TactAR flip-box single-view ForceWM + no-state VRR IDM
Deployment bundle frozen while the ForceWM run was still continuing to 20k.
Primary artifacts
- ForceWM:
iter_000014000/model, model-only DCP with 8 complete shards
- ForceWM task language/T5 key:
flip box
- ForceWM cameras:
left_wrist,black,black
- IDM: 800-epoch two-stage no-state relative-VRR run, persisted checkpoint epoch 390, global step 38708
- IDM observations: current wrist RGB and current TCP wrench; no TCP pose/gripper model state
- IDM action: relative VRR, model shape 14,
n_obs_steps=1
- ForceWM strong condition augmentation keys: ['future_wm_video_latent', 'right_robot_tcp_future_wrench_norm']
The full teacher-forced sidecar is excluded because robot deployment runs the
ForceWM online. Its force normalization values are retained in
forcewm/force_norm_stats.json and the stats-only zarr group.
Run bash idm_check_only.sh in a complete source checkout before robot use.
Use LOAD_ONLY=1 bash policy_server_example.sh for a GPU model-load smoke test.
