---
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/)