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license: mit

OAT RoboMimic Lift (Image) Artifacts

This repository stores intermediate training artifacts for OAT policy training on RoboMimic Lift (image observations).

Current checkpoint

  • File: checkpoints/oatpolicy_lift_latest_ep736.ckpt
  • Source run: output/20260523/132544_train_oatpolicy_lift_N200
  • Last logged progress before disk-full interruption: epoch=736, global_step=25048

Included files

  • checkpoints/oatpolicy_lift_latest_ep736.ckpt - policy checkpoint
  • logs/lift_train_tmux.log - raw tmux training log
  • plots/lift_training_dashboard.png - training dashboard (raster)
  • plots/lift_training_dashboard.svg - training dashboard (vector)
  • plots/lift_training_dashboard_summary.json - compact metrics summary

Resume training from checkpoint

Use the same config as your original run and pass the checkpoint path:

uv run scripts/train.py \
  --config-name=train_oatpolicy \
  task/policy=robomimic/lift \
  training.resume=true \
  training.checkpoint_path=/workspace/OAT-RoboMimic-Fine-tune/output/20260523/132544_train_oatpolicy_lift_N200/checkpoints/latest.ckpt

If your setup uses a different resume flag/path key, keep the checkpoint file and run with your project's standard resume command.