| --- |
| license: mit |
| tags: |
| - egoengine |
| - dexterous-manipulation |
| - egocentric-video |
| - flow-matching |
| - isaaclab |
| - reproduction |
| --- |
| |
| # egoengine-repro-artifacts |
|
|
| Large artifacts from the independent, from-scratch reproduction of |
| **EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot |
| Demonstrations** (arXiv:2606.12604; no official code exists). |
|
|
| Code + docs + small result artifacts: |
| https://github.com/physercoe/egoengine-repro |
|
|
| Folders: |
|
|
| - `policy-checkpoints/` — final Appendix-D flow-matching policy checkpoints |
| (`best.pt`, `last.pt`, TorchScript export `best_ts.pt`) + normalization |
| stats (`stats.npz`, `dataset_meta.json`). ~235 MB. |
| - `retarget-outputs/` — mink-IK-retargeted bimanual motions for all 16 TACO |
| demonstration sequences (`trajectory_kinematic.npz` per sequence + |
| `retarget_report.json` + error/QA plots). ~201 MB. |
| - `rl-checkpoints/` — residual-PPO checkpoints, tensorboard logs and |
| `eval_residual.json` results for the escalated refine chunks (local + |
| remote A800 batch runs). ~51 MB. |
|
|
| Each folder has its own README with provenance (scripts, configs) and |
| license notes. See the GitHub repo README for headline results and honest |
| limitations (sim-only, thin-data policy proof, RL stage under budget). |
|
|
