act-blue-90ep-raw-chunk60

ACT — blue 90ep, GelSight 500x375 (native)

One point of a GelSight-resolution sweep on the DG-5F + UR5e blue-cable task. Runs differ only in GelSight resolution, so any gap between them is attributable to tactile resolution alone.

• Dataset: Kaz55/dg5f_ur5e_blue_90ep_raw — 90 episodes / 98,812 frames
• GelSight: 500x375 (native)
• RealSense: 640x480 (identical across the sweep)
• Policy: ACT, chunk_size=60, n_action_steps=60
• Training: 100,000 steps (~8.1 epochs), batch 8, seed 1000

Inputs

observation.state (26) + RealSense x2 + GelSight x2

observation.velocity and observation.effort are present in the dataset but deliberately excluded. Feature auto-derivation would otherwise feed them to the policy, adding a second difference between runs and breaking the ablation.

Sweep

Note

On the related 180-episode combined sweep, final training loss was 0.118 across every resolution including no-GelSight-at-all — i.e. training loss did not detect the tactile input. Treat these numbers as a sanity check, not as evidence that tactile resolution matters; that needs on-robot evaluation.