---
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`.