dp-blockpick-2k-withoutpush

LeRobot diffusion policy (ROBOTIS lerobot-cyclo fork, 288 M parameters) for a top-down block pick with the left arm of the ROBOTIS FFW SG2 (SG2 + ROBOTIS CAD gripper, calibrated wrist cameras, 29.25 in table).

Files at the repo root = step 100k (DiffusionPolicy.from_pretrained("padiredd/dp-blockpick-2k-withoutpush")); step-10000/, step-20000/, step-30000/, step-40000/, step-50000/, step-60000/, step-70000/, step-80000/, step-90000/ = intermediate checkpoints (every 10k steps).

data	pick-cube-2k-withoutpush-yaw45-full-dr2-3cam (padiredd, on HF): 2,000 successful sim demos generated by the code-as-policy program with the two CaP skill-layer defaults fixed (data_collection/cap/programs/block_pick_v1_nocomp.py: close_gripper compensate=False, so the hand no longer rises 16 mm while closing, and --noise_scale 0, no executed-only joint pushes; one approach, close, lift; per-episode drawn pregrasp/lift/timing/via parameters). Same seeds (40001-40040, --parity_rng), block placements (
sampling	uniform over all frames (LeRobot default EpisodeAwareSampler)
inputs / outputs	head + left wrist + right wrist cameras, each 240x240, + 22-dim joint state; action = 16 joint targets, 15 Hz
image augmentation	heavy, random order, up to 5 of: brightness 0.6-1.4, contrast 0.6-1.4, saturation 0.3-1.7, hue +-0.1, sharpness 0.3-2.0, affine +-10 deg / 10 % / 0.9-1.1, perspective 0.2, blur, random erasing, grayscale
state noise	none
recipe	100k steps, batch 32, ResNet18 per camera, Adam 1e-4, cosine, DDPM 100 steps, horizon 64 / 32 executed, n_obs_steps 1, seed 1000
hardware	one NVIDIA A40 46 GB per run (local machine), ~5.7 steps/s (shared with sim data collection part of the time)

Task string: "pick up the lime green block with the left arm". Evaluation results are added once they are run.