| license: other | |
| library_name: jax | |
| tags: | |
| - warp-rm | |
| - openpi | |
| - pi0 | |
| - robotics | |
| - simulation | |
| # WARP-RM paper simulation policy checkpoints | |
| This repository contains the two model-only policy parameter trees used for | |
| the paper simulation comparison: the baseline policy and the WARP-RM RABC | |
| policy. It omits optimizer/train state and does not contain a redistributed | |
| training checkpoint. | |
| The released directories are complete serving parameter trees when used with | |
| the public OpenPI code. Their redistribution and use remain subject to the | |
| applicable upstream OpenPI/Pi0 terms; this repository therefore uses the | |
| custom license setting rather than asserting an Apache-2.0 grant for | |
| upstream-derived model weights. | |
| Layout: | |
| * `vanilla/params/` and `vanilla/assets/` are the baseline policy tree. | |
| * `warp_rabc_sss15/params/` and `warp_rabc_sss15/assets/` are the WARP-RM | |
| reward-aligned BC policy tree. | |
| Pass either containing directory as the local policy checkpoint directory to | |
| the released OpenPI serving command. The `assets/` directory is required; do | |
| not rename or discard it. | |
| Files and SHA256 checksums are listed in `MANIFEST.json`. | |