dp-cupbasket-v6-2k

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), trained on v6 sim demos.

Files at the repo root = step 100k (DiffusionPolicy.from_pretrained("padiredd/dp-cupbasket-v6-2k")); step-50000/, step-60000/, step-70000/, step-80000/, step-90000/ = intermediate checkpoints (every 10k steps).

data	pick-cup-basket-v6-2k-3cam (not on HF): ~2,000 successful sim demos of the bimanual cup-to-basket handover generated by cup_basket/programs/cup_handover_v6.py (2026-11-04: the left hand descends FULLY OPEN and closes only at the rim, the handover point sits 8 cm nearer the right shoulder, the right close is executed at 0.50 but RECORDED as 0.70 = the real gripper's maximum, shorter moves, closed-loop place retreat), SG2 + CAD gripper, 3 cams 240x240, no DR, seeds 60001+ (same layouts as the cup2k_v3 set)
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 RTX 4090 24 GB (lab225), alone

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.