---
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:

```bash
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.