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README.md

@@ -1,3 +1,149 @@
 ---
-license: mit
+license: other
+license_name: see-model-card
+license_link: https://huggingface.co/LogosRoboticsLab/roboreel_models#licensing
+pipeline_tag: robotics
+tags:
+- robotics
+- imitation-learning
+- learning-from-observation
+- manipulation
+- benchmark
 ---
+
+# RoboReel — evaluated policy checkpoints
+
+Policy checkpoints for **"Monkey See, Can Monkey Do? A Benchmark for Evaluating
+Robot Skill Learning by Observation"** ([arXiv:2609.08209](https://arxiv.org/abs/2609.08209)),
+benchmark **RoboReel** · [project page](https://roboreel.github.io).
+
+Each folder holds **exactly the checkpoint the paper's numbers were computed
+from** — not the last checkpoint a run happened to write. Training code,
+evaluation harness and configs live in the `roboreel_models` repository; the
+simulation environments live in the benchmark environment repository.
+
+## Layout
+
+```
+<condition>/<method>/
+├── train_config.json      # the run's own config (see "Paths" below)
+├── <sidecar>              # norm_stats.json | action_codec.json | demonstration_config.txt
+└── <step>/                # the evaluated checkpoint
+```
+
+`<condition>` is the training suite, and it is the **top** level: **`nd/`** = no
+distraction (clean scenes), **`wd/`** = with distraction (distractors in both
+train and eval). So the keyframe policy trained with distractors is
+`wd/vid_cond_pi05_keyframes/20000/`.
+
+The paper's third suite, **ED** (clean training, distracted evaluation), needs
+no extra weights — it evaluates everything under `nd/` against the WD scene
+bank.
+
+## Checkpoints
+
+| Paper label | Method dir | ND step (`nd/`) | WD step (`wd/`) | Size each |
+|---|---|---|---|---|
+| VLM + π0.5 | `vlm_pi05` | `050000` | `050000` | 9.35 GB |
+| Vid. Cond. π0.5 (Uniform) | `vid_cond_pi05_uniform` | `49999` | `49999` | 6.20 GB |
+| Vid. Cond. π0.5 (Keyframes) | `vid_cond_pi05_keyframes` | `49999` | **`20000`** | 6.20 GB |
+| Vid2Robot | `vid2robot` | `vid2robot_step50000.pt` | `vid2robot_step50000.pt` | 2.37 GB |
+| UniSkill | `uniskill_policy` | `models/model_epoch_1000.pth` | `models/model_epoch_1000.pth` | 0.74 GB |
+
+Two things about the step numbers that are easy to misread:
+
+- **openpi/orbax saves at `num_train_steps - 1`**, so a 50k-step run ends at
+  `49999`, unpadded. The LeRobot trainer saves at `num_train_steps` and
+  zero-pads, so the same run length ends at `050000`.
+- **WD keyframes is step `20000`, not `49999`.** That run reached 20k steps;
+  it is the checkpoint the reported WD keyframe numbers come from.
+
+UniSkill is a Robomimic diffusion policy over skill representations produced by
+an **off-the-shelf, un-finetuned UniSkill inverse-skill-dynamics model**. That
+ISD is deliberately *not* redistributed here — take it from the UniSkill
+authors' own release and use it unmodified.
+
+## Training setup
+
+Common to all runs: 10 tasks (`bowl_in_plate`, `close_drawer`, `empty_basket`,
+`open_lid`, `pick_cube`, `press_toaster`, `push_cube`, `stack_cups`,
+`toys_in_basket`, `toys_in_drawer`), 80 demonstrations per task
+(`max_demo_index: 79`), 8-D state and action.
+
+| Method | Setup |
+|---|---|
+| VLM + π0.5 | π0.5 full fine-tune from `lerobot/pi05_base`, expert-only; AdamW, peak LR 2.5e-5 cosine→0.1×, batch 32, bf16, gradient checkpointing, 50k steps, action chunk 20, seed 42. Instructions generated by Qwen3-VL-4B from the human video. |
