README.md

metadata

tags:
  - robotics
  - vision-language-action
  - bimanual-manipulation
  - rlbench
  - rgbd

VLAarchtests

Bundle uploaded from /workspace runpod sessions dated 2026-03-25 UTC and 2026-03-26 UTC.

Top-Level Contents

• code/reveal_vla_bimanual/
  • project code used for the proxy and RLBench runs in this bundle
• artifacts/data/reveal_proxy/
  • proxy dataset bundles used by the handoff runs
• artifacts/outputs/r3d/
  • previously uploaded R3D proxy outputs already present in the bundle
• artifacts/outputs/r3d_handoff/
  • handoff proxy checkpoints
• artifacts/outputs/r3d_handoff_phase/
  • phase-supervised handoff proxy checkpoints
• artifacts/outputs/rlbench_current/
  • RLBench checkpoints from the current session
• artifacts/reports/
  • proxy and RLBench result files copied from /workspace/reports
• environment/
  • same-machine setup files and validation helpers
• tests/
  • local test suite
• handoff/instructions.md
  • instruction file used for the handoff work
• MODEL_INDEX.md
  • checkpoint and result index
• results/session_results_20260326.md
  • raw result tables for the 2026-03-25/26 work

Code Added Or Updated

Core model, memory, planner, and dataset paths

• code/reveal_vla_bimanual/models/backbones.py
• code/reveal_vla_bimanual/models/multiview_fusion.py
• code/reveal_vla_bimanual/models/observation_memory.py
• code/reveal_vla_bimanual/models/reveal_head.py
• code/reveal_vla_bimanual/models/world_model.py
• code/reveal_vla_bimanual/models/action_decoder.py
• code/reveal_vla_bimanual/models/planner.py
• code/reveal_vla_bimanual/models/policy.py
• code/reveal_vla_bimanual/train/losses.py
• code/reveal_vla_bimanual/sim_reveal/dataset.py
• code/reveal_vla_bimanual/sim_reveal/procedural_envs.py
• code/reveal_vla_bimanual/sim_rlbench/dataset.py

Training and evaluation paths

• code/reveal_vla_bimanual/train/run_rlbench_experiment.py
• code/reveal_vla_bimanual/eval/run_reveal_benchmark.py
• code/reveal_vla_bimanual/eval/run_ablations.py
• code/reveal_vla_bimanual/eval/run_teacher_audit.py
• code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py
• code/reveal_vla_bimanual/eval/run_rlbench_knn_eval.py

Added or updated training configs

• code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact.yaml
• code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial.yaml
• code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase.yaml
• code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase.yaml
• code/reveal_vla_bimanual/train/configs/rlbench_subset3_backbone_only_clip_current_valid9.yaml
• code/reveal_vla_bimanual/train/configs/rlbench_subset3_backbone_only_clip_current_common23.yaml
• code/reveal_vla_bimanual/train/configs/rlbench_lift_ball_backbone_only_clip_current_wide.yaml
• code/reveal_vla_bimanual/train/configs/rlbench_lift_ball_backbone_only_clip_step1.yaml
• code/reveal_vla_bimanual/train/configs/rlbench_push_box_backbone_only_clip_step1.yaml

Test files

The staged tests/ directory contains 32 test modules plus conftest.py, including:

• geometry and camera rotation coverage
• phase-label and candidate-ranking coverage
• planner gradient-flow and reocclusion gating coverage
• world-model null-rollout, field-consistency, and task-adapter coverage
• proxy scripted benchmark and teacher-audit coverage

Verification

• local test command:
  • PYTHONPATH=/workspace/VLAarchtests_work/code/reveal_vla_bimanual python -m pytest -q /workspace/VLAarchtests_work/tests
• result:
  • 33 passed

Raw Result Files

Proxy and handoff results

• artifacts/reports/reveal_smoke_mod/reveal_benchmark.json
• artifacts/reports/reveal_smoke_nogeom/reveal_benchmark.json
• artifacts/reports/reveal_smoke_noplanner/reveal_benchmark.json
• artifacts/reports/reveal_handoff_compare_serious/reveal_benchmark.json
• artifacts/reports/reveal_handoff_compare_serious_compact/reveal_benchmark.json
• artifacts/reports/reveal_phase_compare_serious_compact/reveal_benchmark.json
• artifacts/reports/reveal_phase_compare_serious_spatial_compactwm/reveal_benchmark.json
• artifacts/reports/reveal_phase_ablations_compact/ablations.json
• artifacts/reports/reveal_teacher_audit_serious/teacher_audit.json

