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Week 7: Capstone
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Day 45

Train extension

This is a valid v1.0 placeholder page for the later curriculum arc. Full interactive lab treatment ships after Week 1 dogfooding.

LECTURE & READING

*The "extension" is the thing that makes your capstone yours.* It's rubric category 5 (the double-weighted one).

What's the extension for each track?

TrackEvaluation & ResearchBaselineA reference method used for comparison.Extension options (pick one)
ALoRA r=32 on π0.7(a) higher rank r=128, (b) freeze vision encoder, (c) add Data, Distributions & Training IssuesData augmentationArtificially varying training data to improve generalization.
B100M-param plain JEPA(a) add ThinkJEPA-style iterative reasoning, (b) action-conditioned variant, (c) Movement, Mechanics & Robot BodyJointA movable connection between robot parts. Robot LearningTrainingThe process of fitting a model using data or experience. with downstream Imitation & Reinforcement LearningReinforcement Learning (RL)Teaching a robot through trial and error using rewards. Core ConceptsTaskThe job the robot is supposed to complete, such as pick-and-place, navigation, or drawer opening.
CDR-only Go1 PPO(a) add RMA (teacher-student), (b) different DR ranges, (c) different Imitation & Reinforcement LearningRewardA score that tells the robot how well it is doing. shaping
DACT on 50 episodes(a) π0.5 LoRA, (b) Modern Robot LearningDiffusion policyA robot policy that generates actions using diffusion-model techniques. comparison, (c) double the Robot LearningDatasetA collection of training or evaluation data. via augmentation

Hour 1 — Implement extension (60 min)

This should be a small diff from your Day 44 code. If it's more than 100 lines, you picked too ambitious an extension; simplify.

Hour 2 — Launch (background; 3-6 hours wall-clock)

LAB

Hour 3 — Run baseline seeds 2 and 3

While the extension runs, kick off seeds 2 and 3 of the Evaluation & ResearchBaselineA reference method used for comparison. in parallel tmux windows.

  • By end-of-day you should have:
  • Evaluation & ResearchBaselineA reference method used for comparison. seeds 1, 2 done; seed 3 running
  • Extension seed 1 running

Deliverable checklist

Full source continues in the committed curriculum files. The v1.0 page exposes the day flow and lab surface without inventing content.

Completion controls unlock when this day graduates from placeholder to full lab.