BG2 Left Wrist Latent Flow Pretrain AE256
Single-camera, left-arm-only BG2 pretrain checkpoint.
Setup
- Dataset:
rllab-postech/pretrain_aiworker_bg2_lance
- Camera:
observation.images.cam_wrist_left
- State transform:
bg2_left_arm (19D -> 8D)
- Action transform:
bg2_left_arm_link_xyz (19D -> 39D FK points)
- Vision encoder: DINOv3, frozen
- Action autoencoder:
point_temporal
- Latent action dim:
256
- Horizon:
12
- Train steps:
30000
Result
- Final train loss:
0.121042
- Final val loss:
0.132042
Some source wrist videos are shorter than their metadata. Training used the
loader-side frame clamp added in commit fa35ae3.
Files
checkpoints/bg2_left_wrist_dinov3_frozen_latent_ae256_flow_h12_30000step_final.ptconfig.yamlmetadata.jsonnormalizer.jsonresults/run_summary.json
