sfc_dp

SFC-DP Prototype

This folder contains the v3.6 SFC-DP frequency-consistency prototype.

Status

Archived as inconclusive. The method showed promising early signals on Push-T, but later gates did not support a robust positive claim:

• At 100 epochs, frequency supervision variants had positive signals over A.
• At 200 epochs, Push-T training saturated and the baseline caught up.
• Robomimic Lift in the tested setting saturated, with both A and E reaching test/mean_score=1.00.

Final interpretation:

• Frequency consistency may be a useful training signal.
• The current evidence is not strong enough to claim improvement over Diffusion Policy.
• Future testing needs a harder benchmark or lower-data regime.

Files

File	Purpose
config.py	SFC-DP configuration
sfc_loss.py	Frequency-consistency loss
train_sfc.py	Push-T SFC-DP training script
train_sfc_robomimic.py	Robomimic gate training script
stage1_generate_cmds.py	Historical command generator

See ../Paper/研究方向v3.6_SFC-DP与后续三步计划.md for the full experiment log.