act-combined-gs320-4cam-chunk60

ACT — GelSight resolution ablation (320x240)

One point of a GelSight-resolution ablation on the DG-5F + UR5e cable-sorting task. Every run in the sweep is identical apart from the GelSight resolution, so any difference between them is attributable to tactile resolution alone.

• Dataset: Kaz55/dg5f_ur5e_combined_gs320 — 180 episodes / 208,933 frames
• GelSight resolution: 320x240
• RealSense: 640x480 (unchanged across the whole sweep)
• Policy: ACT, chunk_size=60, n_action_steps=60
• Training: 200,000 steps, batch 8, seed 1000

Inputs

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

observation.velocity and observation.effort exist in the dataset but are deliberately excluded, matching the 500x375 baseline Kaz55/act-newcable-combined-4cam-chunk60. Letting them in via feature auto-derivation would add a second difference between runs and break the ablation.

Sweep