+| Vid. Cond. π0.5 (Uniform) | openpi π0.5 from `pi05_base`, JAX FSDP; AdamW (β 0.9/0.95, ε 1e-8, wd 1e-10), grad clip 1.0, peak LR 5e-5, 1k warmup, EMA 0.999, batch 64, 50k steps, seed 42. Demonstration tokens: 512 tokens / 32 frames / 16 tokens per frame, uniform frame sampling. Demo camera `front`, robot cameras `base_camera` + `hand_camera`. |
+| Vid. Cond. π0.5 (Keyframes) | Identical to Uniform — **only frame selection differs**: GPT-5.4-mini best-point-prompt keyframes over the human video downsampled to 2 fps. |
+| Vid2Robot | ViT-B/16 encoders, 2-layer Perceiver Resamplers (64 latents), 4-layer decoders d=768, 16 prompt / 8 state frames, action chunk 4 over 256 bins; AdamW peak 3e-4 → 1e-6, wd 0.05, 2k warmup, batch 32, 50k steps, seed 42. |
+| UniSkill | Robomimic diffusion policy only; Adam 1e-4, batch 256, 1000 epochs × 100 iters = 100k steps, EMA power 0.75, 100 DDPM train / 10 DDIM inference steps, `skill_aug` aug_num 5, seed 0. |
+
+Every value above is also recorded verbatim in each folder's
+`train_config.json`.
+
+## Paths
+
+`train_config.json` and the UniSkill `config.json` are the configs the runs
+were actually launched with, with one edit: **host-specific absolute paths were
+rewritten to placeholders**, since they pointed at cluster mounts that nobody
+else has. Everything else is untouched.
+
+| Placeholder | Set it to |
+|---|---|
+| `${ROBOREEL_DATA}` | your RoboReel dataset root |
+| `${ROBOREEL_CKPT}` | where you downloaded this repo |
+| `${OPENPI_DATA_HOME}` | your openpi asset cache (holds `openpi-assets/checkpoints/pi05_base`) |
+
+The evaluation harness reads `data_root` / `data_dir` out of
+`train_config.json` to locate the human demonstration videos, so these must be
+pointed at a real dataset root before evaluating.
+
+## Download
+
+```bash
+pip install -U huggingface_hub
+
+# one method + condition
+hf download LogosRoboticsLab/roboreel_models \
+  --include "nd/vid_cond_pi05_keyframes/*" --local-dir ./roboreel_ckpt
+
+# one condition, all five methods
+hf download LogosRoboticsLab/roboreel_models \
+  --include "nd/*" --local-dir ./roboreel_ckpt
+
+# everything (≈50 GB)
+hf download LogosRoboticsLab/roboreel_models --local-dir ./roboreel_ckpt
+```
+
+## Not in this repo
+
+- **The RoboReel dataset** (human videos, robot trajectories, keyframe
+  annotations, skill representations) — released separately.
+- **SeeDo** and **PointPolicy** checkpoints — two of the paper's seven methods,
+  to be added.
+- **BC-Z** — discussed in related work only, never evaluated.
+- Base/pretrained weights that are not ours to redistribute: `pi05_base`,
+  PaliGemma, CLIP, Depth-Anything-V2, and the UniSkill ISD.
+
+## Licensing
+
+Mixed, because the checkpoints are derived from different base models:
+
+- `vlm_pi05`, `vid_cond_pi05_uniform` and `vid_cond_pi05_keyframes` are
+  fine-tunes of **π0.5** (openpi, Apache-2.0), whose backbone is **PaliGemma /
+  Gemma** — these weights are therefore also subject to the
+  [Gemma Terms of Use](https://ai.google.dev/gemma/terms).
+- `uniskill_policy` is a Robomimic diffusion policy trained on
+  representations from **UniSkill**; see the UniSkill release for its terms.
+- `vid2robot` is trained from scratch on the RoboReel dataset apart from its
+  ImageNet-pretrained ViT-B/16 and SigLIP text encoder.
+
+## Citation
+
+```bibtex
+@article{roboreel2026,
+  title   = {Monkey See, Can Monkey Do? A Benchmark for Evaluating Robot Skill Learning by Observation},
+  journal = {arXiv preprint arXiv:2609.08209},
+  year    = {2026}
+}
+```

