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repository. // ├── train_config.json # the run's own config (see "Paths" below) ├── # norm_stats.json | action_codec.json | demonstration_config.txt -└── / # the evaluated checkpoint +└── ckpt/ | ckpt.pt | ckpt.pth # the evaluated checkpoint ``` +Every method's weights are called **`ckpt`** whichever trainer wrote them — a +directory for the JAX/orbax and LeRobot policies, a single file for Vid2Robot +(`ckpt.pt`) and UniSkill (`ckpt.pth`). The training step each one corresponds +to is in the table below, not in the path. + `` is the training suite, and it is the **top** level: **`nd/`** = no distraction (clean scenes), **`wd/`** = with distraction (distractors in both train and eval). So the keyframe policy trained with distractors is -`wd/vid_cond_pi05_keyframes/20000/`. +`wd/vid_cond_pi05_keyframes/ckpt/`. The paper's third suite, **ED** (clean training, distracted evaluation), needs no extra weights — it evaluates everything under `nd/` against the WD scene @@ -42,21 +47,23 @@ bank. ## Checkpoints -| Paper label | Method dir | ND step (`nd/`) | WD step (`wd/`) | Size each | -|---|---|---|---|---| -| VLM + π0.5 | `vlm_pi05` | `050000` | `050000` | 9.35 GB | -| Vid. Cond. π0.5 (Uniform) | `vid_cond_pi05_uniform` | `49999` | `49999` | 6.20 GB | -| Vid. Cond. π0.5 (Keyframes) | `vid_cond_pi05_keyframes` | `49999` | **`20000`** | 6.20 GB | -| Vid2Robot | `vid2robot` | `vid2robot_step50000.pt` | `vid2robot_step50000.pt` | 2.37 GB | -| UniSkill | `uniskill_policy` | `models/model_epoch_1000.pth` | `models/model_epoch_1000.pth` | 0.74 GB | - -Two things about the step numbers that are easy to misread: - -- **openpi/orbax saves at `num_train_steps - 1`**, so a 50k-step run ends at - `49999`, unpadded. The LeRobot trainer saves at `num_train_steps` and - zero-pads, so the same run length ends at `050000`. -- **WD keyframes is step `20000`, not `49999`.** That run reached 20k steps; - it is the checkpoint the reported WD keyframe numbers come from. +| Paper label | Method dir | Weights | Step — `nd/` | Step — `wd/` | Size each | +|---|---|---|---|---|---| +| VLM + π0.5 | `vlm_pi05` | `ckpt/` | 50,000 | 50,000 | 9.35 GB | +| Vid. Cond. π0.5 (Uniform) | `vid_cond_pi05_uniform` | `ckpt/` | 50,000 | 50,000 | 6.20 GB | +| Vid. Cond. π0.5 (Keyframes) | `vid_cond_pi05_keyframes` | `ckpt/` | 50,000 | **20,000** | 6.20 GB | +| Vid2Robot | `vid2robot` | `ckpt.pt` | 50,000 | 50,000 | 2.37 GB | +| UniSkill | `uniskill_policy` | `ckpt.pth` | epoch 1,000 | epoch 1,000 | 0.74 GB | + +**The WD keyframes policy is from step 20,000, not 50,000.** That run reached +20k steps, and it is the checkpoint the reported WD keyframe numbers come from. +It is the one place where the two conditions are not trained equally long. + +The step directories these were renamed from, for cross-referencing against the +training logs: `050000` (the LeRobot trainer saves at `num_train_steps`, +zero-padded), `49999` and `20000` (openpi/orbax saves at +`num_train_steps - 1`, unpadded) and `model_epoch_1000.pth` (Robomimic is +epoch-based, 100 iterations per epoch). UniSkill is a Robomimic diffusion policy over skill representations produced by an **off-the-shelf, un-finetuned UniSkill inverse-skill-dynamics model**. That diff --git a/nd/uniskill_policy/ckpt.pth b/nd/uniskill_policy/ckpt.pth new file mode 100644 index 0000000000000000000000000000000000000000..769d0cb7889eb5ffe2e3f5af15bf6ad6a551b889 --- /dev/null +++ b/nd/uniskill_policy/ckpt.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3676dfee957732770e6ddf271a11ed5f1258ecd4f36859c73438b93043be9311 +size 739946295 diff --git a/nd/vid2robot/ckpt.pt b/nd/vid2robot/ckpt.pt new file mode 100644 index 0000000000000000000000000000000000000000..fbf0f32411d2576ec875744968485ff5a22a2b50 --- /dev/null +++ b/nd/vid2robot/ckpt.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8902745333e46e30e7988574e5bdaf870fa29278dfbc65f71e884a7193377197 +size 2368873705 diff --git a/nd/vid_cond_pi05_keyframes/ckpt/_CHECKPOINT_METADATA b/nd/vid_cond_pi05_keyframes/ckpt/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..2f61b251f5ee29c5280b5906851157bf340d67f4 --- /dev/null +++ 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