rdp-tactar-flipbox-singleview-deploy

RDP flipbox single-view deployment checkpoints

Reactive Diffusion Policy trained on real_single_flexiv_tactar_flipbox.

Deployment files

• checkpoints/at/latest.ckpt: final Action Tokenizer checkpoint (epoch 600).
• checkpoints/ldp/latest.ckpt: final Latent Diffusion Policy checkpoint (epoch 400, global step 21252).
• normalization/normalizer.pkl: exact LDP normalizer computed during training, including action, pose, gripper, wrench, wrist-image and latent-action fields.
• config/resolved/{at,ldp}/config.yaml: fully resolved Hydra configurations saved by each training stage.
• config/task/*.yaml: source task shape and action-index configuration.
• config/deployment_config.yaml: portable relative checkpoint paths and endpoint input contract.

The observation camera is the single wrist view wrist_img1. The policy action has 10 dimensions, selected from the converted 20-dimensional VRR action with indices [0,1,2,3,4,5,6,7,8,19].

Both AT and LDP checkpoints are required by the RDP runtime. When using the resolved LDP Hydra config after download, override its original absolute at_load_dir with checkpoints/at/latest.ckpt and set the LDP checkpoint path to checkpoints/ldp/latest.ckpt.