nd/uniskill_policy/config.json

@@ -0,0 +1,321 @@
+{
+    "algo_name": "diffusion_policy",
+    "experiment": {
+        "name": "exp3_uniskill_policy_pretrained_isd/seed_0",
+        "validate": false,
+        "logging": {
+            "terminal_output_to_txt": true,
+            "log_tb": true,
+            "log_wandb": false,
+            "wandb_proj_name": "uniskill"
+        },
+        "mse": {
+            "enabled": false,
+            "every_n_epochs": 50,
+            "on_save_ckpt": true,
+            "num_samples": 20,
+            "visualize": true
+        },
+        "save": {
+            "enabled": true,
+            "every_n_seconds": null,
+            "every_n_epochs": 100,
+            "epochs": [],
+            "on_best_validation": false,
+            "on_best_rollout_return": false,
+            "on_best_rollout_success_rate": false
+        },
+        "epoch_every_n_steps": 100,
+        "validation_epoch_every_n_steps": 10,
+        "env": null,
+        "additional_envs": null,
+        "render": false,
+        "render_video": true,
+        "keep_all_videos": false,
+        "video_skip": 5,
+        "rollout": {
+            "enabled": false,
+            "n": 10,
+            "horizon": 200,
+            "rate": 100,
+            "warmstart": 0,
+            "terminate_on_success": true,
+            "batched": false,
+            "num_batch_envs": 5,
+            "idm_path": null
+        },
+        "env_meta_update_dict": {},
+        "ckpt_path": null
+    },
+    "train": {
+        "data": [
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/bowl_in_plate.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/close_drawer.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/empty_basket.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/open_lid.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/pick_cube.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/press_toaster.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/push_cube.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/stack_cups.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/toys_in_basket.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/without_distraction/toys_in_drawer.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            }
+        ],
+        "output_dir": "${ROBOREEL_CKPT}/nd/uniskill_idm_policy_pretrained_isd/train",
+        "num_data_workers": 16,
+        "hdf5_cache_mode": "low_dim",
+        "hdf5_use_swmr": true,
+        "hdf5_load_next_obs": false,
+        "hdf5_normalize_obs": false,
+        "hdf5_filter_key": null,
+        "hdf5_validation_filter_key": null,
+        "seq_length": 15,
+        "pad_seq_length": true,
+        "frame_stack": 2,
+        "pad_frame_stack": true,
+        "dataset_keys": [
+            "actions"
+        ],
+        "action_keys": [
+            "actions"
+        ],
+        "action_config": {
+            "actions": {
+                "normalization": "min_max"
+            },
+            "action_dict/abs_pos": {
+                "normalization": "min_max"
+            },
+            "action_dict/abs_rot_axis_angle": {
+                "normalization": "min_max",
+                "format": "rot_axis_angle"
+            },
+            "action_dict/abs_rot_6d": {
+                "normalization": null,
+                "format": "rot_6d"
+            },
+            "action_dict/rel_pos": {
+                "normalization": null
+            },
+            "action_dict/rel_rot_axis_angle": {
+                "normalization": null,
+                "format": "rot_axis_angle"
+            },
+            "action_dict/rel_rot_6d": {
+                "normalization": null,
+                "format": "rot_6d"
+            },
+            "action_dict/gripper": {
+                "normalization": null
+            },
+            "action_dict/base_mode": {
+                "normalization": null
+            }
+        },
+        "goal_mode": "skill",
+        "skill_dir": "${ROBOREEL_DATA}/UniSkill_skill_representations/pretrained_robot/without_distraction",
+        "skill_aug": true,
+        "aug_num": 5,
+        "cuda": true,
+        "batch_size": 256,
+        "num_epochs": 1000,
+        "seed": 0,
+        "max_grad_norm": null,
+        "data_format": "robomimic",
+        "shuffled_obs_key_groups": null
+    },
+    "algo": {
+        "optim_params": {
+            "policy": {
+                "learning_rate": {
+                    "initial": 0.0001,
