N0-TWAM post-training — NeoSim 12 tasks (4 single-arm + 8 dual-arm) / pi05_delta (horizon delta)
Multi-task post-trained N0-TWAM checkpoint (final release). Trained on marker-less rgb GelSight tactile streams; each task uses its own normalization statistics.
Serving note. Multi-task checkpoints must be served with the per-task
norm / camera+tactile keys / action channels of the task being evaluated — the
pooled envelope in train_meta.json is an unreachable fallback and would
de-normalize actions at the wrong scale. Use the multitask_server config
(TWAM_SERVE_POOL / TWAM_SERVE_TASK env — see
DEPLOY.md);
prompts verbatim from the table below.
Contents: transformer/ (config.json + safetensors, local_tactile tensors = 18),
train_meta.json (training snapshot), and norm/ (per-task normalization stats +
conversion scripts).
Per-task normalization stats
The exact per-task q01/q99 tables used in training are released under
norm/, together with the raw-quantile reports and the
HDF5 → LeRobot conversion scripts. The element-wise envelope of these tables
reproduces the pool-level norm_stat in train_meta.json bit-exactly.
Task prompts
Send the training prompt verbatim at serve/eval time (also provided as
norm/PROMPTS.json):
| Task | Prompt |
|---|---|
insert_USB |
Peg-in-hole insertion of a USB connector into a slot |
grasp_chip |
Grasp a fragile chip without crushing it |
pour_ball |
Grasp a cup and pour the ball inside it out onto a plate |
phone_socket_replug |
Pull a charger plug out of its socket and re-insert it into another |
dual_bowl_stack |
Bring two separated bowls together into a centered nested stack |
dual_bowl_unstack |
Grasp the top bowl of a nested pair by its rim, lift it out, set it aside |
dual_cup_stack |
Bring two separated cups together into a centered nested stack |
dual_cup_unstack |
Grasp the top cup of a nested pair, lift it out, set it aside |
dual_cup_handover |
One arm grasps a cup, hands it to the other arm, which places it |
dual_plate_stack |
Bring two separated plates together into a centered stack |
dual_gear_holder |
Pick gears and thread each onto one of the holder's vertical pegs |
dual_screw_sleeve |
One arm holds the sleeve, the other inserts a screw into its bore |
- Downloads last month
- -