RLBench result files

• artifacts/reports/rlbench_dual_buttons_baseline_len100_ep1_ik_rescale/rollout_eval.json
• artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik_rescale/rollout_eval.json
• artifacts/reports/rlbench_push_box_common23_len100_ep1_ik_rescale/rollout_eval.json
• artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.json
• artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.json
• artifacts/reports/rlbench_push_box_step1_ep1_ik_c1_s005/rollout_eval.json
• artifacts/reports/rlbench_push_box_knn_step1_ep1/rollout_eval.json
• artifacts/reports/rlbench_push_box_knn_step1_ep5/rollout_eval.json
• artifacts/reports/rlbench_push_box_knn_step1_ep5_top1_dense/rollout_eval.json

Raw Result Tables

Proxy serious runs

Artifact	File	Raw values
spatial handoff vs released baseline	artifacts/reports/reveal_handoff_compare_serious/reveal_benchmark.json	baseline mean success 0.5833, handoff mean success 0.2167
spatial-trained checkpoint with compact world model vs released baseline	artifacts/reports/reveal_handoff_compare_serious_compact/reveal_benchmark.json	baseline mean success 0.5833, handoff mean success 0.5200
compact-phase vs released baseline	artifacts/reports/reveal_phase_compare_serious_compact/reveal_benchmark.json	baseline mean success 0.5833, compact-phase mean success 0.5133
spatial-phase with compact world model vs released baseline	artifacts/reports/reveal_phase_compare_serious_spatial_compactwm/reveal_benchmark.json	baseline mean success 0.5833, spatial-phase compact-world-model mean success 0.4933

Proxy ablations

Artifact	File	Raw values
compact-phase ablations	artifacts/reports/reveal_phase_ablations_compact/ablations.json	full 0.5133, no_geometry 0.5133, no_spatial_memory 0.4967, compact_world_model 0.5133, no_planner 0.4333, gaussian_candidates_only 0.4667, no_task_head 0.5133, no_support_mode_conditioning 0.5133

RLBench direct-policy runs

Artifact	File	Raw values
lift-ball wide checkpoint, one-step replanning	artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.json	mean success 0.0, mean return 0.0, path recoveries [148], noop fallbacks [11]
push-box step-1 checkpoint, one-step replanning	artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.json	mean success 0.0, mean return 0.0, path recoveries [177], noop fallbacks [0]
push-box step-1 checkpoint, one-step replanning, delta_scale=0.05	artifacts/reports/rlbench_push_box_step1_ep1_ik_c1_s005/rollout_eval.json	mean success 0.0, mean return 0.0, path recoveries [180], noop fallbacks [0]

RLBench retrieval runs

Artifact	File	Raw values
push-box kNN, bank_stride=4, top_k=5, time_window=8, episodes=1	artifacts/reports/rlbench_push_box_knn_step1_ep1/rollout_eval.json	mean success 1.0, mean return 1.0, bank size 2815
push-box kNN, bank_stride=4, top_k=5, time_window=8, episodes=5	artifacts/reports/rlbench_push_box_knn_step1_ep5/rollout_eval.json	successes [0.0, 1.0, 0.0, 0.0, 0.0], mean success 0.2, bank size 2815
push-box kNN, bank_stride=1, top_k=1, time_window=4, episodes=5	artifacts/reports/rlbench_push_box_knn_step1_ep5_top1_dense/rollout_eval.json	successes [0.0, 0.0, 1.0, 1.0, 0.0], mean success 0.4, bank size 11259

Environment Recreation Files

• environment/setup_same_machine.sh
• environment/validate_same_machine.sh
• environment/run_peract2_13_rollouts.sh
• environment/runtime_env_vars.sh
• environment/hardware_snapshot.txt
• environment/glxinfo_B.txt
• environment/upstream_revisions.txt
• environment/system_packages_same_machine.txt
• environment/rlbench_env_export.yaml
• environment/rlbench_env_explicit.txt
• environment/rlbench_pip_freeze.txt
• environment/reveal_env_export.yaml
• environment/reveal_env_explicit.txt
• environment/reveal_pip_freeze.txt

Detailed raw tables for the 2026-03-25/26 work are in results/session_results_20260326.md.