snupilab/humanoidtoolbench-dp-real-g1-91
HumanoidToolBench DP: Real G1 additional training, 91 demonstrations
The validated final policy checkpoint is available in this repository.
This is a HumanoidToolBench training-result repository. It does not substitute an upstream pretrained policy for a HumanoidToolBench-trained checkpoint.
Initialization: snupilab/humanoidtoolbench-dp-sim-3003 after 40,000 simulation updates, followed by 5,000 new updates using the 91 real G1 demonstrations.
The four real conditions are StickMove Standard/Reasoning and HookRetrieve Standard/Reasoning. Recordings are 20 Hz. Hardware executed joint-target actions require the matching real G1 control adapter. A simulation adapter must not be assumed compatible.
Use the model's native HumanoidToolBench adapter and model-specific dependencies. This repository does not claim compatibility with arbitrary Transformers or simulation loaders. No evaluation score is claimed by checkpoint publication.
Retain run/checkpoints/ckpt5000 layout. Use the HumanoidToolBench native ACT/DP adapter with the exported run directory and final step. Run from that directory so datasetstatistics.json resolves. Preserve launch.json's exact language receipt. Install pinned Psi0/HumanoidToolBench source and pre-cache openai/clip-vit-large-patch14@32bd64288804d66eefd0ccbe215aa642df71cc41. DP inference uses ema_net.pth; model.safetensors is retained for native checkpoint discovery. Real G1 uses executed joint targets at 20 Hz with the absent final yaw unsupervised; hardware deployment is not qualified by this export.
Training uses independent model optimizers and shared GPU execution through MPS. Publication is performed by a CPU uploader after final checkpoint validation.