YAML Metadata Warning:empty or missing yaml metadata in repo card
Check out the documentation for more information.
climbing-holds-rig-with-taxonomy
DP3-style point-cloud diffusion policy for grasping climbing holds with a
Franka arm + LEAP hand, trained on the spring-testbed-era rig dataset
(rlogh/climbing-holds-rig).
This is the taxonomy-conditioned model. The point cloud + robot state are fused with a 64-d grasp-type embedding (crimp / sloper / pinch / jug, one-hot) before being passed into the diffusion U-Net. At inference time the operator provides the grasp-type label.
The unconditioned counterpart (ablation) lives at
rlogh/climbing-holds-rig-no-taxonomy.
Files
| File | Size | Purpose |
|---|---|---|
best.pt |
415 MB | EMA weights + optimizer + config dict (best training loss, epoch 2939) |
norm_stats.json |
2 KB | Min-max normalization stats โ required by evaluate.py |
training_status.md |
<1 KB | Final loss + recent-epoch table |
train.log |
~170 KB | Full epoch-by-epoch loss + LR log |
Training summary
- Dataset: 200 episodes (50 / grasp type), 24,621 valid samples
- Epochs: 3000 (cosine LR decay after 500-step warmup)
- Batch size: 128, AMP enabled
- Best loss: 0.001670 (final 0.001760)
- Wall time: 8.9 h on RTX 2080 Ti
- Conditioning: PointNet(1024ร3) โ 256-d + State MLP โ 128-d + GraspType MLP โ 64-d โ Fuse โ 512-d
- U-Net dims: (256, 512, 1024), 100-step cosine DDPM
- State / action dim: 23 (Franka 7 + LEAP 16)
--no-grasp-conditioningflag: OFF (taxonomy conditioning ENABLED)
Usage (robot machine)
mkdir -p checkpoints/pc_with_taxonomy_rig
hf download rlogh/climbing-holds-rig-with-taxonomy \
--local-dir checkpoints/pc_with_taxonomy_rig
python3 data_collection/evaluate.py \
--checkpoint checkpoints/pc_with_taxonomy_rig/best.pt \
--pull-dist 0.130 \
--hold 1 --grasp-type crimp
evaluate.py autodetects the encoder type and conditioning state from the
embedded config dict. --grasp-type is required and is fed into the model's
grasp-type embedding branch.
Paired-evaluation result (spring testbed, 80 paired trials, 2026-05-15)
| Grasp | WITH median | WITHOUT median | ฮ | Wilcoxon p | Cohen's d |
|---|---|---|---|---|---|
| Crimp | 15.7 N | 9.2 N | +6.5 N | 0.0007 | 1.05 *** |
| Jug | 15.7 N | 14.4 N | +1.3 N | 0.0278 | 0.55 * |
| Sloper | 7.9 N | 5.2 N | +2.6 N | 0.0012 | 1.08 ** |
| Pinch | 15.7 N | 9.2 N | +6.5 N | <0.001 | 1.82 *** |
| Overall | 13.1 N | 7.9 N | +5.2 N | <0.001 | 0.95 *** |
Primary metric: slip force from a parallel-spring linear ratchet testbed. Pull is a 13 cm impedance-controlled displacement (180ยฐ, toward robot base) after policy convergence. See repository README for full protocol.
Citation
Repository: github.com/rumilog/rock-climb