Kaz55/cable-representation-analysis

Cable representation analysis — ACT encoder, DG-5F / UR5e cable sorting What the ACT encoder's internal representation holds about the cable being handled. All figures come from a forward hook on policy.model.encoder: the transformer tokens are mean-pooled into a single 512-d vector per frame. Every split in this directory is episode-level. Frames inside one episode are near-duplicates, so a frame-level split leaks the answer and inflates every number below. Model… See the full description on the dataset page: https://huggingface.co/datasets/Kaz55/cable-representation-analysis.