ACT — blue 186ep, GelSight 88x66
One point of a GelSight-resolution sweep on the DG-5F + UR5e blue-cable task. Runs differ only in GelSight resolution, so any gap between them is attributable to tactile resolution alone.
- Dataset: Kaz55/dg5f_ur5e_blue_180ep_gs88 — 186 episodes / 186,152 frames
- GelSight: 88x66
- RealSense: 640x480 (identical across the sweep)
- Policy: ACT, chunk_size=60, n_action_steps=60
- Training: 100,000 steps (~4.3 epochs), batch 8, seed 1000
Inputs
observation.state (26) + RealSense x2 + GelSight x2
observation.velocity and observation.effort are present in the dataset but
deliberately excluded. Feature auto-derivation would otherwise feed them to
the policy, adding a second difference between runs and breaking the ablation.
Sweep (186 episodes)
| GelSight | model |
|---|---|
| 500x375 | act-blue-180ep-gs500-ac60 |
| 320x240 | act-blue-180ep-gs320-ac60 |
| 160x120 | act-blue-180ep-gs160-ac60 |
| 88x66 | act-blue-180ep-gs88-ac60 |
| none | act-blue-180ep-gs0-ac60 |
Caveat
On the related 180-episode combined sweep, final training loss was 0.118 across
every resolution including no-GelSight-at-all — training loss did not detect
the tactile input. Treat these numbers as a sanity check, not as evidence that
tactile resolution matters; that requires on-robot evaluation.
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