---
license: cc-by-4.0
tags:
- robotics
- imitation-learning
- behavior-cloning
- flow-matching
---

# Flow Matching — Double Insert (sim)

Behavior-cloning / flow-matching policy checkpoints for the simulated double-insert task, across multiple DAgger-style rounds.

## Contents

This repository contains **36** PyTorch checkpoints (`.pth`), totaling roughly **164G**.
Each subdirectory corresponds to one training run, named as:

```
<run-name>_seed<seed>_<timestamp>/epoch_<N>.pth
```

Some runs include multiple epochs.

## Usage

```python
import torch
state = torch.load("epoch_99.pth", map_location="cpu")
```

## License

Released under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/).