) |
| pi05 | VGQ-AE | betweentables | 40000 | [原生目录](pi05/VGQ-AE/betweentables/frozen/simple-default-v4-speed-both-v1/checkpoint-40000) |
| pi05 | VGQ-AE | hug | 40000 | [完整归档](pi05/VGQ-AE/hug/newh264-v1/checkpoint-40000.tar.zst) |
## 核验与使用
- 文件清单、大小、SHA256及来源版本见 [_metadata/backup-20-verified-20261027.json](_metadata/backup-20-verified-20261027.json)。
- 历史16份的补充配置与处理器包位于 `_metadata/20261025/`；原生checkpoint需配合该包恢复缺失的外部元数据。
- 本机四份归档已经全量读回，逐成员大小/SHA256与原始保存标记一致；包含模型、优化器、调度器、四rank RNG、配置、源码快照及所需辅助资产。
- 压缩包先校验SHA256，再解压至独立目录。ACT内部检查点目录为 `checkpoint-40000`，GR00T为 `checkpoint-20000`。
- GR00T两份是保留Reader的 `paper20k-reader-spacecache-v1`，不能作为无Reader版使用。
- 备份核验不等于目标服务器评测通过；绝对路径、依赖、缓存及模型推理入口仍须适配并核对。
- 训练数据单独放在 [同名dataset仓库](https://huggingface.co/datasets/ds1x/RHSCI)。
## 新增四份 GR00T 20k（2026-10-28会话）
| 骨干 | 方案 | 任务 | 步数 | 备份 |
|---|---|---|---:|---|
| Gr00t | VGQ-AE-NR | between | 20000 | [完整归档](Gr00t/VGQ-AE-NR/between/paper20k-fullvlm-rgb-spacecache-v1/checkpoint-20000.tar.zst) |
| Gr00t | VGQ-AE-NR | hug | 20000 | [完整归档](Gr00t/VGQ-AE-NR/hug/paper20k-fullvlm-rgb-spacecache-v1/checkpoint-20000.tar.zst) |
| Gr00t | STATE | between | 20000 | [完整归档](Gr00t/STATE/between/paper20k-fullvlm-rgb-spacecache-v1/checkpoint-20000.tar.zst) |
| Gr00t | STATE | hug | 20000 | [完整归档](Gr00t/STATE/hug/paper20k-fullvlm-rgb-spacecache-v1/checkpoint-20000.tar.zst) |
本轮八份顺序测评见 [_handoff/20261028/EVALUATION_HANDOFF_20261028.md](_handoff/20261028/EVALUATION_HANDOFF_20261028.md)。此前20份收据保留；新增四份及本轮八份的身份以交接清单为准。
## ACT 原RGB/STATE新增两份40k
| 模型 | 任务 | 步数 | 备份 |
|---|---|---:|---|
| ACT STATE | between | 40000 | [完整归档](ACT/STATE/between/simple-act-rgb-spacecache-20261028-v1/checkpoint-40000.tar.zst) |
| ACT STATE | hug | 40000 | [完整归档](ACT/STATE/hug/simple-act-rgb-spacecache-20261028-v1/checkpoint-40000.tar.zst) |
补充定位见 [_handoff/20261028-act-rgb/RGB_UPLOAD_20261028.json](_handoff/20261028-act-rgb/RGB_UPLOAD_20261028.json)。
<!-- training-goal-hug-40k -->
2026-10-28：π0.5 NO-STATE hug 40000步完整模型、Adam、scheduler、八rank RNG及复现资料已核验，见[备份清单](_handoff/20261028-training-goal/hug-40k.json)。原件保留，未执行GPU评测。
<!-- training-goal-summary:start -->
本Goal新增 π0.5 NO-STATE 完整40k归档 2 份，共 18,750,196,235 bytes；不包含在此前26份历史统计中。
- [between 固定版本与SHA256](_handoff/20261028-training-goal/between-40k.json)
- [hug 固定版本与SHA256](_handoff/20261028-training-goal/hug-40k.json)
<!-- training-goal-summary:end -->
<!-- training-goal-between-40k -->
2026-10-28：π0.5 NO-STATE between 40000步完整模型、Adam、scheduler、八rank RNG及复现资料已核验，见[备份清单](_handoff/20261028-training-goal/between-40k.json)。原件保留，未执行GPU评测。
<!-- goal-new-40k-audit-20261028 -->
2026-10-28本机新完成4万步查漏：ACT EGQ-AE两份、ACT原RGB/STATE两份、π0.5 NO-STATE两份，合计6份20,995,097,092 bytes，全部已上传，漏传0；见[固定清单与逐份SHA256](_handoff/20261028-training-goal/NEW_40K_UPLOAD_AUDIT_20261028.json)。不重复计算缓存副本。
<!-- pi05-state-between-priority-20261029 -->
2026-10-29优先队列新增π0.5原RGB/STATE两桌完整40k备份1份，9,381,470,762 bytes，包含模型、Adam、scheduler、八rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261029-priority-training/PI05-STATE-between-40k.json)。
