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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) 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. Not ported: Quest teleop (collect_demo, teleop, quest_mapper, streaming IK), replay policies, benchmark_ik. The shared HDF5 writer lives in episode_writer.py. Profile: hydra_configs/robot/yam_rl2_egoverse_rollout.yaml. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
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Port the rl2 Yam rollout runtime from EgoVerse-graph (#319
eee60539: dashboard, gripper-force and IK controls, cameras, episode/video capture) intoegomimic/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 bybase_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.ckptfiles.Not ported: Quest teleop (
collect_demo,teleop,quest_mapper, streaming IK), replay policies,benchmark_ik. The shared HDF5 writer lives inepisode_writer.py.Profile:
hydra_configs/robot/yam_rl2_egoverse_rollout.yaml. Checked on CPU only (ruff gate,rollout --check-modelvia the test in #755); not run on the arms.