TCP 4D Models
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Check out the documentation for more information.
TCP4D Stage1 — DROID
This is the original trained single-arm checkpoint from DROID step 500000,
copied into this directory without modifying its tensors or the source file.
Its 1,093 flat tensor keys already match TCP4D(num_arms=1) exactly; Python class
and package renaming does not require adding a prefix to Stage1 tensor names.
Use --checkpoint checkpoints/TCP4D-stage1-DROID with infer_stage1.py.
Strict loading and 10-frame sample inference passed. See conversion_report.json
for provenance and the verified file SHA-256.
This directory contains model weights for inference or initialization, not a complete optimizer/scheduler/RNG checkpoint for resuming the original training.
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