aleleanza/doosan_vac

Checkpoints

This folder contains selected robomimic checkpoints that were manually copied back to the Doosan workstation for inference tests.

Current inference notes:

• recommended path on the robot: action_mode:=vel_cmd
• pass the same offset_file used during data collection
• for full-task open_fridge, freeze_target_on_episode_start:=true is recommended
• for vision-only checkpoints, use bc_robomimic_vis / bc_robomimic_vis_runner and no offset_file
• for diffusion vision checkpoints, use diffusion_policy_vis / diffusion_policy_vis_runner with the sidecar action_stats.json

File	Model	Action target	Dataset	Num Episodes	Num Epoche	Notes
model_epoch_183_best_validation_0.13749891743063927.pth	BC-RNN State normal	action.vel_cmd	dataset_v1	25	200	First 25 episodes of dataset_v1.
model_epoch_177_best_validation_0.1074166551232338.pth	BC-RNN State normal	action.vel_cmd	dataset_v1	50	200	First 50 episodes of dataset_v1.
model_epoch_139_best_validation_0.13213149458169937.pth	BC-RNN State normal	action.vel_cmd	dataset_v1	100	200	100 episodes of dataset_v1.
model_epoch_177_best_validation_0.11254111714661122.pth	BC-RNN State normal	action.vel_cmd	dataset_v1_paolo_50	50	200	Last 50 episodes of dataset_v1.
model_epoch_390_best_validation_0.09170645512640477.pth	BC-RNN State big	action.vel_cmd	dataset_v1	100	500	100 episodes of dataset_v1, big model, 500 epochs.
model_epoch_390_best_validation_0.09260034952312708.pth	BC-RNN State big	action.vel_cmd	dataset_v1_paolo_50	50	500	Paolo 50 episodes with synthetic augmentation up to 100 episodes.
model_epoch_186_best_validation_0.1702012188732624.pth	BC-RNN Vision normal	action.vel_cmd	dataset_v1	50	200	Vision-only BC-RNN on first 50 episodes of dataset_v1; test with bc_robomimic_vis_runner.
model_epoch_327_best_validation_0.16748503260314465.pth	BC-RNN Vision big	action.vel_cmd	dataset_v2	100	500	Vision-only BC-RNN on first 50 episodes of dataset_v1 + 50 episodes of dataset_v2.
model_epoch_449_best_validation_0.14368683397769927.pth	BC-RNN Vision normal	action.vel_cmd	dataset_v2	150	500	Vision-only BC-RNN on 150 episodes of dataset_v2, standard model.
model_epoch_357_best_validation_0.12847926169633866.pth	BC-RNN Vision big	action.vel_cmd	dataset_v2	150	600	Vision-only BC-RNN on 150 episodes of dataset_v2, big model.
model_epoch_178_best_validation_0.012047586403787136.pth	Diffusion Policy Vision normal	action.vel_cmd	dataset_v2	150	600	Vision-only Diffusion Policy on 150 episodes of dataset_v2; inference validated with diffusion_policy_vis_runner and sidecar action_stats.json.