leesuyun/partdexgrasp-dexvlg

PartDexGrasp — DexVLG checkpoint

Model weights for DexVLG (Qwen3-0.6B trunk + π0-style expert on a Part-VAE latent), from the PartDexGrasp repo.

• dexvlg_v2_masked37_best_mingt.pt — masked-latent arm (live 37/112), step 28,500, best minGT 58.3 mm. Model weights only (optimizer/EMA/scheduler removed); sufficient for evaluation / prediction generation, not for resuming training.

Usage

# in the PartDexGrasp repo (env configured):
python eval/gen_qwen_predictions.py \
    --ckpt dexvlg_v2_masked37_best_mingt.pt \
    --out preds/predictions.json

The checkpoint stores cfg (incl. live_mask), so the loader reconstructs the masked-latent setup automatically.