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carroll511/IKEA_table_assembly (v2 conversion) — a Unitree G1
with Dex1 grippers assembling a children's table from a fixed standing position.g1_dex1_ikea_relarm_3view_aug_b64_v2_armvel_30k / checkpoint-26000 (best of 15 scanned checkpoints)....-v2-armvel): same EE8, gripper -4.4%, arm8 +1.5%. Versus the no-velocity baseline at 30k: arm8 -15.2%, EE8 -10.1% (third replication of the velocity effect). Requires arm joint velocities at inference — feeding zeros costs +26% on the executed window, landing below the baseline that never had them.| init | nvidia/GR00T-N1.7-3B (backbone frozen: tune_llm=False, tune_visual=False) |
| modality config | examples/unitree_g1_dex1_ikea/g1_dex1_ikea_armvel_config.py |
| state | 60 — the 46-dim set plus left_arm_vel and right_arm_vel (14 dims, inserted after right_arm) |
| action | 16 dims — left_arm(7, RELATIVE), right_arm(7, RELATIVE), left_gripper, right_gripper |
| horizon | 40 @ 30 Hz |
| cameras | cam_left_high, cam_left_wrist, cam_right_wrist |
| training | effective batch 64, 30,000 steps (cosine, warmup 5%), 2x A100 DDP |
_v2_val split, 697 windows at stride 10, 4 denoising steps, fixed per-window seed.| metric | checkpoint-26000 | mean of 26k/28k/30k |
|---|---|---|
| arm MAE, steps 1-8 (deg) | 1.224 | 1.230 |
| arm MAE, all 40 steps (deg) | 3.142 | 3.156 |
| wrist position error, steps 1-8 (mm) | 10.74 | 10.75 |
| wrist position error, all 40 (mm) | 20.15 | 20.14 |
| gripper MAE | 0.2085 | 0.2094 |
| task | n | arm (deg) | EE8 (mm) | gripper |
|---|---|---|---|---|
| insert table leg to table base | 182 | 2.580 | 12.29 | 0.1485 |
| pick table leg | 180 | 2.706 | 8.26 | 0.1737 |
| rotate leg to tighten | 335 | 3.681 | 11.23 | 0.2599 |
eval_loss does not track action quality.These numbers are from the v2 val split — not comparable to...-h40(v1) models.
get_action() returns unnormalized absolute values.