+                    "decay_factor": 0.1,
+                    "epoch_schedule": [],
+                    "scheduler_type": "constant"
+                },
+                "regularization": {
+                    "L2": 0.0
+                }
+            }
+        },
+        "horizon": {
+            "observation_horizon": 2,
+            "action_horizon": 8,
+            "prediction_horizon": 16
+        },
+        "subgoal": {
+            "enabled": false,
+            "subgoal_dim": 64
+        },
+        "skill": {
+            "enabled": true,
+            "skill_dim": 64,
+            "dropout": false,
+            "dropout_rate": 0.2
+        },
+        "lang": {
+            "enabled": false,
+            "lang_dim": 512
+        },
+        "unet": {
+            "enabled": true,
+            "diffusion_step_embed_dim": 256,
+            "down_dims": [
+                256,
+                512,
+                1024
+            ],
+            "kernel_size": 5,
+            "n_groups": 8
+        },
+        "ema": {
+            "enabled": true,
+            "power": 0.75
+        },
+        "language_conditioned": false,
+        "ddpm": {
+            "enabled": false,
+            "num_train_timesteps": 100,
+            "num_inference_timesteps": 100,
+            "beta_schedule": "squaredcos_cap_v2",
+            "clip_sample": true,
+            "prediction_type": "epsilon"
+        },
+        "ddim": {
+            "enabled": true,
+            "num_train_timesteps": 100,
+            "num_inference_timesteps": 10,
+            "beta_schedule": "squaredcos_cap_v2",
+            "clip_sample": true,
+            "set_alpha_to_one": true,
+            "steps_offset": 0,
+            "prediction_type": "epsilon"
+        }
+    },
+    "observation": {
+        "modalities": {
+            "obs": {
+                "low_dim": [
+                    "gripper_states",
+                    "joint_states"
+                ],
+                "rgb": [
+                    "agentview_rgb",
+                    "eye_in_hand_rgb"
+                ],
+                "depth": [],
+                "scan": []
+            },
+            "goal": {
+                "low_dim": [],
+                "rgb": [],
+                "depth": [],
+                "scan": []
+            }
+        },
+        "encoder": {
+            "low_dim": {
+                "core_class": null,
+                "core_kwargs": {},
+                "obs_randomizer_class": null,
+                "obs_randomizer_kwargs": {}
+            },
+            "rgb": {
+                "core_class": "VisualCore",
+                "core_kwargs": {
+                    "feature_dimension": 64,
+                    "backbone_class": "ResNet18Conv",
+                    "backbone_kwargs": {
+                        "pretrained": false,
+                        "input_coord_conv": false
+                    },
+                    "pool_class": "SpatialSoftmax",
+                    "pool_kwargs": {
+                        "num_kp": 32,
+                        "learnable_temperature": false,
+                        "temperature": 1.0,
+                        "noise_std": 0.0
+                    }
+                },
+                "obs_randomizer_class": "CropRandomizer",
+                "obs_randomizer_kwargs": {
+                    "crop_height": 116,
+                    "crop_width": 116,
+                    "num_crops": 1,
+                    "pos_enc": false
+                }
+            },
+            "depth": {
+                "core_class": "VisualCore",
+                "core_kwargs": {},
+                "obs_randomizer_class": null,
+                "obs_randomizer_kwargs": {}
+            },
+            "scan": {
+                "core_class": "ScanCore",
+                "core_kwargs": {},
+                "obs_randomizer_class": null,
+                "obs_randomizer_kwargs": {}
+            }
+        }
+    },
+    "meta": {
+        "hp_base_config_file": "robomimic/exps/templates/diffusion_policy.json",
+        "hp_keys": [
+            "seed",
+            "ds",
+            "ac_keys",
+            "obsrandargs"
+        ],
+        "hp_values": [
+            0,
+            "lfo_benchmark",
+            "abs_acs",
+            {
+                "crop_height": 116,
+                "crop_width": 116,
+                "num_crops": 1,
+                "pos_enc": false
+            }
+        ]
+    }
+}

