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feat-align-dp-transformer-ee

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• acbd7c605a feat(sim): save air-insert and rollout validation updates main Logic 2026-05-05 20:52:53 +08:00
• 73f5b6e3d9 merge: socket-peg sim and imf attnres into main Logic 2026-05-03 10:14:48 +08:00
• bc4caf355b fix(sim): split transfer and air-insert camera sets Logic 2026-05-03 10:14:04 +08:00
• b1116e489f merge: imf attnres policy Logic 2026-05-02 22:23:29 +08:00
• a2c018acce merge: socket peg air insert simulation Logic 2026-05-02 22:13:36 +08:00
• 4890f54b13 fix(sim): align socket peg collection settings Logic 2026-05-02 21:38:16 +08:00
• 5c5cb299e9 feat(sim): switch air insert task to socket peg Logic 2026-05-02 17:34:43 +08:00
• 4c3646a3d5 fix(policy): perform stable horizontal air insertion Logic 2026-04-24 09:41:37 +08:00
• 4936cf2635 fix(policy): stabilize air insert scripted success Logic 2026-04-24 09:20:50 +08:00
• d245d64def fix(policy): avoid cross-arm collision in air insert rollout Logic 2026-04-23 18:04:54 +08:00
• 8145c9eb62 feat(policy): add scripted air insertion policy Logic 2026-04-23 17:44:53 +08:00
• a837a982f7 feat(env): add strict air insertion reward and success logic Logic 2026-04-23 17:40:46 +08:00
• f1ede7690f feat(scene): add ring and bar insertion scene assets Logic 2026-04-23 17:32:43 +08:00
• 06ac6c6d18 docs(plan): cover rollout entrypoint and eval regressions Logic 2026-04-23 17:14:49 +08:00
• fce6839daa feat(env): register sim air insert ring bar task Logic 2026-04-23 17:05:33 +08:00
• 3eb1a83940 docs(plan): tighten task ordering and smoke checks Logic 2026-04-23 16:55:24 +08:00
• 636290d36a docs: clarify ring bar task state contracts Logic 2026-04-23 16:47:05 +08:00
• 4ea75966ee docs(plan): add sim air insert ring bar implementation plan Logic 2026-04-23 16:43:02 +08:00
• 27f4a07632 docs(spec): add sim air insert ring bar design Logic 2026-04-23 16:33:58 +08:00
• 61522d9ae5 feat(lewm): enable gpu parallel rollout validation feat-lewm-imf-fusion Logic 2026-04-23 15:11:41 +08:00
• 4cd33258d2 fix: support dual decoder relaunch and width-adaptive lewm tokens Logic 2026-04-17 20:11:54 +08:00
• d8066823e2 chore: inherit lewm dataset settings from agent config Logic 2026-04-17 19:33:08 +08:00
• 395f5a1645 feat: add held-out validation and dual-decoder lewm imf Logic 2026-04-17 19:26:56 +08:00
• 74f4963613 feat: add lewm-conditioned imf training and sigreg loss Logic 2026-04-17 18:46:02 +08:00
• ff7c9c1f2a feat: add vision transfer backbones and IMF variants feat-imf-attnres-policy Logic 2026-04-09 14:02:24 +08:00
• d51b3ecafa docs: finalize phase1 report and launch phase2 attnres suite Logic 2026-04-05 00:39:04 +08:00
• 2033169840 feat: add full attnres vision backbone Logic 2026-04-05 00:07:59 +08:00
• a78006808a fix: stabilize headless rollout and summarize phase1 grid Logic 2026-04-04 23:47:15 +08:00
