thl1246/reguide-checkpoints

ReGuide — Checkpoints

Pretrained diffusion policy and visual dynamics model checkpoints for ReGuide: From Test-Time Guidance to Self-Improving Diffusion Policies (Lin, Shakkottai, Kalathil, Kumar — Texas A&M University).

ReGuide is a self-improving framework that recycles guided rollouts as on-policy recovery data to fix covariate shift in behavior-cloned diffusion policies, improving base-policy success by 1.3–7.7× on Robomimic. See the project page and paper for method details.

Checkpoints are organized by benchmark:

• robomimic/ — Can, Square, Transport, Tool Hang (available now)
• libero/ — coming soon

Robomimic tasks

Task	Demos	Notes
can	15	policy + dynamics model
square	30	policy + dynamics model
transport	10	policy + dynamics model
tool_hang	80	policy + dynamics model

Repository layout

robomimic/diffusion_policy/<task>/<variant>/
├── checkpoints/<epoch>.ckpt     # policy weights (~4.3–5.3 GB)
├── normalizer.pth               # observation/action normalizer
└── .hydra/                       # full training config

robomimic/dyn_model/<task>/
├── checkpoints/model_<epoch>.pth # visual dynamics model (~0.5–1.5 GB)
├── normalizer.pth
└── hydra.yaml                    # training config

The number in each checkpoint filename (e.g. 880.ckpt) is the training epoch.

Diffusion policy variants

Variant	What it is
base_policy	Diffusion policy trained on the original demonstrations only.
ReGuide-FS	Retrained from scratch on demos + guided rollouts.
ReGuide-FT-iteration1	Base checkpoint fine-tuned on demos + guided rollouts (first iteration).
ReGuide-FT-iteration2	Second fine-tuning iteration on freshly collected guided rollouts.
ReGuide-FS-FT	ReGuide-FT applied on top of a ReGuide-FS policy (best on Can/Square/Transport).

Each checkpoint ships with its full Hydra training config (.hydra/ for policies, hydra.yaml for dynamics models), which records the exact hyperparameters used. Paths inside the configs are relative.

Code

Training and evaluation code: https://github.com/tzuhsiangl/reguide

Citation

@article{lin2026reguide,
  title   = {ReGuide: From Test-Time Guidance to Self-Improving Diffusion Policies},
  author  = {Lin, Tzu-Hsiang and Shakkottai, Srinivas and Kalathil, Dileep and Kumar, P. R.},
  year    = {2026},
  url     = {https://reguide-project.github.io}
}

License

Released under the MIT License.