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--- |
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tags: |
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- robomimic |
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- robotics |
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- imitation-learning |
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- flow-matching |
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--- |
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# WarmPrior Robomimic Checkpoints |
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This repository contains model checkpoints from the WarmPrior_Robomimic experiments. |
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## Repository Structure |
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Each experiment run is stored in its own folder with the following structure: |
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``` |
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run_name/ |
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├── model_best.pt # Best performing checkpoint |
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└── model_latest.pt # Latest checkpoint |
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``` |
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## Available Runs |
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| Run Name | Method | Best | Latest | |
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|----------|--------|------|--------| |
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| `PA_0116_010604_tool_hang_ph_image_flow_chitransformer_384_noise0.5_seed2` | PA | ✅ | ✅ | |
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| `PA_0116_010619_tool_hang_ph_image_flow_chiunet_256_noise0.5_seed2` | PA | ✅ | ✅ | |
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| `PA_0116_010624_square_mh_image_flow_chitransformer_384_noise0.5_seed2` | PA | ✅ | ✅ | |
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| `PA_0116_010629_square_mh_image_flow_chiunet_256_noise0.5_seed2` | PA | ✅ | ✅ | |
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| `PA_0117_141516_square_mh_image_flow_chiunet_256_noise0.3_seed2` | PA | ✅ | ✅ | |
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| `PA_0117_165708_square_mh_image_flow_chitransformer_384_noise0.3_seed2` | PA | ✅ | ✅ | |
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| `PA_0117_211126_tool_hang_ph_image_flow_chiunet_256_noise0.3_seed2` | PA | ✅ | ✅ | |
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| `PA_0117_231750_tool_hang_ph_image_flow_chitransformer_384_noise0.3_seed2` | PA | ✅ | ✅ | |
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## Usage |
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To download a specific checkpoint: |
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```python |
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from huggingface_hub import hf_hub_download |
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import torch |
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# Download a specific checkpoint |
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model_path = hf_hub_download( |
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repo_id="SinjaeKang/wp_robomimic", |
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filename="RUN_NAME/model_best.pt" |
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) |
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# Load the model |
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checkpoint = torch.load(model_path, map_location='cpu') |
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``` |
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Or download all checkpoints: |
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```python |
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from huggingface_hub import snapshot_download |
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# Download entire repository |
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local_dir = snapshot_download( |
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repo_id="SinjaeKang/wp_robomimic", |
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local_dir="./checkpoints" |
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) |
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``` |
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## Methods |
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- **BASE**: Baseline model without warm prior |
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- **PA**: Previous Action warm prior |
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- **AC**: Action Chunk warm prior |
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## Training Details |
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For more information about the training procedure and methodology, please refer to the [WarmPrior_Robomimic repository](https://github.com/YourUsername/WarmPrior_Robomimic). |
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