• 0586a6e6c7 feat: add rollout trajectory image artifacts and swanlab logging Logic 2026-04-03 09:39:16 +08:00
• 48f0eb8dd0 fix: defer MuJoCo env import until headless GL is configured Logic 2026-04-02 08:26:39 +08:00
• 3a17744dcf fix: support headless MuJoCo image capture during rollout Logic 2026-04-02 08:25:01 +08:00
• 0514f86c36 fix: support headless rollout on remote training hosts Logic 2026-04-02 08:15:54 +08:00
• dffd92f82d fix: sanitize problematic LD_PRELOAD for cuDNN Logic 2026-04-01 23:50:57 +08:00
• c2000b5533 feat: add IMF AttnRes policy training path Logic 2026-04-01 23:35:31 +08:00
• 8d6060224a docs: refine IMF migration spec defaults Logic 2026-04-01 22:55:50 +08:00
• 8a8193fe7e docs: add IMF-AttnRes migration implementation plan Logic 2026-04-01 22:52:39 +08:00
• 1a92c5e8a6 docs: add IMF-AttnRes migration design spec Logic 2026-04-01 22:49:10 +08:00
• b76bcd8b37 chore: ignore local git worktrees Logic 2026-04-01 22:46:02 +08:00
• 2f9b99e0c4 feat(vis): add raw action trajectory viewer feat-align-dp-transformer-ee Logic 2026-04-01 22:27:22 +08:00
• d5d5b53f71 feat(data): stream sim episodes with raw ee actions Logic 2026-03-31 15:44:53 +08:00
• d84bc6876e feat(vla): align transformer training stack and rollout validation Logic 2026-03-31 15:39:20 +08:00
• 424c265823 feat(eval): export rollout video timing and ee trajectory Logic 2026-03-31 15:34:28 +08:00
• cb79e00546 docs: add VLA training headless swanlab design spec Logic 2026-03-30 18:50:12 +08:00
• 23088e5e33 feat: 架构引入DiT dev gouhanke 2026-03-06 11:17:54 +08:00
• ca1716c67f chore: 导入gr00t gouhanke 2026-03-06 11:17:28 +08:00
• 642d41dd8f feat: 添加resume机制 JiajunLI 2026-03-06 11:19:30 +08:00
• 7d39933a5b feat: 缓存worker内的句柄 gouhanke 2026-03-04 10:49:41 +08:00
• 8bcad5844e fix: 修复VLA设备与损失计算逻辑，并优化Transformer默认训练参数 gouhanke 2026-03-03 17:56:12 +08:00
• cdb887c9bf feat: 添加transformer头 gouhanke 2026-02-28 19:07:27 +08:00
• abb4f501e3 chore: 删除unet里的local_cond(未使用) gouhanke 2026-02-28 10:42:16 +08:00
• 1d33db0ef0 chore: 缩小物块的大小 gouhanke 2026-02-27 18:23:30 +08:00
• f27e397f98 chore: 修改了采数时的一些参数 gouhanke 2026-02-26 17:09:40 +08:00
• 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 gouhanke 2026-02-26 16:17:54 +08:00
• 40c40695dd chore: 添加测试文件 gouhanke 2026-02-26 13:59:47 +08:00
• 3deeffb9fe chore:改变了一些参数配置 gouhanke 2026-02-26 13:56:03 +08:00
• 0b05c01024 feat: 推理时输出action gouhanke 2026-02-12 19:54:11 +08:00
• 926a78eb66 feat: 添加finetune gouhanke 2026-02-12 19:31:44 +08:00
• efbe4b6ac9 Revert "Merge branch 'dev' of gitlab.com:leeeezd0016-group/gouhanke-vla into dev" gouhanke 2026-02-12 18:31:56 +08:00
• acb1467473 Merge branch 'dev' of gitlab.com:leeeezd0016-group/gouhanke-vla into dev gouhanke 2026-02-12 18:08:27 +08:00
• 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 gouhanke 2026-02-12 17:14:23 +08:00