nd/vid2robot/action_codec.json

@@ -0,0 +1,23 @@
+{
+  "low": [
+    -0.5373423099517822,
+    -1.3224154710769653,
+    -2.6906797885894775,
+    -2.8996949195861816,
+    -1.3641279935836792,
+    1.1668572425842285,
+    -1.9364047050476074,
+    -1.100000023841858
+  ],
+  "high": [
+    2.8599348068237305,
+    1.2399375438690186,
+    0.7242044806480408,
+    -0.791045606136322,
+    1.623327374458313,
+    3.7729411125183105,
+    2.762798547744751,
+    1.100000023841858
+  ],
+  "num_bins": 256
+}

nd/vid2robot/train_config.json

@@ -0,0 +1,41 @@
+{
+  "data_root": "${ROBOREEL_DATA}",
+  "samples_subdir": "postprocessed_robot_trajectories",
+  "tasks": [
+    "bowl_in_plate",
+    "close_drawer",
+    "empty_basket",
+    "open_lid",
+    "pick_cube",
+    "press_toaster",
+    "push_cube",
+    "stack_cups",
+    "toys_in_basket",
+    "toys_in_drawer"
+  ],
+  "include_video_types": [
+    "without_distraction"
+  ],
+  "max_demo_index": 79,
+  "robot_camera": "base_camera",
+  "image_size": 224,
+  "num_prompt_frames": 16,
+  "num_state_frames": 8,
+  "chunk_size": 4,
+  "num_bins": 256,
+  "action_dim": 8,
+  "batch_size": 32,
+  "gradient_checkpointing": true,
+  "grad_accum": 1,
+  "learning_rate": 0.0003,
+  "final_learning_rate": 1e-06,
+  "warmup_steps": 2000,
+  "weight_decay": 0.05,
+  "num_train_steps": 50000,
+  "save_interval": 10000,
+  "log_interval": 100,
+  "num_workers": 4,
+  "fake_text": false,
+  "output_dir": "${ROBOREEL_CKPT}/nd/vid2robot",
+  "seed": 42
+}

nd/vid_cond_pi05_keyframes/demonstration_config.txt

@@ -0,0 +1 @@
+perceptual-keyframe-context.yaml

nd/vid_cond_pi05_keyframes/train_config.json

@@ -0,0 +1,44 @@
+{
+  "demonstration_config": "perceptual-keyframe-context.yaml",
+  "use_demonstration": true,
+  "prompt": "complete the task",
+  "batch_size": 64,
+  "num_train_steps": 50000,
+  "peak_lr": 5e-05,
+  "warmup_steps": 1000,
+  "ema_decay": 0.999,
+  "grad_clip": 1.0,
+  "seed": 42,
+  "fsdp_devices": 1,
+  "log_interval": 50,
+  "save_interval": 10000,
+  "wandb": false,
+  "lfo_max_demo_index": 79,
+  "include_video_types": [
+    "without_distraction"
+  ],
+  "paired_sampling": null,
+  "keyframe_annotation_dir": "${ROBOREEL_DATA}/bpp_keyframe_annotations",
+  "demo_cameras": [
+    "front"
+  ],
+  "robot_cameras": [
+    "base_camera",
+    "hand_camera"
+  ],
+  "output_dir": "${ROBOREEL_CKPT}/nd/pi05_video_perceptual_context_bpp",
+  "checkpoint_dir": "${OPENPI_DATA_HOME}/openpi-assets/checkpoints/pi05_base",
+  "data_dir": "${ROBOREEL_DATA}",
+  "tasks": [
+    "bowl_in_plate",
+    "close_drawer",
+    "empty_basket",
+    "open_lid",
+    "pick_cube",
+    "press_toaster",
+    "push_cube",
+    "stack_cups",
+    "toys_in_basket",
+    "toys_in_drawer"
+  ]
+}

nd/vid_cond_pi05_uniform/49999/_CHECKPOINT_METADATA

@@ -0,0 +1 @@
+{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1779252137995625883, "commit_timestamp_nsecs": 1779252147211931612, "custom_metadata": {}}

nd/vid_cond_pi05_uniform/49999/params/_METADATA

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nd/vid_cond_pi05_uniform/49999/params/array_metadatas/process_0

