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README.md

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+---
+license: mit
+tags:
+  - robotics
+  - reinforcement-learning
+  - imitation-learning
+  - diffusion-policy
+  - flow-matching
+  - robomimic
+  - mujoco
+language:
+  - en
+library_name: pytorch
+pipeline_tag: reinforcement-learning
+---
+
+# DMPO Pretrained Checkpoints
+
+Pretrained checkpoints for **DMPO: Dispersive MeanFlow Policy Optimization**.
+
+[![Paper](https://img.shields.io/badge/arXiv-2601.20701-B31B1B)](http://arxiv.org/abs/2601.20701)
+[![Code](https://img.shields.io/badge/GitHub-dmpo--release-blue)](https://github.com/Guowei-Zou/dmpo-release)
+[![Project Page](https://img.shields.io/badge/Project-Page-4285F4)](https://guowei-zou.github.io/dmpo-page/)
+
+## Overview
+
+DMPO enables **true one-step generation** for real-time robotic control via MeanFlow, dispersive regularization, and RL fine-tuning. These checkpoints can be used directly for fine-tuning with PPO.
+
+## Checkpoint Structure
+
+```
+pretrained_checkpoints/
+├── DMPO_pretrained_gym_checkpoints/
+│   ├── gym_improved_meanflow/              # MeanFlow without dispersive loss
+│   └── gym_improved_meanflow_dispersive/   # MeanFlow with dispersive loss (recommended)
+└── DMPO_pretraining_robomimic_checkpoints/
+    ├── w_0p1/                              # dispersive weight = 0.1
+    ├── w_0p5/                              # dispersive weight = 0.5 (recommended)
+    └── w_0p9/                              # dispersive weight = 0.9
+```
+
+## Supported Tasks
+
+| Domain | Tasks |
+|--------|-------|
+| OpenAI Gym | hopper, walker2d, ant, humanoid, kitchen-* |
+| Robomimic (RGB) | lift, can, square, transport |
+
+## Usage
+
+Use the `hf://` prefix in config files to auto-download:
+
+```yaml
+# Gym tasks
+base_policy_path: hf://pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow_dispersive/hopper-medium-v2_best.pt
+
+# Robomimic tasks
+base_policy_path: hf://pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p5/can/can_w0p5_08_meanflow_dispersive.pt
+```
+
+## Citation
+
+```bibtex
+@misc{zou2026stepenoughdispersivemeanflow,
+      title={One Step Is Enough: Dispersive MeanFlow Policy Optimization},
+      author={Guowei Zou and Haitao Wang and Hejun Wu and Yukun Qian and Yuhang Wang and Weibing Li},
+      year={2026},
+      eprint={2601.20701},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2601.20701},
+}
+```
+
+## License
+
+MIT License