checkpoints/kinder/README.md

KinDER Checkpoints

Final trained checkpoints for reproducing all KinDER evaluation results.

Directory Structure

checkpoints/kinder/
  {env}/
    planner/state_{step}.pt   # Diffusion planner checkpoint
    invdyn/state_{step}.pt    # Inverse dynamics model checkpoint

Checkpoint Inventory

Environment	Planner	InvDyn	Notes
Motion2D-p0	state_505000.pt (1.4G)	state_800000.pt (8.4M)
BaseMotion3D	state_1995000.pt (2.0G)	state_400000.pt (8.5M)
DynObstruction2D-o1	state_1995000.pt (2.0G)	state_400000.pt (34M)
StickButton2D-b1	state_855000.pt (1.4G)	state_400000.pt (8.6M)
DynPushPullHook2D-o5	state_1995000.pt (2.0G)	state_400000.pt (37M)
Transport3D-o2	state_580000.pt (2.7G)	state_400000.pt (34M)	Demo tracking bypasses planner
SweepIntoDrawer3D	—	state_400000.pt (51M)	Planner not needed (demo tracking)
TidyBot3D-cupboard	state_615000.pt (2.7G)	state_400000.pt (33M)	Demo tracking bypasses planner

Total: 15 files, ~15GB (stored via Git LFS)

Usage

These checkpoints are loaded automatically by eval_kinder.py when you specify the correct --planner_epoch and --invdyn_epoch flags, with --log_dir pointing to a directory containing the expected {env}/planner/{run_name}/ and {env}/invdyn/{run_name}/ structure.

To use these checkpoints directly:

# Symlink into logs/ structure expected by eval
ln -s $(pwd)/checkpoints/kinder logs/kinder_ckpts

# Or copy to the expected path
cp -r checkpoints/kinder/BaseMotion3D/ logs/kinder-BaseMotion3D-v0/

See docs/kinder_eval_guide.md for full reproduction commands.