Humantwin/dexflow-stage2-tasks

DexFlow Stage-2 Checkpoints

Human→Robot DexFlow Stage-2 (Arena ACT + articulated HandFlow/ObjectFlow aux) checkpoints for Inspire-G1 tasks.

Org: Humantwin

Wave-2 P0 (2026-09-09) — recommended for bottle_upright real-robot

Same 10-ep bottle_upright right crop cam30 robot set. P0-Ours additionally inits from Manus plastic_bottle Stage-1 (14 ep); S2 does not mix human RGB.

ID	File	Init	S2 loss	Open-loop body / hand / J2
P0-B0	p0s2_b0_bottle_cam30_crop/stage2.ckpt	ImageNet	ACT only	0.0085 / 4.69 / 1.49
P0-Ours	p0s2_ours_p0b_hf_bottle_cam30_crop/stage2.ckpt	plastic S1	ACT + 0.25 HF	0.0083 / 4.83 / 1.72

Load:

from dexflow.backbone.dexflow_act import DexFlowACTPolicy
model = DexFlowACTPolicy.from_checkpoint("p0s2_b0_bottle_cam30_crop/stage2.ckpt", stage="deploy")
model = model.strip_aux_for_deploy()

Deploy: publish 30/30, infer interval ≥1.05 s, strip aux, MEAN_STD norm_stats.json in the same folder.

---

bottle_upright (right, crop cam30) — older 15k aux run

Item	Value
File	bottle_upright_right_crop/step_15000.ckpt
Steps	15000 / 30000
Loss	L1 + 10·KL + 0.25·L_aux (HF+OF, contact off)
Init	Multi-task Stage-1 stage1_step06000 visual (+aux)
Data	bottle_upright right crop @ camera_30hz, 10 episodes
Norm	bottle_upright_right_crop/norm_stats.json (MEAN_STD)

Open-loop @ step 15000 (train-set, chunk step-0)

Metric	Value
body_rmse	0.0134 rad
hand_mae	9.62 (0–1000)
action_mse	74.5

See bottle_upright_right_crop/openloop_step15000/.

Load (DexFlow)

import torch
ckpt = torch.load("bottle_upright_right_crop/step_15000.ckpt", map_location="cpu")

Layout

p0s2_b0_bottle_cam30_crop/          # Wave-2 P0-B0 @30k
  stage2.ckpt
  norm_stats.json
p0s2_ours_p0b_hf_bottle_cam30_crop/ # Wave-2 P0-Ours @30k
  stage2.ckpt
  norm_stats.json
bottle_upright_right_crop/
  step_15000.ckpt
  norm_stats.json
  openloop_step15000/

---

Core4 current-state MLP G2 @ 25k (2026-09-11)

Four-task DexFlowMLP Stage-2 (action-only L1). Same 10 robot episodes / task. Same-set open-loop, not held-out SR.

Task	File	nRMSE41	body RMSE	hand MAE
plastic / bottle_upright	core4_mlp_current_state_g2_step25000/bottle_upright_right_crop/stage2_step25000.ckpt	0.050	0.0050	2.74
pill	core4_mlp_current_state_g2_step25000/pill_bottle_right_crop/stage2_step25000.ckpt	0.067	0.0059	4.16
open_box_lid	core4_mlp_current_state_g2_step25000/open_box_lid_both_crop/stage2_step25000.ckpt	0.054	0.0089	3.01
realsense	core4_mlp_current_state_g2_step25000/realsense_box_into_box_right_crop/stage2_step25000.ckpt	0.063	0.0062	3.63

Load: DexFlowMLPPolicy.from_checkpoint(..., stage="deploy") + same-folder norm_stats.json.