RoboSyn-dp-click-ft

Diffusion Policy for RoboSynChallenge click_bell, fine-tuned from the released RoboSynChallenge/DP_sim_click_bell (rev fb8c9551) for 20k steps (lr 1e-5, bs 32) on the official sim dataset (1000 episodes) plus 125 demonstrations we generated with the official EmbodiChain expert under stronger domain randomization (camera pose, lighting, object/robot initial ranges). Same config and normalization as the released checkpoint. Used by policy/robosyn_mix in https://github.com/QuixoteH/RoboSyn (team LBWSquare, RoboSynChallenge NeurIPS 2026).