| --- |
| license: mit |
| library_name: pytorch |
| tags: |
| - robotics |
| - reinforcement-learning |
| - world-model |
| - manipulation |
| - mujoco |
| --- |
| |
| # SuperMimic manipulation checkpoints |
|
|
| Trained SuperMimic agents for three simulated ARX5 manipulation tasks from |
| [supermimic_manipulation](https://github.com/emoPointer/supermimic_manipulation). Each |
| checkpoint is taken at 4,000 training iterations and holds the full agent: world model, |
| actor, critic, observation normalizers and optimizer states. It can be evaluated directly or |
| used to continue training. |
|
|
| | Task | Held-out success | Per reset category 0 / 1 / 2 / 3 | Training time | |
| | --- | --- | --- | --- | |
| | `lemon` | 100.0% | 100 / 100 / 100 / 100 | 1.8 h | |
| | `box_in_bin` | 94.9% | 97 / 91 / 95 / 97 | 1.9 h | |
| | `mug_hang` | 96.9% | 94 / 98 / 95 / 100 | 2.8 h | |
|
|
| Success is the simulator's native task success over 256 complete episodes per task (64 per |
| reset category) on the held-out reset banks in |
| [emopointer/supermimic-manipulation-reset-banks](https://huggingface.co/datasets/emopointer/supermimic-manipulation-reset-banks). |
| Training used one NVIDIA A100-SXM4-80GB per run. |
|
|
| ## Files |
|
|
| ```text |
| <task>/model_004000.pt # agent checkpoint |
| <task>/params/env.yaml # training environment; evaluation checks it against the current one |
| <task>/params/agent.yaml # SuperMimic hyperparameters |
| <task>/params/mdp.json # world-model state, action and imagined-reward contract |
| <task>/params/runtime.json # training run settings and reset-bank provenance |
| ``` |
|
|
| Keep each `params/` directory next to its checkpoint: `clab eval policy` reads |
| `<task>/params/env.yaml` from there. |
|
|
| ## Usage |
|
|
| ```bash |
| hf download emopointer/supermimic-manipulation --local-dir checkpoints |
| hf download emopointer/supermimic-manipulation-reset-banks --repo-type dataset --local-dir banks |
| clab eval policy --task box_in_bin --algorithm supermimic \ |
| --checkpoint checkpoints/box_in_bin/model_004000.pt \ |
| --reset-bank banks/box_in_bin_test.pt --episodes-per-type 64 --num-envs 64 \ |
| --seeds 100000 --split-label held_out --cuda-graph-mode plain \ |
| --output reports/box_in_bin.json |
| ``` |
|
|
| See the repository README for installation, the approach and the references (SuperMimic, |
| arXiv:2610.28480; OmniReset, ICLR 2026). |
|
|
