AIRO-Doffy-WRM-Grasp-WRM-policy-consensus-lambda0

Three-expert WRM policy-consensus Diffusion Policy checkpoint series.

Dataset: WRM_grasp_cylinder_different_sizes_lero_recollect_gray_tightness
GPULab: cluster 9, one GPU, eight CPUs, batch size 32
Training run: WRM_policy_consensus-cluster9-bs32-lambda0
Checkpoints: 40000 through 100000, plus last.pt
last.pt SHA-256: 23c6d3358bbc50384ef543a94aedd984adff3f8794ae21c4a38df726d335939d
Configuration: checkpoints/resolved_config.yaml
Metrics: checkpoints/metrics.jsonl

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