| # rl-checkpoints/ |
|
|
| Residual-PPO (rsl_rl) checkpoints and full logs for the EgoEngine refine |
| chunks that replay/MPC could not fix (`pending_rl` escalation, see |
| `docs/REFINE.md` §7 in the code repo). |
|
|
| Layout: |
|
|
| - `<triplet>/<seq_id>/chunk_<a>_<b>/` — local run: `logs/model_final.pt` |
| (rsl_rl checkpoint), tensorboard event files, `train_log*.txt`, |
| `eval_residual.json` + `eval_residual.png`, `chunk_start_state.npz`. |
| - `a800/<triplet>/<seq_id>/chunk_<a>_<b>_<tag>/` — remote 4xA800 batch runs |
| with the RL.md §5 improvement bundle (dense-after-violation, contact-or, |
| warm-start-mpc, feasibility curriculum; `v2_m05f15` = mass x0.5 / |
| friction 1.5 sweep variant). |
| |
| Produced by (repo https://github.com/physercoe/egoengine-repro, see |
| `docs/RL.md` + `docs/A800_RL.md`): |
| |
| ``` |
| OMNI_KIT_ACCEPT_EULA=YES .venv-sim/bin/python scripts/train_residual.py \ |
| "<triplet>" <seq_id> --chunk <a>:<b> --dense-after-violation --contact-or \ |
| --warm-start-mpc --curriculum-start-scale 2.0 |
| # batch: scripts/run_rl_a800.sh |
| ``` |
| |
| Honest status: the stage is delivered but under-budget — the canonical |
| knife-slip chunk `[40,60)` was NOT fixed (tool feasible_frac 0.0 before and |
| after RL, see `eval_residual.json`); candid negative result, analysis in |
| `docs/RL.md`. |
| |
| License: MIT (our checkpoints/logs). |
| |
