---
tags:
- robomimic
- robotics
- imitation-learning
- flow-matching
---

# WarmPrior Robomimic Checkpoints

This repository contains model checkpoints from the WarmPrior_Robomimic experiments.

## Repository Structure

Each experiment run is stored in its own folder with the following structure:

```
run_name/
├── model_best.pt   # Best performing checkpoint
└── model_latest.pt # Latest checkpoint
```

## Available Runs

| Run Name | Method | Best | Latest |
|----------|--------|------|--------|
| `PA_0116_010604_tool_hang_ph_image_flow_chitransformer_384_noise0.5_seed2` | PA | ✅ | ✅ |
| `PA_0116_010619_tool_hang_ph_image_flow_chiunet_256_noise0.5_seed2` | PA | ✅ | ✅ |
| `PA_0116_010624_square_mh_image_flow_chitransformer_384_noise0.5_seed2` | PA | ✅ | ✅ |
| `PA_0116_010629_square_mh_image_flow_chiunet_256_noise0.5_seed2` | PA | ✅ | ✅ |
| `PA_0117_141516_square_mh_image_flow_chiunet_256_noise0.3_seed2` | PA | ✅ | ✅ |
| `PA_0117_165708_square_mh_image_flow_chitransformer_384_noise0.3_seed2` | PA | ✅ | ✅ |
| `PA_0117_211126_tool_hang_ph_image_flow_chiunet_256_noise0.3_seed2` | PA | ✅ | ✅ |
| `PA_0117_231750_tool_hang_ph_image_flow_chitransformer_384_noise0.3_seed2` | PA | ✅ | ✅ |

## Usage

To download a specific checkpoint:

```python
from huggingface_hub import hf_hub_download
import torch

# Download a specific checkpoint
model_path = hf_hub_download(
    repo_id="SinjaeKang/wp_robomimic",
    filename="RUN_NAME/model_best.pt"
)

# Load the model
checkpoint = torch.load(model_path, map_location='cpu')
```

Or download all checkpoints:

```python
from huggingface_hub import snapshot_download

# Download entire repository
local_dir = snapshot_download(
    repo_id="SinjaeKang/wp_robomimic",
    local_dir="./checkpoints"
)
```

## Methods

- **BASE**: Baseline model without warm prior
- **PA**: Previous Action warm prior
- **AC**: Action Chunk warm prior

## Training Details

For more information about the training procedure and methodology, please refer to the [WarmPrior_Robomimic repository](https://github.com/YourUsername/WarmPrior_Robomimic).