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2026

July 29

Wednesday

T-RO Revision

  • teacher policy pipeline with polygons is built and able to learn to achieve success.
    • Recover custom TensorBoard logs
    • Disable noisy output
    • Check that the peg and hole is aligned
    • Fix the initialization error
    • Ensure the gripper starts with a width smaller than the peg diameter
    • Fix the polygon centering issue by aligning the peg’s true center with the hole center, then compensating the hand pose
    • Achieve successful insertion using the descending diagnosis script
    • Zero out the reward term related to force minimization, since it is not the goal
    • Recap:
    • At 3200 iter with 0.5 success rate threshold successful, it progresses curriculum to 1.0667
    • The keypoint not being straight up is intentional. keypoint_radius can tilt the keypoints to make yaw visible in the reward

Job Preparation

  • 接受 TSMC DWTD team 面試邀請

Japanese

  • draft Episode 3
  • finish 🚧 260721 Ep.663 雑談！