Logic
|
5c5cb299e9
|
feat(sim): switch air insert task to socket peg
|
2026-05-02 17:34:43 +08:00 |
|
Logic
|
4c3646a3d5
|
fix(policy): perform stable horizontal air insertion
|
2026-04-24 09:41:37 +08:00 |
|
Logic
|
4936cf2635
|
fix(policy): stabilize air insert scripted success
|
2026-04-24 09:20:50 +08:00 |
|
Logic
|
d245d64def
|
fix(policy): avoid cross-arm collision in air insert rollout
|
2026-04-23 18:04:54 +08:00 |
|
Logic
|
8145c9eb62
|
feat(policy): add scripted air insertion policy
|
2026-04-23 17:44:53 +08:00 |
|
Logic
|
a837a982f7
|
feat(env): add strict air insertion reward and success logic
|
2026-04-23 17:40:46 +08:00 |
|
Logic
|
f1ede7690f
|
feat(scene): add ring and bar insertion scene assets
|
2026-04-23 17:32:43 +08:00 |
|
Logic
|
06ac6c6d18
|
docs(plan): cover rollout entrypoint and eval regressions
|
2026-04-23 17:14:49 +08:00 |
|
Logic
|
fce6839daa
|
feat(env): register sim air insert ring bar task
|
2026-04-23 17:05:33 +08:00 |
|
Logic
|
3eb1a83940
|
docs(plan): tighten task ordering and smoke checks
|
2026-04-23 16:55:24 +08:00 |
|
Logic
|
636290d36a
|
docs: clarify ring bar task state contracts
|
2026-04-23 16:47:05 +08:00 |
|
Logic
|
4ea75966ee
|
docs(plan): add sim air insert ring bar implementation plan
|
2026-04-23 16:43:02 +08:00 |
|
Logic
|
27f4a07632
|
docs(spec): add sim air insert ring bar design
|
2026-04-23 16:33:58 +08:00 |
|
Logic
|
b76bcd8b37
|
chore: ignore local git worktrees
|
2026-04-01 22:46:02 +08:00 |
|
Logic
|
2f9b99e0c4
|
feat(vis): add raw action trajectory viewer
|
2026-04-01 22:27:22 +08:00 |
|
Logic
|
d5d5b53f71
|
feat(data): stream sim episodes with raw ee actions
|
2026-03-31 15:44:53 +08:00 |
|
Logic
|
d84bc6876e
|
feat(vla): align transformer training stack and rollout validation
|
2026-03-31 15:39:20 +08:00 |
|
Logic
|
424c265823
|
feat(eval): export rollout video timing and ee trajectory
|
2026-03-31 15:34:28 +08:00 |
|
Logic
|
cb79e00546
|
docs: add VLA training headless swanlab design spec
|
2026-03-30 18:50:12 +08:00 |
|
gouhanke
|
23088e5e33
|
feat: 架构引入DiT
|
2026-03-06 11:31:37 +08:00 |
|
gouhanke
|
ca1716c67f
|
chore: 导入gr00t
|
2026-03-06 11:31:37 +08:00 |
|
JiajunLI
|
642d41dd8f
|
feat: 添加resume机制
|
2026-03-06 11:19:30 +08:00 |
|
gouhanke
|
7d39933a5b
|
feat: 缓存worker内的句柄
|
2026-03-04 10:49:41 +08:00 |
|
gouhanke
|
8bcad5844e
|
fix: 修复VLA设备与损失计算逻辑，并优化Transformer默认训练参数
|
2026-03-03 17:56:12 +08:00 |
