Document ALTER simulation artifact release and licenses
Browse files- LICENSE +202 -0
- NOTICE +12 -0
- README.md +30 -0
- SHA256SUMS +69 -0
- USAGE.md +30 -0
- bundle-index.json +419 -0
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NOTICE
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ALTER
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Authors: Dayi Dong, Maulik Bhatt, Aayushi Shrivastava, Lasse Peters, Negar Mehr.
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This release preserves selected simulation checkpoint tensors, normalization
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values and demonstration membership. Path-bearing metadata has been sanitized
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and relocated; export-receipts.json records original/export checksums.
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Paper, website media, logos and third-party packages are outside this artifact
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license. The models use a torchvision ResNet18 architecture; the released source
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constructs it with weights=None. No separate pretrained DINO weights are included.
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Simulator software and robot/scene assets are installed separately, not bundled
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as standalone software/assets here. Hardware artifacts are not included.
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README.md
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---
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license: apache-2.0
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---
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---
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license: apache-2.0
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---
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# ALTER simulation model card
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Authors: Dayi Dong, Maulik Bhatt, Aayushi Shrivastava, Lasse Peters, Negar Mehr.
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Contains the selected frozen base and 18 distinct adapted policies for the
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reported two-arm budgets and coordination-head capacity comparison. Base and
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normalization statistics are paired in the workflow artifact matrix. Model and
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EMA state tensors are preserved; exported path-bearing metadata is sanitized
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with original/export checksum receipts. Existing module/checkpoint formats are
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retained. ResNet18 encoder parameters are contained in the policy files.
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See USAGE.md for downloads and the status of the accompanying code release.
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The fromscratch inference route also loads full-policy FT checkpoints.
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These are research policies for their recorded observation/action conventions;
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transfer to another robot or scene has not been validated by this release work.
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No hardware checkpoints are included in this staging set.
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Preparation checks cover loading all selected pairs, fixed-input source/public
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parity for the representative base/head, one CPU training update, frozen-base
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behavior, save/reload, and short simulation rollouts. They do not re-establish
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paper success rates. Original selection/evaluation records are included as
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historical evidence. FT-mixed selection-panel wording remains under review.
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The base's original training contract is missing from the inspected archive.
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## License and attribution
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Original ALTER checkpoints and accompanying original records are released under
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Apache-2.0; see LICENSE and NOTICE. This license does not replace terms for any
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separately obtained third-party dependencies, assets or the paper.
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SHA256SUMS
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| 67 |
+
3fc39976025da9f4c40fec6290c409a7b5a2d0c03b9f8f02b6ab95e373e94bb7 data_primary/checkpoints/pure_full_policy_twoarm/twoarm_placewipe_pure_finetune_10permode_steps900000_seed0/twoarm_placewipe_pure_finetune_step400000_stats.pkl
|
| 68 |
+
0b2f473b340669c9d32b9ded2c93c4d21762062e18cdbc635d9cabee7f60ced1 data_primary/checkpoints/pure_full_policy_twoarm/twoarm_placewipe_pure_finetune_15permode_steps900000_seed0/twoarm_placewipe_pure_finetune_step500000.pt
|
| 69 |
+
e709bde44ca4e28fd275dd57f82f59d8495fb6459b55fe773f45a68763912965 data_primary/checkpoints/pure_full_policy_twoarm/twoarm_placewipe_pure_finetune_15permode_steps900000_seed0/twoarm_placewipe_pure_finetune_step500000_stats.pkl
|
USAGE.md
ADDED
|
@@ -0,0 +1,30 @@
|
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|
| 1 |
+
# Downloading ALTER simulation artifacts
|
| 2 |
+
|
| 3 |
+
Models: https://huggingface.co/Berkeley-ICON-Lab/ALTER-models
|
| 4 |
+
Data and provenance: https://huggingface.co/datasets/Berkeley-ICON-Lab/ALTER-data
|
| 5 |
+
Code project: https://github.com/labicon/ALTER
|
| 6 |
+
|
| 7 |
+
The artifact upload precedes publication of the prepared code branch. At this
|
| 8 |
+
stage the GitHub default branch may still contain only the project website.
|
| 9 |
+
The final release-manifest.json records immutable artifact revisions and checksums.
