---
license: mit
tags:
  - robotics
  - diffusion-policy
  - rdp
---

# RDP flipbox single-view deployment checkpoints

Reactive Diffusion Policy trained on `real_single_flexiv_tactar_flipbox`.

## Deployment files

- `checkpoints/at/latest.ckpt`: final Action Tokenizer checkpoint (epoch 600).
- `checkpoints/ldp/latest.ckpt`: final Latent Diffusion Policy checkpoint (epoch 400, global step 21252).
- `normalization/normalizer.pkl`: exact LDP normalizer computed during training, including action, pose, gripper, wrench, wrist-image and latent-action fields.
- `config/resolved/{at,ldp}/config.yaml`: fully resolved Hydra configurations saved by each training stage.
- `config/task/*.yaml`: source task shape and action-index configuration.
- `config/deployment_config.yaml`: portable relative checkpoint paths and endpoint input contract.

The observation camera is the single wrist view `wrist_img1`. The policy action has 10 dimensions, selected from the converted 20-dimensional VRR action with indices `[0,1,2,3,4,5,6,7,8,19]`.

Both AT and LDP checkpoints are required by the RDP runtime.
When using the resolved LDP Hydra config after download, override its original absolute `at_load_dir` with `checkpoints/at/latest.ckpt` and set the LDP checkpoint path to `checkpoints/ldp/latest.ckpt`.