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[Robot] Yam rollout station for EgoVerse checkpoints - #747
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Port the rl2 Yam rollout runtime from EgoVerse-graph (#319 eee6053: dashboard, gripper-force and IK controls, cameras, episode/video capture, replay policies) into egomimic/robot/yam_station, leaving the Eva rollout untouched. Inference loads a self-contained ModelWrapper checkpoint (kind: egoverse): proprio normalized as in training, model frame set by base_T_model (default: front-camera frame, the Eva convention), 14/20-wide euler/6D from the checkpoint, sampling steps and actions-before-replanning as dashboard controls. The model browser swaps bare .ckpt files. Profile: hydra_configs/robot/yam_rl2_egoverse_rollout.yaml. Co-Authored-By: Claude Opus 5.5 <[email protected]>
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Port the rl2 Yam rollout runtime from EgoVerse-graph (#319 eee6053:
dashboard, gripper-force and IK controls, cameras, episode/video capture,
replay policies) into egomimic/robot/yam_station, leaving the Eva rollout
untouched. Inference loads a self-contained ModelWrapper checkpoint
(kind: egoverse): proprio normalized as in training, model frame set by
base_T_model (default: front-camera frame, the Eva convention), 14/20-wide
euler/6D from the checkpoint, sampling steps and actions-before-replanning
as dashboard controls. The model browser swaps bare .ckpt files.
Profile: hydra_configs/robot/yam_rl2_egoverse_rollout.yaml.
Co-Authored-By: Claude Opus 5.5 [email protected]