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physer/egoengine-repro-artifacts

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egoengine-repro-artifacts

Large artifacts from the independent, from-scratch reproduction of EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations (arXiv:2606.12604; no official code exists).

Code + docs + small result artifacts: https://github.com/physercoe/egoengine-repro

Folders:

—policy-checkpoints/ — final Appendix-D flow-matching policy checkpoints (best.pt, last.pt, TorchScript export best_ts.pt) + normalization stats (stats.npz, dataset_meta.json). ~235 MB.
—retarget-outputs/ — mink-IK-retargeted bimanual motions for all 16 TACO demonstration sequences (trajectory_kinematic.npz per sequence + retarget_report.json + error/QA plots). ~201 MB.
—rl-checkpoints/ — residual-PPO checkpoints, tensorboard logs and eval_residual.json results for the escalated refine chunks (local + remote A800 batch runs). ~51 MB.

Each folder has its own README with provenance (scripts, configs) and license notes. See the GitHub repo README for headline results and honest limitations (sim-only, thin-data policy proof, RL stage under budget).