Replace HIM dual-encoder + terrain table with DreamWaQ-style VAE#29

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mrk0669 wants to merge 6 commits into

InternRobotics:mainfrom

mrk0669:vae-encoder

Commits on Jun 5, 2026

Replace HIM dual-encoder + terrain table with DreamWaQ-style VAE
mrk0669
committed

Commits on Jun 7, 2026

Remove unused HIM params (tar_hidden_dims, num_prototype, temperature)
mrk0669
committed

Commits on Jun 8, 2026

Add VAE decoder + reconstruction loss (complete DreamWaQ implementation)

mrk0669
and
claude
committed
Save every 10 iters, delete old checkpoints, track best model

mrk0669
and
claude
committed
Set save_interval=10 for more frequent checkpointing

mrk0669
and
claude
committed

Commits on Jun 10, 2026

Update him_estimator.py
mrk0669
authored