|
gouhanke
|
cdb887c9bf
|
feat: 添加transformer头
|
2026-02-28 19:07:27 +08:00 |
|
gouhanke
|
abb4f501e3
|
chore: 删除unet里的local_cond(未使用)
|
2026-02-28 10:42:16 +08:00 |
|
gouhanke
|
1d33db0ef0
|
chore: 缩小物块的大小
|
2026-02-27 18:23:30 +08:00 |
|
gouhanke
|
f27e397f98
|
chore: 修改了采数时的一些参数
|
2026-02-26 17:09:40 +08:00 |
|
gouhanke
|
4e0add4e1d
|
debug: 修复episode首帧图像不正确的问题；修复前2个episode帧重复的问题
|
2026-02-26 16:17:54 +08:00 |
|
gouhanke
|
40c40695dd
|
chore: 添加测试文件
- check_all_episodes.py：检查各个episode是否有重复帧。
- check_specific_frames.py：检查前几帧是否位于正确初始位置。
- generate_dataset_videos.py：根据hdf5生成视频
|
2026-02-26 13:59:47 +08:00 |
|
gouhanke
|
3deeffb9fe
|
chore:改变了一些参数配置
|
2026-02-26 13:56:03 +08:00 |
|
gouhanke
|
0b05c01024
|
feat: 推理时输出action
|
2026-02-12 19:54:11 +08:00 |
|
gouhanke
|
926a78eb66
|
feat: 添加finetune
|
2026-02-12 19:31:44 +08:00 |
|
gouhanke
|
efbe4b6ac9
|
Revert "Merge branch 'dev' of gitlab.com:leeeezd0016-group/gouhanke-vla into dev"
This reverts commit acb1467473, reversing
changes made to 624b926e33.
|
2026-02-12 18:31:56 +08:00 |
|
gouhanke
|
acb1467473
|
Merge branch 'dev' of gitlab.com:leeeezd0016-group/gouhanke-vla into dev
|
2026-02-12 18:08:27 +08:00 |
|
gouhanke
|
624b926e33
|
debug: 添加推理时缩放，加大采数以及推理时物块的放置范围
|
2026-02-12 17:14:23 +08:00 |
|
gouhanke
|
926d8cf894
|
chore: 加载时将图像缩放到224*224， resnet禁用crop
|
2026-02-12 15:02:18 +08:00 |
|
gouhanke
|
116ba13fb9
|
chore: 验证归一化是否有效
|
2026-02-12 13:01:13 +08:00 |
|
gouhanke
|
37a47ac2dd
|
debug: 保存stats到ckpt
|
2026-02-12 13:00:43 +08:00 |
|
gouhanke
|
ab971b3f96
|
debug: 归一化
|
2026-02-12 12:23:34 +08:00 |
|
gouhanke
|
83cd55e67b
|
添加pad_loss
|
2026-02-11 20:33:26 +08:00 |
|
gouhanke
|
eeb07cad15
|
feat: 冻结resnet
|
2026-02-11 20:11:25 +08:00 |
|
gouhanke
|
83d11ab640
|
Merge branch 'dev' of gitlab.com:leeeezd0016-group/gouhanke-vla into dev
|
2026-02-11 17:20:21 +08:00 |
|
JiajunLI
|
aba8779671
|
更改默认参数
|
2026-02-11 17:14:32 +08:00 |
|
gouhanke
|
b42c1c68fd
|
debug: 将归一化放在GPU上
|
2026-02-11 17:13:55 +08:00 |
|
gouhanke
|
320369ffb8
|
debug: 归一化图像到[0, 1]
|
2026-02-11 16:47:39 +08:00 |
|
gouhanke
|
130d4bb3c5
|
refactor：大重构
|
2026-02-11 15:53:55 +08:00 |
|
gouhanke
|
1e95d40bf9
|
debug
|
2026-02-10 15:56:05 +08:00 |
|
gouhanke
|
3c27d6d793
|
refactor: 重构resnet
|
2026-02-10 15:26:10 +08:00 |
|
gouhanke
|
88b9c10a75
|
refactor(dataset): 重新创建robotdataset最小实现
- 内部实现__getitem__参数，可以通过滑动窗口进行采样
-
|
2026-02-10 10:26:19 +08:00 |
|