|
| 10 |
+
It is added after both repository uploads complete. Until then the upload is in
|
| 11 |
+
progress; bundle-index.json and SHA256SUMS list the intended repository contents.
|
| 12 |
+
|
| 13 |
+
Once the code release is available, from its repository root run:
|
| 14 |
+
|
| 15 |
+
```bash
|
| 16 |
+
python scripts/download_release.py --manifest release/manifest.json \
|
| 17 |
+
--bundles simulation-models simulation-pretraining-data \
|
| 18 |
+
simulation-adaptation-data simulation-provenance \
|
| 19 |
+
--destination /path/to/ALTER-artifacts
|
| 20 |
+
python scripts/materialize_release.py --bundle-root /path/to/ALTER-artifacts \
|
| 21 |
+
--output "$PWD/public-validation/inputs"
|
| 22 |
+
python scripts/validate_release_models.py --inputs "$PWD/public-validation/inputs" \
|
| 23 |
+
--output "$PWD/public-validation/model-check.json" --training-smoke
|
| 24 |
+
```
|
| 25 |
+
|
| 26 |
+
Materialization requires all four bundles. It verifies hashes, relocates portable
|
| 27 |
+
artifact references and strictly validates derived checkpoint contracts. Direct
|
| 28 |
+
use of portable statistics before materialization is not supported. Only load
|
| 29 |
+
trusted pickle/PyTorch files. Short tests check functionality; they do not rerun
|
| 30 |
+
full training or establish paper success rates. Hardware is deferred.
|
bundle-index.json
ADDED
|
@@ -0,0 +1,419 @@
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "alter.hub-inventory.v1",
|
| 3 |
+
"files": [
|
| 4 |
+
{
|
| 5 |
+
"path": "data_primary/checkpoints/arm/singlearm_placewipe_e2e_shoulderonly_hard_big_smalltable_spongein_returnsettle_forwardonly_noaugment_100permode/singlearm_mixedfront_e2e_shoulder_final.pt",
|
| 6 |
+
"size": 139722122,
|
| 7 |
+
"sha256": "bdbb1bd8627874d46bd2858478d90d310c3f3f8193e26b5370e2d15d61cbc82e",
|
| 8 |
+
"bundle": "simulation-models"
|
| 9 |
+
},
|
| 10 |
+
{
|
| 11 |
+
"path": "data_primary/checkpoints/arm/singlearm_placewipe_e2e_shoulderonly_hard_big_smalltable_spongein_returnsettle_forwardonly_noaugment_100permode/singlearm_mixedfront_e2e_shoulder_stats.pkl",
|
| 12 |
+
"size": 859,
|
| 13 |
+
"sha256": "f96abe42c5cca180f50310751fc504e4505c2040babd1af0f4acf50478f09bc7",
|
| 14 |
+
"bundle": "simulation-models"
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"path": "data_primary/checkpoints/arm/placewipe_forwardonly_coord_all_expert_5permode_steps900000_seed0/mixed_coord_head_placewipe_step500000.pt",
|
| 18 |
+
"size": 59360050,
|
| 19 |
+
"sha256": "850759399ba6acefe3f1610aece391276cf054ab3332e697a827a0691d300eb1",
|
| 20 |
+
"bundle": "simulation-models"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"path": "data_primary/checkpoints/arm/placewipe_forwardonly_coord_all_expert_5permode_steps900000_seed0/mixed_coord_head_placewipe_stats.pkl",
|
| 24 |
+
"size": 28312,
|
| 25 |
+
"sha256": "7cc2dd2568c00957ff40e631e52e33e379c2cf922a2c0166ba2f1189494c9dea",
|
| 26 |
+
"bundle": "simulation-models"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"path": "data_primary/results/placewipe_forwardonly_all_expert_full_confirmations/coord_best_and_runnerup/coord_5permode_step500000/twoarm/coord-shoulderonly_placewipe_resnet18_rf15/eval_20260808_041139.json",
|
| 30 |
+
"size": 150444,
|
| 31 |
+
"sha256": "494874aa95f55b7413dca14645d214ae66c41eed9610caca099800c6a79a4e36",
|
| 32 |
+