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nd/vid_cond_pi05_uniform/demonstration_config.txt

@@ -0,0 +1 @@
+perceptual-framesamp-context.yaml

nd/vid_cond_pi05_uniform/train_config.json

@@ -0,0 +1,42 @@
+{
+  "demonstration_config": "perceptual-framesamp-context.yaml",
+  "use_demonstration": true,
+  "prompt": "complete the task",
+  "batch_size": 64,
+  "num_train_steps": 50000,
+  "peak_lr": 5e-05,
+  "warmup_steps": 1000,
+  "ema_decay": 0.999,
+  "grad_clip": 1.0,
+  "seed": 42,
+  "fsdp_devices": 1,
+  "log_interval": 50,
+  "save_interval": 10000,
+  "wandb": false,
+  "lfo_max_demo_index": 79,
+  "include_video_types": [
+    "without_distraction"
+  ],
+  "demo_cameras": [
+    "front"
+  ],
+  "robot_cameras": [
+    "base_camera",
+    "hand_camera"
+  ],
+  "output_dir": "${ROBOREEL_CKPT}/nd/pi05_video_perceptual_context_uniform",
+  "checkpoint_dir": "${OPENPI_DATA_HOME}/openpi-assets/checkpoints/pi05_base",
+  "data_dir": "${ROBOREEL_DATA}",
+  "tasks": [
+    "bowl_in_plate",
+    "close_drawer",
+    "empty_basket",
+    "open_lid",
+    "pick_cube",
+    "press_toaster",
+    "push_cube",
+    "stack_cups",
+    "toys_in_basket",
+    "toys_in_drawer"
+  ]
+}

nd/vlm_pi05/norm_stats.json

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+      3.1488277912139893,
+      2.568868398666382,
+      1.0
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+}

nd/vlm_pi05/train_config.json

@@ -0,0 +1,32 @@
+{
+  "data_root": "${ROBOREEL_DATA}",
+  "annotations": null,
+  "pretrained": "lerobot/pi05_base",
+  "output_dir": "${ROBOREEL_CKPT}/nd/lerobot_pi05_fft_vlm",
+  "robot_cameras": [
+    "base_camera",
+    "hand_camera"
+  ],
+  "include_video_types": [
+    "without_distraction"
+  ],
+  "paired_sampling": null,
+  "max_demo_index": 79,
+  "batch_size": 32,
+  "num_train_steps": 50000,
+  "lr": 2.5e-05,
+  "num_workers": 8,
+  "num_stats_samples": 5000,
+  "save_interval": 10000,
+  "log_interval": 50,
+  "device": "cuda:0",
+  "dtype": "bfloat16",
+  "gradient_checkpointing": true,
+  "train_expert_only": true,
+  "seed": 42,
+  "state_dim": 8,
+  "action_dim": 8,
+  "chunk": 20,
+  "variant": "vlm",
+  "training_method": "fft"
+}

