rllab-postech/bg2-left-wrist-latent-flow-pretrain-ae256

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.pt
• —config.yaml
• —metadata.json
• —normalizer.json
• —results/run_summary.json