license: mit
tags:
- robotics
- libero
- oat
- dense-visual-memory
- imitation-learning
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).