<!-- pi05-three-tasks-STATE-oven-20261029 -->
2026-10-29新增π0.5 STATE/oven 完整40k备份1份，9,381,303,183 bytes，包含模型、Adam、scheduler、八rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261029-pi05-three-tasks/PI05-STATE-oven-40k.json)。
<!-- gr00t-eight-20261029 -->
2026-10-29/30：新增GR00T八份完整20K，原件保留，未启动评测。完整断点含模型、优化器、调度器、四卡RNG、契约源码与处理器。见[固定版本与SHA清单](_handoff/20261029-gr00t-eight/VERIFIED.json)。
| Variant | Task | Step | Archive | SHA256 |
| --- | --- | --- | --- | --- |
| NO-STATE | between | 20000 | [17,702,910,945 bytes](https://huggingface.co/ds1x/RHSCI/resolve/68e495008b27661e064742e1ecd85cf5021b29bf/checkpoint/Gr00t/NO-STATE/between/paper20k-nostate-spacecache-v1/checkpoint-20000.tar.zst) | `1ad3ff35c9bc765e60ec4cd7d295b7479c0d25b327fc095a47d9f8c285ac99a9` |
| NO-STATE | hug | 20000 | [17,708,105,672 bytes](https://huggingface.co/ds1x/RHSCI/resolve/68e495008b27661e064742e1ecd85cf5021b29bf/checkpoint/Gr00t/NO-STATE/hug/paper20k-nostate-spacecache-v1/checkpoint-20000.tar.zst) | `1ac41fdaa37cbbfefcea0e242d597e0d99036506e3a9153da7d2616da022514f` |
| STATE | oven | 20000 | [17,701,737,683 bytes](https://huggingface.co/ds1x/RHSCI/resolve/68e495008b27661e064742e1ecd85cf5021b29bf/checkpoint/Gr00t/STATE/oven/priority-rgb-reader-20261028-v1/checkpoint-20000.tar.zst) | `5099de589cd7067e2d428183fb8ffbf1d60f48356dd2b8d8bf04eda79d49eaf8` |
| VGQ-AE | oven | 20000 | [17,847,137,890 bytes](https://huggingface.co/ds1x/RHSCI/resolve/68e495008b27661e064742e1ecd85cf5021b29bf/checkpoint/Gr00t/VGQ-AE/oven/priority-rgb-reader-20261028-v1/checkpoint-20000.tar.zst) | `7ef0b8a6ef9e2e109bc1d748e15e87d1c7054d2a81b76c15837c7a275b0ae6f2` |
| STATE | handover | 20000 | [17,704,499,357 bytes](https://huggingface.co/ds1x/RHSCI/resolve/68e495008b27661e064742e1ecd85cf5021b29bf/checkpoint/Gr00t/STATE/handover/priority-rgb-reader-20261028-v1/checkpoint-20000.tar.zst) | `96976bd6387c39202fcccb17b1f549739e62ef8d681dce34b1703a499103933e` |
| VGQ-AE | handover | 20000 | [17,847,888,229 bytes](https://huggingface.co/ds1x/RHSCI/resolve/68e495008b27661e064742e1ecd85cf5021b29bf/checkpoint/Gr00t/VGQ-AE/handover/priority-rgb-reader-20261028-v1/checkpoint-20000.tar.zst) | `fc2d00b305dc8dc0534e8521806de307e057a67189b4303fc35ae99b27193410` |
| STATE | faucet | 20000 | [17,715,296,150 bytes](https://huggingface.co/ds1x/RHSCI/resolve/68e495008b27661e064742e1ecd85cf5021b29bf/checkpoint/Gr00t/STATE/faucet/priority-rgb-reader-20261028-v1/checkpoint-20000.tar.zst) | `95b6d87fd8f905d22c69b19031b4f6bfb887f7b22c50f337d4c8bf736702d33a` |
| VGQ-AE | faucet | 20000 | [17,857,873,624 bytes](https://huggingface.co/ds1x/RHSCI/resolve/68e495008b27661e064742e1ecd85cf5021b29bf/checkpoint/Gr00t/VGQ-AE/faucet/priority-rgb-reader-20261028-v1/checkpoint-20000.tar.zst) | `63b0d33fd61746f09adefb16163393b9d3544a64eff2f64052f20ed8ed688097` |
<!-- pi05-three-tasks-VGQ-AE-oven-fast-20261029 -->
