# DeformGen Checkpoints

This repository contains staged ACT, DP, SVLA, and pi0 release checkpoint candidates for DeformGen.

## Naming

Paper-facing names are mapped to implementation names as follows:

| Paper name | Code / checkpoint mode | Meaning |
| --- | --- | --- |
| DG | `yawonly` | yaw-only trajectory warping mode |
| DG* | `txy` | xy translation + yaw trajectory warping mode |
| SMG* | `gridrigid` / `gridrigid_yawonly` | structured grid-rigid state generation data |

The checkpoint directory names intentionally keep implementation names (`txy`, `yawonly`, `gridrigid`, `single`) for compatibility with the training and evaluation scripts. Each leaf directory contains a `checkpoint/` payload and `metadata.json` provenance.

## Paper

If you use these artifacts, please cite the DeformGen paper:

- Paper: https://arxiv.org/abs/2606.25939