pdaehn/dreamhandoff-r2-rectangle-dynamics

DreamHandoff R2 Rectangle Dynamics

This adapted R2-Dreamer latent dynamics model imagines candidate action trajectories and supports live-state matching and chunk handoff in DreamHandoff. It uses two RGB image streams (context and wrist, six image channels total), six-dimensional robot state and actions, and 64×64 image inputs. The release contains checkpoints/latest.pt and config.json.

The checkpoint SHA-256 is 5260b7c5df88929e21bd60c8686fe7b9dc43db7b2c6238cf49524b42a33ac9fc. DreamHandoff docs/r2dreamer.md defines preprocessing, training, and the matching representation. docs/reproduction.md pins the final repository revision.