dp-cupbasket-abl-visual

LeRobot diffusion policy (ROBOTIS lerobot-cyclo fork, 288 M parameters) for the bimanual cup handover onto a basket with the ROBOTIS FFW SG2 (SG2 + CAD grippers, calibrated wrist cameras), cup DR ablation (visual).

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

data	padiredd/Ablation_Cup_visual: 2,000 successful sim demos from the cup-handover visual vs physical randomization ablation (data_collection/cup_basket/ablation_vp, 2026-11-07): the v6 program cup_handover_v6.py (right close recorded 0.70 / executed 0.50), seeds 60001+, --split_rng (layouts, program params and gripper values identical across the four sets per pair_key) and cup-safe gripper randomization in all four (open 0.10-0.157 both arms, left executed close 1.3-1.5), cut at exactly 2,000 successes in part order. Trained with the same frozen recipe as the block-pick ablation DPs (padiredd/dp-blockpick-cap2k-*-dr). This set: visual randomization only: table look, backdrop, cup colour jitter, dr2 room lights, spot lights over the work area
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 RTX 4090 24 GB (lab225), shared with at most one other ablation run

Task string: "pick up the blue cup with the left hand, hand it to the right hand, and place it on the basket". Evaluation results are added once they are run.