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CDGS_Robotics_Suite

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Add KinDER checkpoints (planners + invdyn for 8 environments)

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  1. checkpoints/kinder/BaseMotion3D/invdyn/state_400000.pt +3 -0
  2. checkpoints/kinder/BaseMotion3D/planner/state_1995000.pt +3 -0
  3. checkpoints/kinder/DynObstruction2D-o1/invdyn/state_400000.pt +3 -0
  4. checkpoints/kinder/DynObstruction2D-o1/planner/state_1995000.pt +3 -0
  5. checkpoints/kinder/DynPushPullHook2D-o5/invdyn/state_400000.pt +3 -0
  6. checkpoints/kinder/DynPushPullHook2D-o5/planner/state_1995000.pt +3 -0
  7. checkpoints/kinder/Motion2D-p0/invdyn/state_800000.pt +3 -0
  8. checkpoints/kinder/Motion2D-p0/planner/state_505000.pt +3 -0
  9. checkpoints/kinder/README.md +42 -0
  10. checkpoints/kinder/StickButton2D-b1/invdyn/state_400000.pt +3 -0
  11. checkpoints/kinder/StickButton2D-b1/planner/state_855000.pt +3 -0
  12. checkpoints/kinder/SweepIntoDrawer3D/invdyn/state_400000.pt +3 -0
  13. checkpoints/kinder/TidyBot3D-cupboard/invdyn/state_400000.pt +3 -0
  14. checkpoints/kinder/TidyBot3D-cupboard/planner/state_615000.pt +3 -0
  15. checkpoints/kinder/Transport3D-o2/invdyn/state_400000.pt +3 -0
  16. checkpoints/kinder/Transport3D-o2/planner/state_580000.pt +3 -0
checkpoints/kinder/BaseMotion3D/invdyn/state_400000.pt ADDED
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checkpoints/kinder/BaseMotion3D/planner/state_1995000.pt ADDED
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checkpoints/kinder/Motion2D-p0/invdyn/state_800000.pt ADDED
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checkpoints/kinder/Motion2D-p0/planner/state_505000.pt ADDED
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checkpoints/kinder/README.md ADDED
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+ # KinDER Checkpoints
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+
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+ Final trained checkpoints for reproducing all KinDER evaluation results.
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+
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+ ## Directory Structure
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+
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+ ```
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+ checkpoints/kinder/
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+ {env}/
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+ planner/state_{step}.pt # Diffusion planner checkpoint
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+ invdyn/state_{step}.pt # Inverse dynamics model checkpoint
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+ ```
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+
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+ ## Checkpoint Inventory
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+
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+ | Environment | Planner | InvDyn | Notes |
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+ |---|---|---|---|
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+ | Motion2D-p0 | state_505000.pt (1.4G) | state_800000.pt (8.4M) | |
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+ | BaseMotion3D | state_1995000.pt (2.0G) | state_400000.pt (8.5M) | |
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+ | DynObstruction2D-o1 | state_1995000.pt (2.0G) | state_400000.pt (34M) | |
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+ | StickButton2D-b1 | state_855000.pt (1.4G) | state_400000.pt (8.6M) | |
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+ | DynPushPullHook2D-o5 | state_1995000.pt (2.0G) | state_400000.pt (37M) | |
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+ | Transport3D-o2 | state_580000.pt (2.7G) | state_400000.pt (34M) | Demo tracking bypasses planner |
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+ | SweepIntoDrawer3D | — | state_400000.pt (51M) | Planner not needed (demo tracking) |
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+ | TidyBot3D-cupboard | state_615000.pt (2.7G) | state_400000.pt (33M) | Demo tracking bypasses planner |
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+
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+ **Total: 15 files, ~15GB** (stored via Git LFS)
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+
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+ ## Usage
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+
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+ 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.
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+
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+ To use these checkpoints directly:
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+ ```bash
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+ # Symlink into logs/ structure expected by eval
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+ ln -s $(pwd)/checkpoints/kinder logs/kinder_ckpts
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+
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+ # Or copy to the expected path
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+ cp -r checkpoints/kinder/BaseMotion3D/ logs/kinder-BaseMotion3D-v0/
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+ ```
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+
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+ See `docs/kinder_eval_guide.md` for full reproduction commands.
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