wd/uniskill_policy/config.json

@@ -0,0 +1,321 @@
+{
+    "algo_name": "diffusion_policy",
+    "experiment": {
+        "name": "exp5_uniskill_policy_pretrained_isd/seed_0",
+        "validate": false,
+        "logging": {
+            "terminal_output_to_txt": true,
+            "log_tb": true,
+            "log_wandb": false,
+            "wandb_proj_name": "uniskill"
+        },
+        "mse": {
+            "enabled": false,
+            "every_n_epochs": 50,
+            "on_save_ckpt": true,
+            "num_samples": 20,
+            "visualize": true
+        },
+        "save": {
+            "enabled": true,
+            "every_n_seconds": null,
+            "every_n_epochs": 100,
+            "epochs": [],
+            "on_best_validation": false,
+            "on_best_rollout_return": false,
+            "on_best_rollout_success_rate": false
+        },
+        "epoch_every_n_steps": 100,
+        "validation_epoch_every_n_steps": 10,
+        "env": null,
+        "additional_envs": null,
+        "render": false,
+        "render_video": true,
+        "keep_all_videos": false,
+        "video_skip": 5,
+        "rollout": {
+            "enabled": false,
+            "n": 10,
+            "horizon": 200,
+            "rate": 100,
+            "warmstart": 0,
+            "terminate_on_success": true,
+            "batched": false,
+            "num_batch_envs": 5,
+            "idm_path": null
+        },
+        "env_meta_update_dict": {},
+        "ckpt_path": null
+    },
+    "train": {
+        "data": [
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/with_distraction/bowl_in_plate.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/with_distraction/close_drawer.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/with_distraction/empty_basket.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/with_distraction/open_lid.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/with_distraction/pick_cube.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/with_distraction/press_toaster.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/with_distraction/push_cube.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/with_distraction/stack_cups.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/with_distraction/toys_in_basket.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            },
+            {
+                "path": "${ROBOREEL_DATA}/robomimic_hdf5/with_distraction/toys_in_drawer.hdf5",
+                "horizon": 500,
+                "do_eval": false
+            }
+        ],
+        "output_dir": "${ROBOREEL_CKPT}/wd/uniskill_idm_policy_pretrained_isd/train",
+        "num_data_workers": 16,
+        "hdf5_cache_mode": "low_dim",
+        "hdf5_use_swmr": true,
+        "hdf5_load_next_obs": false,
+        "hdf5_normalize_obs": false,
+        "hdf5_filter_key": null,
+        "hdf5_validation_filter_key": null,
+        "seq_length": 15,
+        "pad_seq_length": true,
+        "frame_stack": 2,
+        "pad_frame_stack": true,
+        "dataset_keys": [
+            "actions"
+        ],
+        "action_keys": [
+            "actions"
+        ],
+        "action_config": {
+            "actions": {
+                "normalization": "min_max"
+            },
+            "action_dict/abs_pos": {
+                "normalization": "min_max"
+            },
+            "action_dict/abs_rot_axis_angle": {
+                "normalization": "min_max",
+                "format": "rot_axis_angle"
+            },
+            "action_dict/abs_rot_6d": {
+                "normalization": null,
+                "format": "rot_6d"
+            },
+            "action_dict/rel_pos": {
+                "normalization": null
+            },
+            "action_dict/rel_rot_axis_angle": {
+                "normalization": null,
+                "format": "rot_axis_angle"
+            },
+            "action_dict/rel_rot_6d": {
+                "normalization": null,
+                "format": "rot_6d"
+            },
+            "action_dict/gripper": {
+                "normalization": null
+            },
+            "action_dict/base_mode": {
+                "normalization": null
+            }
+        },
+        "goal_mode": "skill",
+        "skill_dir": "${ROBOREEL_DATA}/UniSkill_skill_representations/pretrained_robot/with_distraction",
+        "skill_aug": true,
+        "aug_num": 5,
+        "cuda": true,
+        "batch_size": 256,
+        "num_epochs": 1000,
+        "seed": 0,
+        "max_grad_norm": null,
+        "data_format": "robomimic",
+        "shuffled_obs_key_groups": null
+    },
+    "algo": {
+        "optim_params": {
+            "policy": {
+                "learning_rate": {
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+                    "decay_factor": 0.1,
+                    "epoch_schedule": [],
+                    "scheduler_type": "constant"
+                },
+                "regularization": {
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+            }
+        },
+        "horizon": {
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+            "action_horizon": 8,
+            "prediction_horizon": 16
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+        "subgoal": {
