gen2act-c35-diffuse-gripper

Gen2Act C35 Diffused Gripper

This repository contains the ep9 slim checkpoint for a Gen2Act policy trained on DROID-derived robot demonstrations. The policy predicts an 8-step camera- frame delta-action chunk from a source demonstration video and current robot observations.

Model

• Architecture: fused-query flow-matching DiT
• Visual backbone: DINOv2 ViT-B/14
• Action: 9D delta pose plus a diffused binary gripper dimension
• Inputs: 8 source frames, three-frame front and wrist observation histories, current front patch geometry, and camera-projection proprioception
• Checkpoint: c35_diffuse_gripper_fulltrain_ep9_latest_slim.pt

The checkpoint is slim: it contains model weights, config, epoch, and metrics, but no optimizer state. Load it with the matching Gen2Act codebase and config.

Training Notes

The model was trained for 10 epochs; this uploaded checkpoint is ep9. Its training-side validation pose MAE was 0.03150 and pose RMSE was 0.06031 in the normalized action-evaluation logging pipeline. These are not closed-loop robot success metrics.

Intended Use and Limitations

This is a research checkpoint, not a safety-certified robot controller. It requires calibration-compatible DROID-style observations and should be tested in simulation or with appropriate hardware safety controls before any physical deployment.