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language:
- en
tags:
- robotics
- reinforcement-learning
- diffusion-policy
- hire
---
# HiRE: Base Policies for Finetuning
Behavior-cloning checkpoints for HiRE policy finetuning on MimicGen. Each task includes the selected checkpoint and its original Hydra configuration, which the finetuning loader uses to restore the policy architecture.
| Task | Demonstrations | BC seed | Checkpoint |
| --- | --- | --- | --- |
| Stack Three | 200 | 42 | `stack_three/checkpoint/state_75.pt` |
| Threading | 30 | 42 | `threading/checkpoint/state_100.pt` |
| Three Piece Assembly | 200 | 42 | `three_piece_assembly/checkpoint/state_75.pt` |
These are diffusion policies with a ResNet-18 visual encoder, a 1D UNet action head, and an eight-step action horizon. The selected epochs are 75, 100, and 75, respectively. The original checkpoint payloads are preserved, including both `model` and `ema` weights. The HiRE finetuning loader selects `model`.
## Files
```text
stack_three/
.hydra/config.yaml
checkpoint/state_75.pt
threading/
.hydra/config.yaml
checkpoint/state_100.pt
three_piece_assembly/
.hydra/config.yaml
checkpoint/state_75.pt
manifest.json
```
Keep each `.hydra/config.yaml` with its checkpoint. `manifest.json` records the original repository revision, file paths, training overrides, and SHA256 hashes.
## Finetuning
From the [HiRE code repository](https://github.com/JimmyZtHan/HiRE-Dice_RL), after installing dependencies and preparing demonstrations:
```bash
source scripts/set_path.sh
python scripts/launch.py finetune stack_three \
--checkpoint /absolute/path/to/HiRE-release/stack_three/checkpoint/state_75.pt \
--seed 42
```
Select `threading` or `three_piece_assembly` and the corresponding checkpoint path for the other tasks. The code handles the Python class paths in the original Hydra configurations.
Processed demonstrations and their matching `normalization.npz` files are required separately. Use the same task, camera order, delta-action convention, and demonstration subset as the BC policy. Tool Hang weights are not included in this bundle.
## Source
The checkpoint files and configurations are copied without modification from [JimmyHan2004/MimicGen-pretrain](https://huggingface.co/datasets/JimmyHan2004/MimicGen-pretrain), at revision `e0d681881f64771604353b5d2535c71d87e5d4a1`.
[Project website](https://hire-project.github.io/)
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