| # 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: |
| ```bash |
| # 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. |
| |
