hackhackhack66666/oat-dense-blt-950

OAT Dense LIBERO-10 — Checkpoint Epoch 950

Hugging Face model repository for a dense cross-attention OAT policy trained on LIBERO-10 (N500). Snapshot at epoch 950 during run oat_dense_with_uid_long_0530_220204.

This checkpoint is the best point on the training ladder after resume from ep-0700 (in-loop peak 52.67%). Phase B confirm: 50.60% ± 0.76% on LIBERO-10.

Quick download

huggingface-cli download hackhackhack66666/oat-dense-blt-950 ep-0950.ckpt \
  --local-dir ./checkpoints

Files

File	Description
ep-0950.ckpt	PyTorch workspace checkpoint (~729 MB)
training_logs.jsonl	Full training JSONL (train/val curves)
training_metrics_dashboard.png	Training loss / val / reconst MSE dashboard
training_snapshot_ep0950.json	Offline metrics at epoch 950
sim_eval/	Phase A screen eval (30 ep/task)
sim_eval_phase_b/	Phase B confirm eval (50 ep/task, 3 seeds)
experiment_log_dense_visual_memory.md	Experiment journal

Metrics @ epoch 950

Train loss	Val loss	Reconst MSE	Phase A SR	Phase B SR (confirm)
2.0182993412017822	5.783568859100342	0.07388626039028168	52.7%	50.60% ± 0.76%

In-loop eval at ep 950 (same run, 30 ep/task): 52.67% — noisier than Phase B; use Phase B as the calibrated reference.

Visualizations

Training (offline)

Sim eval — Phase A screen (30 ep/task)

Mean success rate: 52.7% — 30 episodes/task, 300 total rollouts, seed 1000 (single experiment).

Details: sim_eval/eval_summary.md · sim_eval/eval_log.json

Task	SR
KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave…	86.7%
KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_th…	86.7%
KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it	83.3%
LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_but…	73.3%
STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compa…	66.7%
LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_p…	53.3%
KITCHEN_SCENE8_put_both_moka_pots_on_the_stove	53.3%
LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_th…	20.0%
LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato…	3.3%
LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_…	0.0%

Sim eval — Phase B confirm (50 ep/task, 3 seeds)

Mean success rate: 50.60% ± 0.76% — official-style protocol for comparison with OAT paper (~56.3%).

Seeds 1000 / 1500 / 2000 (seed_stride=500), 500 rollouts total. Per-seed mean SR: 52.0% · 49.4% · 50.4%.

Compared to ep-0700 Phase B confirm (47.60% ± 1.75%): +3.0 pp on the calibrated protocol.

Details: sim_eval_phase_b/eval_summary.md · sim_eval_phase_b/eval_log.json

Task	SR
KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_th…	94.7%
KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it	88.7%
KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave…	74.0%
STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compa…	66.0%
LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_but…	56.7%
LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_p…	48.0%
KITCHEN_SCENE8_put_both_moka_pots_on_the_stove	43.3%
LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_th…	34.0%
LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato…	0.7%
LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_…	0.0%

Ladder context

Epoch	Phase A SR	Phase B confirm	HF repo
300	39.7%	—	OAT-BLT-LIBERO-300
500	38.0%	—	OAT-BLT-LIBERO-500
700	51.7%	47.60% ± 1.75%	OAT-BLT-Libero-700
950	52.7%	50.60% ± 0.76%	this repo

Paper OAT8 on LIBERO-10: ~56.3% mean success rate (external reference).

Model configuration

• Policy: OAT with use_dense_visual_memory=true (spatial visual tokens + cross-attn)
• State memory: enabled (use_state_memory_tokens=true)
• Task UID: enabled in state tokens
• Dataset: libero10_N500.zarr
• Embed dim: 256
• Tokenizer: tokenizer_ep-0950_mse-0.002.ckpt (Mirageinv/oat)

Citation

If you use this checkpoint, please cite OAT: Ordered Action Tokenization and specify epoch 950 of the dense LIBERO-10 ladder.

Source: GadzhiAskhabaliev/OAT-BLT-Dense (BLT-OAT-dense branch).