2026-10-29新增π0.5 VGQ-AE/oven 完整40k备份1份，9,455,418,987 bytes，包含模型、Adam、scheduler、八rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261029-pi05-three-tasks/PI05-VGQ-AE-oven-fast-40k.json)。
<!-- pi05-three-tasks-STATE-handover-fast-20261029 -->
2026-10-29新增π0.5 STATE/handover 完整40k备份1份，9,381,079,308 bytes，包含模型、Adam、scheduler、八rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261029-pi05-three-tasks/PI05-STATE-handover-fast-40k.json)。
<!-- pi05-three-tasks-VGQ-AE-handover-fast-20261029 -->
2026-10-29新增π0.5 VGQ-AE/handover 完整40k备份1份，9,456,673,392 bytes，包含模型、Adam、scheduler、八rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261029-pi05-three-tasks/PI05-VGQ-AE-handover-fast-40k.json)。
<!-- pi05-three-tasks-STATE-faucet-fast-20261029 -->
2026-10-29新增π0.5 STATE/faucet 完整40k备份1份，9,381,166,421 bytes，包含模型、Adam、scheduler、八rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261029-pi05-three-tasks/PI05-STATE-faucet-fast-40k.json)。
<!-- pi05-three-tasks-VGQ-AE-faucet-fast-20261029 -->
2026-10-29新增π0.5 VGQ-AE/faucet 完整40k备份1份，9,457,888,703 bytes，包含模型、Adam、scheduler、八rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261029-pi05-three-tasks/PI05-VGQ-AE-faucet-fast-40k.json)。
<!-- pi05-nostate-NO-STATE-oven-20261105 -->
2026-11-05新增π0.5 NO-STATE/oven 完整40k备份1份，9,387,899,475 bytes，包含模型、Adam、scheduler、八rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261105-nostate-three-tasks/PI05-NO-STATE-oven-40k.json)。
<!-- gr00t-nostate-VGQ-AE-Mo-hug-20261105 -->
2026-11-05新增GR00T VGQ-AE-Mo/hug 完整20k备份1份，17,828,130,219 bytes，包含模型、Adam、scheduler、4rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261105-nostate-three-tasks/Gr00t-VGQ-AE-Mo-hug-20k.json)。
<!-- gr00t-nostate-VGQ-AE-Mo-handover-20261105 -->
2026-11-05新增GR00T VGQ-AE-Mo/handover 完整20k备份1份，17,831,694,139 bytes，包含模型、Adam、scheduler、4rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261105-nostate-three-tasks/Gr00t-VGQ-AE-Mo-handover-20k.json)。
<!-- pi05-nostate-NO-STATE-handover-20261105 -->
2026-11-05新增π0.5 NO-STATE/handover 完整40k备份1份，9,389,405,552 bytes，包含模型、Adam、scheduler、8rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261105-nostate-three-tasks/PI05-NO-STATE-handover-40k.json)。
<!-- gr00t-nostate-VGQ-AE-240-handover-20261105 -->
2026-11-05新增GR00T VGQ-AE-240/handover 完整20k备份1份，17,860,531,449 bytes，包含模型、Adam、scheduler、4rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261105-nostate-three-tasks/Gr00t-VGQ-AE-240-handover-20k.json)。
<!-- gr00t-nostate-VGQ-AE-Mo-240-handover-20261105 -->
2026-11-05新增GR00T VGQ-AE-Mo-240/handover 完整20k备份1份，17,847,299,122 bytes，包含模型、Adam、scheduler、4rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261105-nostate-three-tasks/Gr00t-VGQ-AE-Mo-240-handover-20k.json)。
<!-- pi05-nostate-NO-STATE-faucet-20261105 -->
2026-11-05新增π0.5 NO-STATE/faucet 完整40k备份1份，9,389,711,435 bytes，包含模型、Adam、scheduler、8rank RNG与复现资料；原件保留，未做GPU评测。见[固定版本与SHA清单](_handoff/20261105-nostate-three-tasks/PI05-NO-STATE-faucet-40k.json)。
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