Yam Simulation Transfer

Use when borrowing LIBERO/robosuite strategy ideas for YAM grasping, handover, pouring, placement, rack, or bin tasks.

nvlabs 3719e1f 8 files · 66.5 KB Updated

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YAM Simulation Transfer

Borrow strategy, not simulator coordinates/API/constants.

The physical-robot implementation lives in aspire/real; the source simulation workspace is its sibling aspire/sim (../sim when working from the real workspace). Inspect simulation code and agent guidance there, then convert the strategy into YAM-native behavior here.

References:

  • references/plate-libero-transfer.md
  • references/bowl-libero-transfer.md
  • references/can-libero-transfer.md
  • references/libero-cup-mug-skills.md
  • references/robosuite-two-arm-handover.md
  • references/robosuite_two_arm_handover.py
  • references/drawer-libero-transfer.md

Convert ideas into YAM-native detections, frames, gripper geometry, planner previews, and artifact checks before physical retries.

nvlabs/aspire/tree/main/aspire/real/.agents/skills/yam-simulation-transfer commit 3719e1f38f

Frequently asked questions

npx skillmds@latest add nvlabs/yam-simulation-transfer