• 926d8cf894 chore: 加载时将图像缩放到224*224， resnet禁用crop gouhanke 2026-02-12 15:02:18 +08:00
• 116ba13fb9 chore: 验证归一化是否有效 gouhanke 2026-02-12 13:01:13 +08:00
• 37a47ac2dd debug: 保存stats到ckpt gouhanke 2026-02-12 13:00:43 +08:00
• ab971b3f96 debug: 归一化 gouhanke 2026-02-12 12:23:34 +08:00
• 83cd55e67b 添加pad_loss gouhanke 2026-02-11 20:33:26 +08:00
• eeb07cad15 feat: 冻结resnet gouhanke 2026-02-11 20:11:25 +08:00
• 83d11ab640 Merge branch 'dev' of gitlab.com:leeeezd0016-group/gouhanke-vla into dev gouhanke 2026-02-11 17:20:21 +08:00
• aba8779671 更改默认参数 JiajunLI 2026-02-11 17:14:32 +08:00
• b42c1c68fd debug: 将归一化放在GPU上 gouhanke 2026-02-11 17:13:55 +08:00
• 320369ffb8 debug: 归一化图像到[0, 1] gouhanke 2026-02-11 16:47:39 +08:00
• 130d4bb3c5 refactor：大重构 gouhanke 2026-02-11 15:53:55 +08:00
• 1e95d40bf9 debug gouhanke 2026-02-10 15:56:05 +08:00
• 3c27d6d793 refactor: 重构resnet gouhanke 2026-02-10 15:26:10 +08:00
• 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 - gouhanke 2026-02-10 10:26:19 +08:00
• ac870f6110 chore: 计算推理频率 gouhanke 2026-02-09 15:39:22 +08:00
• 8b700b6d99 暂存 gouhanke 2026-02-09 14:41:35 +08:00
• f833c6d9f1 添加readme文件 gouhanke 2026-02-07 09:57:59 +08:00
• 4332530a5f feat(train): 添加warmup学习率调度器 gouhanke 2026-02-06 22:54:34 +08:00
• 456056347f debug: 固定验证集上的随机噪声，修复resnet在训练时bn层会切换到train的问题 gouhanke 2026-02-06 21:31:19 +08:00
• 05f3cc1e47 chore: 删除detr和gr00t gouhanke 2026-02-06 20:21:01 +08:00
• a6fcb88203 chore: 删除多余文件 gouhanke 2026-02-06 20:19:11 +08:00
• 3d0c2ec5b1 feat(train): 添加验证集 gouhanke 2026-02-06 18:00:09 +08:00
• ea49e63eb7 feat: 注册了自定义 resolver计算长度 gouhanke 2026-02-06 16:08:56 +08:00
• 7a9ca06aa0 feat(dependency): 生成environment.yml文件 gouhanke 2026-02-06 15:40:24 +08:00
• f006d50814 chore: 自动获取cameras的长度 gouhanke 2026-02-06 15:33:07 +08:00
• f4a5c77b7c refactor: 归一化从agent解耦到训练、推理脚本中 gouhanke 2026-02-06 14:29:36 +08:00
• a43a2e3d18 chore: 删除多余脚本 gouhanke 2026-02-06 13:45:35 +08:00
• 31419a6fc1 chore(camera): 添加front相机 gouhanke 2026-02-06 11:53:01 +08:00
• 66009473ad debug(inference): 添加推理阶段qpos归一化 gouhanke 2026-02-06 09:00:44 +08:00
• b0a944f7aa feat(train): 跑通训练脚本 gouhanke 2026-02-05 14:08:43 +08:00
• dd2749cb12 feat: 更新框架，新增数据及定义和backbone gouhanke 2026-02-05 01:37:55 +08:00
• 92660562fb feat(dataset): 添加统计数据计算脚本 gouhanke 2026-02-04 21:53:48 +08:00
• 03f10b0c22 feat: 编写状态编码器、动作编码器 gouhanke 2026-02-04 21:52:45 +08:00
• 8fce9c89ef chore: 删除多余文件 gouhanke 2026-02-04 21:51:47 +08:00
• 30b8ff4d7d Merge branch 'main' into 'dev' JiajunLI 2026-02-04 09:30:00 +00:00
• 3f8c3dbf5d chore(readme): 修改readme里的数据结构标准 gouhanke 2026-02-04 14:33:52 +08:00
• 3465782256 feat: 添加保存模型的功能和推理脚本 gouhanke 2026-02-03 18:03:47 +08:00
• f5e2eca809 debug(train): 在siglip和DiffusionHead下跑通训练流程 gouhanke 2026-02-03 17:42:32 +08:00
• 3b58760469 跑通配置和训练脚本 gouhanke 2026-02-03 16:51:04 +08:00
• bd8bbb0cfc debug: 核心骨架伪实现 gouhanke 2026-02-03 16:14:54 +08:00