AIC Port Insertion — final checkpoints (bachelor's thesis, ETF 2026)
Final checkpoints from all 6 imitation-learning runs for the task of a UR5e robot inserting an SFP cable into a port (Isaac Lab simulation, LeRobot trainers with an auxiliary phase head). Author: Mihajlo Stevanović. Code, tutorials, and env: https://github.com/etf-robotics/etf_robotics_aic
| Path | Model | Demonstrations | Steps | Note |
|---|---|---|---|---|
dp_phase_full_001/checkpoints/200000 | Diffusion Policy | 30290 | 200k | main thesis model |
act_full_5090_run1/checkpoints/512000 | ACT | 30290 | 512k | temporal ensembling at eval |
dp_10000_run1/checkpoints/066000 | Diffusion Policy | 10000 | 66k | trained WITHOUT random crop |
act_10000_run1/checkpoints/169000 | ACT | 10000 | 169k | |
dp_phase_smoke1k/checkpoints/005000 | Diffusion Policy | 1000 | 5k | pilot |
act_1000_run1/checkpoints/017000 | ACT | 1000 | 17k | epoch-matched with ACT-full |
Each checkpoint contains pretrained_model/ (config + safetensors — enough for
eval) and training_state/ (optimizer state — for --resume).
Results (N=150, eval seeds 0–2, 3 mm success threshold)
- DP full: 1.3 ± 1.9 % success; ACT full: 0.7 ± 0.9 %.
- Median closest approach (tip→seat) plateaus at ~47 mm across all runs — the bottleneck is the final contact phase (force-free DiffIK), not the model or the data.
- Recording of a successful DP episode: https://youtu.be/SS5MC-dcSX4
Evaluation
docker exec -w /workspace/isaaclab isaac-lab-base \
./isaaclab.sh -p etf_robotics_aic/scripts/eval_demos.py \
--headless --enable_cameras \
--ckpt etf_robotics_aic/outputs/dp_phase_full_001/checkpoints/200000/pretrained_model \
--n_episodes 50 --seed 0 --save_videos
Checkpoints are restored to the expected paths with
snapshot_download(..., local_dir='etf_robotics_aic/outputs') — full
instructions: docs/06_artifacts_and_archive.md in the GitHub repo.
Companion eval artifacts (metrics + recordings): https://huggingface.co/datasets/Mihajlo04/aic-port-insertion-eval
Training curves: wandb entity sm220315d-etf-, projects aic-{act,dp}-phase-port-insertion.