dp-cupbasket-visual-8k

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), visual DR, wide + narrow placement (~8.6k demos).

Files at the repo root = step 100k (DiffusionPolicy.from_pretrained("padiredd/dp-cupbasket-visual-8k")); 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/Cup_visual_8k: all ~6.6k successes of the wide-placement visual-DR cup collection (data_collection/cup_basket/visual10k_wide, 2026-11-08/09; the cup DR ablation's VISUAL recipe: v6 program cup_handover_v6.py, right close recorded 0.70 / executed 0.50, cup-safe gripper randomization, table look / backdrop / cup colour / room + spot light randomization; placement widened to cup x 0.36-0.58 y 0.00-0.42 m, basket x 0.40-0.55 y -0.60..-0.28 m, yaw +-10 deg; seeds 100000+). The 10k collection was stopped by the user at ~6.6k successes (padiredd/Cup_visual_wide_1..4) followed by the 2,000 demos of padiredd/Ablation_Cup_visual (same visual recipe, narrower placement: cup x 0.44-0.58 y 0.10-0.30, basket x 0.40-0.54 y -0.52..-0.36)
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 dp-cupbasket-visual-wide-500 (~4.9 steps/s each)

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.