| license: mit | |
| tags: | |
| - robotics | |
| - robomimic | |
| - oat | |
| - imitation-learning | |
| # RoboMimic OAT — Table P tokenizers & policies | |
| Frozen **OAT tokenizers**, **base policies**, and **AWR (BoN-distill N=8)** checkpoints for RoboMimic Lift / Can / Square matched Table P. | |
| ## Layout | |
| ``` | |
| tokenizers/{lift,can,square}/ep-*_mse-*.ckpt | |
| policies/{lift,can,square}/ep-*_sr-*.ckpt | |
| awr/awr_s10000_*.ckpt | |
| ``` | |
| ## Which ckpt | |
| | Suite | Tokenizer | Base policy | AWR | | |
| |-------|-----------|-------------|-----| | |
| | **Can** | `tokenizers/can/ep-0520_mse-0.005.ckpt` | `policies/can/ep-1700_sr-0.940.ckpt` | `awr/awr_s10000_can.ckpt` | | |
| | **Lift** | `tokenizers/lift/ep-1970_mse-0.006.ckpt` | `policies/lift/ep-0900_sr-0.930.ckpt` | `awr/awr_s10000_lift.ckpt` | | |
| | **Square** | `tokenizers/square/ep-0690_mse-0.004.ckpt` | `policies/square/ep-0700_sr-0.420.ckpt` | `awr/awr_s10000_square.ckpt` | | |
| BoN has no separate checkpoint — run inference BoN (`--bon_free 8 --bon_signal vote`) on the **base** policy. | |
| ## Companion data | |
| Zarr: [`hackhackhack66666/robomimic_zarr`](https://huggingface.co/datasets/hackhackhack66666/robomimic_zarr) | |
| Eval also needs RoboMimic mh image HDF5 for env metadata. | |