diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..537cda23bf561336633bc4ffdc7af55a76c113ff --- /dev/null +++ b/README.md @@ -0,0 +1,58 @@ +--- +language: +- zh +pretty_name: RoboTwin beat_block_hammer demo_clean-50 artifacts +tags: +- robotwin +- embodied-ai +- robotics +- bimanual-manipulation +- evaluation +- video +license: other +--- + +# RoboTwin beat_block_hammer demo_clean-50 Artifacts + +这个仓库存放的是一次 RoboTwin 单任务闭环实验的关键结果产物，而不是官方完整数据集。 + +## 仓库内容 + +- `same_distribution/` + - `demo_clean -> demo_clean` 的评测结果与 100 个 rollout 视频 +- `cross_configuration/` + - `demo_clean -> demo_randomized` 的评测结果与 100 个 rollout 视频 +- `experiment_summary.json` + +## 已完成的闭环 + +本实验完整跑通了以下链路： + +1. RoboTwin 官方任务程序生成专家轨迹 +2. 原始轨迹落盘为 raw data +3. ACT 预处理生成 training-ready data +4. ACT 正式训练 +5. 策略重新部署回 RoboTwin 环境 +6. 在 clean / randomized 两种配置下正式评测 + +## 关键结果 + +- 同分布：`demo_clean -> demo_clean` 成功率 `0.64` +- 跨配置：`demo_clean -> demo_randomized` 成功率 `0.0` + +## 工程心得 + +这次实验说明，RoboTwin 的价值不只是“能产出模拟数据”，而是它把具身智能实验做成了一条严格的工程流水线： + +- 环境层定义任务、对象和成功标准 +- 专家层生成并筛选成功轨迹 +- 数据层保存多模态原始观测 +- 训练层把原始数据转成策略学习输入 +- 部署层把策略重新接回环境 +- 评测层用统一协议统计成功率并保存视频证据 + +从研究角度看，这组结果也很典型：clean 分布上的成功并不自动意味着对 domain randomization 的鲁棒性。RoboTwin 2.0 所强调的强随机化、数据多样性和稳健评测，在这次实验里都得到了非常具体的体现。 + +## 说明 + +本仓库中的产物由 RoboTwin 官方代码仓库生成。上游代码、任务定义与论文请参考 RoboTwin 官方项目。 diff --git a/cross_configuration/_result.txt b/cross_configuration/_result.txt new file mode 100644 index 0000000000000000000000000000000000000000..39039124a8e637fd7f2fb47d70f4e7232fb02c56 --- /dev/null +++ b/cross_configuration/_result.txt @@ -0,0 +1,5 @@ +Timestamp: 2026-04-22 19:45:55 + +Instruction Type: unseen + +0.0 \ No newline at end of file diff --git a/cross_configuration/episode0.mp4 b/cross_configuration/episode0.mp4 new file mode 100644 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