models: add main MIP and ChiUNet checkpoints

models/main/ik_delta_joint_mip_chiunet_seed0/config3_bs512/2026-05-14_18-01-36/config.yaml

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+  wandb_mode: online
+  project: mip
+  group: main
+  exp_name: ik_delta_joint_mip_chiunet_seed0
+  exp_tag: config3_bs512
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+  interp_type: linear
+  device: cuda
+  use_compile: false
+  compile_mode: null
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+  auto_resume: true
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+  encoder_dropout: 0.0
+  encoder_type: mlp
+  emb_dim: 256
+  rgb_model_name: resnet18
+  use_seq: true
+  keep_horizon_dims: true
+  network_type: chiunet
+  num_layers: 6
+  dropout: 0.0
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+  model_dim: 128
+  kernel_size: 5
+  cond_predict_scale: true
+  obs_as_global_cond: true
+  dim_mult:
+  - 1
+  - 2
+  - 2
+  timestep_emb_type: positional
+task:
+  env_name: ik_delta_joint
+  obs_type: state
+  env_type: ik
+  action_type: delta
+  abs_action: false
+  dataset_path: /home/geo/Documents/Data/airbot/2026_0322_airbot_ALL_SplitNoRGB/data
+  obs_dim: 20
+  act_dim: 6
+  obs_steps: 2
+  act_steps: 1
+  horizon: 4
+  max_episode_steps: 300
+  num_envs: 1
+  val_dataset_percentage: 0.1
+mode: train

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models/main/ik_delta_joint_mip_chiunet_seed1/config3_bs512/2026-05-19_00-19-47/config.yaml

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+  log_dir: /home/geo/Documents/Github/NatureIK/experiments
+  wandb_mode: online
+  project: mip_ik_baselines
+  group: main
+  exp_name: ik_delta_joint_mip_chiunet_seed1
+  exp_tag: config3_bs512
+  eval_freq: 20000
+  log_freq: 1000
+  save_freq: 20000
+  eval_episodes: 50
+  save_video: false
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+  interp_type: linear
+  device: cuda
+  use_compile: false
+  compile_mode: null
+  use_cudagraphs: false
+  auto_resume: true
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+  encoder_dropout: 0.0
+  encoder_type: mlp
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+  rgb_model_name: resnet18
+  use_seq: true
+  keep_horizon_dims: true
+  network_type: chiunet
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+  cond_predict_scale: true
+  obs_as_global_cond: true
+  dim_mult:
+  - 1
+  - 2
+  - 2
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+  env_name: ik_delta_joint
+  obs_type: state
+  env_type: ik
+  action_type: delta
+  abs_action: false
+  dataset_path: /home/geo/Documents/Data/airbot/2026_0322_airbot_ALL_SplitNoRGB/data
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+  act_dim: 6
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+  act_steps: 1
+  horizon: 1
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+  num_envs: 1
+  val_dataset_percentage: 0.1
+mode: train

models/main/ik_delta_joint_mip_chiunet_seed1/config3_bs512/2026-05-19_00-24-14/config.yaml

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+  log_dir: experiments
+  wandb_mode: online
+  project: mip
+  group: main
+  exp_name: ik_delta_joint_mip_chiunet_seed1
+  exp_tag: config3_bs512
+  eval_freq: 20000
+  log_freq: 1000
+  save_freq: 20000
+  eval_episodes: 50
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+  loss_type: mip
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+  model_path: null
+  interp_type: linear
+  device: cuda
+  use_compile: false
+  compile_mode: null
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+  auto_resume: true
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+  encoder_type: mlp
+  emb_dim: 256
+  rgb_model_name: resnet18
+  use_seq: true
+  keep_horizon_dims: true
+  network_type: chiunet
+  num_layers: 6
+  dropout: 0.0
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+  model_dim: 128
+  kernel_size: 5
+  cond_predict_scale: true
+  obs_as_global_cond: true
+  dim_mult:
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+  timestep_emb_type: positional
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+  env_name: ik_delta_joint
+  obs_type: state
+  env_type: ik
+  action_type: delta
+  abs_action: false
+  dataset_path: /home/geo/Documents/Data/airbot/2026_0322_airbot_ALL_SplitNoRGB/data
+  obs_dim: 20
+  act_dim: 6
+  obs_steps: 2
+  act_steps: 1
+  horizon: 4
+  max_episode_steps: 300
+  num_envs: 1
+  val_dataset_percentage: 0.1
+mode: train

models/main/ik_delta_joint_mip_chiunet_seed1/config3_bs512/2026-05-19_00-24-14/latest_chiunet.pt

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models/main/ik_delta_joint_mip_fk_sudeepdit_seed0/config1/2026-05-12_02-12-43/config.yaml

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+  log_dir: /home/geo/Documents/Github/NatureIK/experiments
+  wandb_mode: online
+  project: mip_ik_baselines
+  group: main
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+  exp_tag: config1
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+  interp_type: linear
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+  obs_type: state
+  env_type: ik
+  action_type: delta
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+  dataset_path: /home/geo/Documents/Data/airbot/2026_0322_airbot_ALL_SplitNoRGB/data
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+  num_envs: 1
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+  urdf_path: /home/geo/Documents/Github/NatureIK/diffusion_policy/urdf_data/play_g2_usb_cam/urdf/play_g2_usb_cam.urdf
+  end_link_name: end_link
+  fk_loss_weight: 0.1
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+  fk_rot_weight: 0.1
+mode: train

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+  group: main
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+  dropout: 0.1
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+  env_name: ik_delta_joint
+  obs_type: state
+  env_type: ik
+  action_type: delta
+  abs_action: false
+  dataset_path: /home/geo/Documents/Data/airbot/2026_0322_airbot_ALL_SplitNoRGB/data
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+  urdf_path: /home/geo/Documents/Github/NatureIK/diffusion_policy/urdf_data/play_g2_usb_cam/urdf/play_g2_usb_cam.urdf
+  end_link_name: end_link
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+  group: main
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+  exp_tag: config3_bs512
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+  obs_type: state
+  env_type: ik
+  action_type: delta
+  abs_action: false
+  dataset_path: /home/geo/Documents/Data/airbot/2026_0322_airbot_ALL_SplitNoRGB/data
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+  end_link_name: end_link
+  fk_loss_weight: 0.1
+  fk_pos_weight: 1.0
+  fk_rot_weight: 0.1
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