"bundle": "simulation-models"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"path": "data_primary/results/placewipe_forwardonly_all_expert_full_confirmations/coord_best_and_runnerup/coord_5permode_step500000/singlearm/summary.tsv",
|
| 36 |
+
"size": 83030,
|
| 37 |
+
"sha256": "33e77fb4d929b85ebf02c8104aeb33f43c293a64d722d9dff3d1692739b128a2",
|
| 38 |
+
"bundle": "simulation-models"
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"path": "data_primary/checkpoints/arm/placewipe_forwardonly_fs_all_expert_5permode_steps900000_seed0/fromscratch_placewipe_step200000.pt",
|
| 42 |
+
"size": 198927426,
|
| 43 |
+
"sha256": "273547136c1ef24f712cbafe156586eca249886c2e52f9576a20f73cf694160d",
|
| 44 |
+
"bundle": "simulation-models"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"path": "data_primary/checkpoints/arm/placewipe_forwardonly_fs_all_expert_5permode_steps900000_seed0/fromscratch_placewipe_stats.pkl",
|
| 48 |
+
"size": 133413,
|
| 49 |
+
"sha256": "c363b21b9ad48afbfc3cd539ded4e7da756da0d1b7b90762808505d27f539e04",
|
| 50 |
+
"bundle": "simulation-models"
|
| 51 |
+
},
|
| 52 |
+
{
|
| 53 |
+
"path": "data_primary/results/placewipe_forwardonly_all_expert_full_confirmations/fs/fs_step200000/twoarm/fromscratch-shoulderonly_placewipe_resnet18_rf15/eval_20260807_011937.json",
|
| 54 |
+
"size": 149890,
|
| 55 |
+
"sha256": "2d83fe3bd3ed6db21c459d800b0c79262e5278cf75fbb8ea018004ae80dc5752",
|
| 56 |
+
"bundle": "simulation-models"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"path": "data_primary/results/placewipe_forwardonly_all_expert_full_confirmations/fs/fs_step200000/singlearm/summary.tsv",
|
| 60 |
+
"size": 69443,
|
| 61 |
+
"sha256": "cddbb03bab5018dc5dca1c4fd8dcdc6e59ede30a4c0e52d2ddd73fbc1bda1b06",
|
| 62 |
+
"bundle": "simulation-models"
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"path": "data_primary/checkpoints/arm/pure_full_policy_finetune_v2_20260911/twoarm_placewipe_multiarm_only_pure_full_policy_5permode_steps900000_seed0/twoarm_placewipe_multiarm_only_pure_full_policy_step200000.pt",
|
| 66 |
+
"size": 139729586,
|
| 67 |
+
"sha256": "174e7e1904ea8ed28a2185448e2d1512e68196dc87d2c5dab524d45a81cea97e",
|
| 68 |
+
"bundle": "simulation-models"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"path": "data_primary/checkpoints/arm/pure_full_policy_finetune_v2_20260911/twoarm_placewipe_multiarm_only_pure_full_policy_5permode_steps900000_seed0/twoarm_placewipe_multiarm_only_pure_full_policy_step200000_stats.pkl",
|
| 72 |
+
"size": 24612,
|
| 73 |
+
"sha256": "0685bc9ccc43b42509df9396cead2ccb287f6d75604c2ba2303a8e84f8e14116",
|
| 74 |
+
"bundle": "simulation-models"
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"path": "data_campaigns/results/pure_full_policy_finetune_v2_20260911/evaluations/twoarm_placewipe-multiarm-only-5permode/full_selected_step200000/twoarm_full200/fromscratch-shoulderonly_placewipe_resnet18_rf15/eval_20260913_041031.json",
|
| 78 |
+
"size": 150072,
|
| 79 |
+
"sha256": "ab98af96f2d40b09d5662be6da4190246e0eb57224c7e00cac129c036397fc06",
|
| 80 |
+
"bundle": "simulation-models"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"path": "data_campaigns/results/pure_full_policy_finetune_v2_20260911/evaluations/twoarm_placewipe-multiarm-only-5permode/full_selected_step200000/singlearm_preservation200/evaluation.json",
|
| 84 |
+
"size": 1520,
|
| 85 |
+
"sha256": "e36d25cc7eaa7e6712bc6f1acd824ae50dfe802dc9fc1dbc982b4d9ccbcfc127",
|
| 86 |
+
"bundle": "simulation-models"
|
| 87 |
+
},
|
| 88 |
+
{
|
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