TacInsert Checkpoints
This directory is reserved for optional pretrained checkpoints used for quick simulation smoke tests. Checkpoint files are large binary artifacts and are intentionally ignored by git. The released checkpoints are hosted on Hugging Face:
https://huggingface.co/tOMRmA/TacInsert-checkpoints
Download them into this directory before running the smoke-test commands below.
hf download tOMRmA/TacInsert-checkpoints TacInsert-LHole-III-Direct-v0.pth `
--repo-type model `
--local-dir source/TacInsert/TacInsert/tasks/direct/tacinsert/checkpoints
hf download tOMRmA/TacInsert-checkpoints TacInsert-Manipulation-Square-SingleHole-Direct-v0.pth `
--repo-type model `
--local-dir source/TacInsert/TacInsert/tasks/direct/tacinsert/checkpoints
Released Checkpoints
The following checkpoints were used to validate the current TacInsert simulation code:
| File | Task | Observation dim | Notes | SHA256 |
|---|---|---|---|---|
TacInsert-LHole-III-Direct-v0.pth |
TacInsert-LHole-III-Direct-v0 |
23 | L-hole Tol. III with contact-force observation and fixed_sigma: True |
FC158B0D72AFDAB0D860CEB379F8E3EC2B0B693D49C9B24629608A5BEA4B58AC |
TacInsert-Manipulation-Square-SingleHole-Direct-v0.pth |
TacInsert-Manipulation-Square-SingleHole-Direct-v0 |
26 | ManipulationNet-style square/rectangle single-hole sampler policy with contact-force observation, tolerance one-hot, and fixed_sigma: False |
0301CD4C57848EDA73FAE2D9F019D879C6D8AA1F29315CCA8A12BDC5B36CA10E |
Smoke-Test Commands
Run from the repository root after installing the TacInsert extension.
L-Hole Tol. III
python scripts/rl_games/play.py `
--task TacInsert-LHole-III-Direct-v0 `
--num_envs 128 `
--headless `
--checkpoint source/TacInsert/TacInsert/tasks/direct/tacinsert/checkpoints/TacInsert-LHole-III-Direct-v0.pth
Expected behavior: the terminal prints one summary per completed episode. In local validation with 128 environments, three episodes reached approximately 94-98 percent success.
ManipulationNet-Style Square Single-Hole
python scripts/rl_games/play.py `
--task TacInsert-Manipulation-Square-SingleHole-Direct-v0 `
--num_envs 128 `
--headless `
--checkpoint source/TacInsert/TacInsert/tasks/direct/tacinsert/checkpoints/TacInsert-Manipulation-Square-SingleHole-Direct-v0.pth
Expected behavior with the default fixed Tol. I sampler: the terminal prints one summary per completed episode. In local validation with 128 environments, three episodes reached approximately 98-99 percent success.
To evaluate another fixed tolerance, edit multi_hole_sample_weights in TacInsertManipulationSquareSingleHole before running playback. For example, Tol. IV evaluation uses:
multi_hole_sample_weights = [0.0, 0.0, 0.0, 1.0]
In local Tol. IV validation with 128 environments, three episodes reached approximately 61-63 percent success.
Contact-Force Logging Check
For tasks with contact_force["log_contact_force"] = True, CSV logging is enabled only in evaluation mode with --num_envs 1:
python scripts/rl_games/play.py `
--task TacInsert-Manipulation-Square-SingleHole-Direct-v0 `
--num_envs 1 `
--headless `
--checkpoint source/TacInsert/TacInsert/tasks/direct/tacinsert/checkpoints/TacInsert-Manipulation-Square-SingleHole-Direct-v0.pth
CSV files are written to contact_force_logs/, which is ignored by git.