README.md

---
license: other
private: true
---

# G05 RoboDojo Checkpoints and Training Assets

This private repository hosts G05 assets for RoboDojo evaluation and training reproduction.

## Files

### Sim evaluation checkpoint

Use this for RoboDojo sim evaluation with the XPolicyLab `policy/G05` adapter.

```bash
huggingface-cli download OpenGalaxea/g05-robodojo \
  g05_robodojo_fm_only_checkpoint.tar \
  g05_robodojo_fm_only_checkpoint.tar.sha256 \
  --local-dir ./checkpoints/g05_robodojo_sim

cd ./checkpoints/g05_robodojo_sim
sha256sum -c g05_robodojo_fm_only_checkpoint.tar.sha256
tar -xf g05_robodojo_fm_only_checkpoint.tar
```

### RoboDojo real checkpoint

Access is currently restricted while real evaluation is being finalized.

```bash
huggingface-cli download OpenGalaxea/g05-robodojo \
  g05_robodojo_real_checkpoint.tar \
  g05_robodojo_real_checkpoint.tar.sha256 \
  --local-dir ./checkpoints/g05_robodojo_real

cd ./checkpoints/g05_robodojo_real
sha256sum -c g05_robodojo_real_checkpoint.tar.sha256
tar -xf g05_robodojo_real_checkpoint.tar
```

The extracted real checkpoint file is named:

```text
g05_robodojo_real_checkpoint/checkpoint/checkpoints/checkpoint.pt
```

### Training base assets

Use these to reproduce RoboDojo training configs. RoboDojo datasets are not included and should be downloaded from the official RoboDojo data source separately.

```bash
huggingface-cli download OpenGalaxea/g05-robodojo \
  g05_robodojo_train_base_assets.tar \
  g05_robodojo_train_base_assets.tar.sha256 \
  --local-dir ./checkpoints/g05_robodojo_train_assets

cd ./checkpoints/g05_robodojo_train_assets
sha256sum -c g05_robodojo_train_base_assets.tar.sha256
tar -xf g05_robodojo_train_base_assets.tar
```

The training assets include:

```text
pretrained/checkpoints/model_state_dict.pt
pretrained/hf_processor/
pretrained/action_tokenizer_hf/
```

## XPolicyLab adapter

The corresponding adapter is submitted under `policy/G05` in XPolicyLab. Set `G05_ROOT`, `G05_PYTHON`, and `G05_CKPT_PATH` according to the adapter README.