+            "enabled": false,
+            "subgoal_dim": 64
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+        "skill": {
+            "enabled": true,
+            "skill_dim": 64,
+            "dropout": false,
+            "dropout_rate": 0.2
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+        "lang": {
+            "enabled": false,
+            "lang_dim": 512
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+        "unet": {
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+            "diffusion_step_embed_dim": 256,
+            "down_dims": [
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+                512,
+                1024
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+            "kernel_size": 5,
+            "n_groups": 8
+        },
+        "ema": {
+            "enabled": true,
+            "power": 0.75
+        },
+        "language_conditioned": false,
+        "ddpm": {
+            "enabled": false,
+            "num_train_timesteps": 100,
+            "num_inference_timesteps": 100,
+            "beta_schedule": "squaredcos_cap_v2",
+            "clip_sample": true,
+            "prediction_type": "epsilon"
+        },
+        "ddim": {
+            "enabled": true,
+            "num_train_timesteps": 100,
+            "num_inference_timesteps": 10,
+            "beta_schedule": "squaredcos_cap_v2",
+            "clip_sample": true,
+            "set_alpha_to_one": true,
+            "steps_offset": 0,
+            "prediction_type": "epsilon"
+        }
+    },
+    "observation": {
+        "modalities": {
+            "obs": {
+                "low_dim": [
+                    "gripper_states",
+                    "joint_states"
+                ],
+                "rgb": [
+                    "agentview_rgb",
+                    "eye_in_hand_rgb"
+                ],
+                "depth": [],
+                "scan": []
+            },
+            "goal": {
+                "low_dim": [],
+                "rgb": [],
+                "depth": [],
+                "scan": []
+            }
+        },
+        "encoder": {
+            "low_dim": {
+                "core_class": null,
+                "core_kwargs": {},
+                "obs_randomizer_class": null,
+                "obs_randomizer_kwargs": {}
+            },
+            "rgb": {
+                "core_class": "VisualCore",
+                "core_kwargs": {
+                    "feature_dimension": 64,
+                    "backbone_class": "ResNet18Conv",
+                    "backbone_kwargs": {
+                        "pretrained": false,
+                        "input_coord_conv": false
+                    },
+                    "pool_class": "SpatialSoftmax",
+                    "pool_kwargs": {
+                        "num_kp": 32,
+                        "learnable_temperature": false,
+                        "temperature": 1.0,
+                        "noise_std": 0.0
+                    }
+                },
+                "obs_randomizer_class": "CropRandomizer",
+                "obs_randomizer_kwargs": {
+                    "crop_height": 116,
+                    "crop_width": 116,
+                    "num_crops": 1,
+                    "pos_enc": false
+                }
+            },
+            "depth": {
+                "core_class": "VisualCore",
+                "core_kwargs": {},
+                "obs_randomizer_class": null,
+                "obs_randomizer_kwargs": {}
+            },
+            "scan": {
+                "core_class": "ScanCore",
+                "core_kwargs": {},
+                "obs_randomizer_class": null,
+                "obs_randomizer_kwargs": {}
+            }
+        }
+    },
+    "meta": {
+        "hp_base_config_file": "robomimic/exps/templates/diffusion_policy.json",
+        "hp_keys": [
+            "seed",
+            "ds",
+            "ac_keys",
+            "obsrandargs"
+        ],
+        "hp_values": [
+            0,
+            "lfo_benchmark",
+            "abs_acs",
+            {
+                "crop_height": 116,
+                "crop_width": 116,
+                "num_crops": 1,
+                "pos_enc": false
+            }
+        ]
+    }
+}

wd/vid2robot/action_codec.json

@@ -0,0 +1,23 @@
+{
+  "low": [
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+    -0.9074699282646179,
+    -1.9713101387023926,
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+    -1.100000023841858
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+    1.7781084775924683,
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+    2.1470372676849365,
+    3.486584424972534,
+    2.9618430137634277,
+    1.100000023841858
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+  "num_bins": 256
+}

wd/vid2robot/train_config.json

@@ -0,0 +1,41 @@
+{
+  "data_root": "${ROBOREEL_DATA}",
+  "samples_subdir": "postprocessed_robot_trajectories",
+  "tasks": [
+    "bowl_in_plate",
+    "close_drawer",
+    "empty_basket",
+    "open_lid",
+    "pick_cube",
+    "press_toaster",
+    "push_cube",
+    "stack_cups",
+    "toys_in_basket",
+    "toys_in_drawer"
+  ],
+  "include_video_types": [
+    "with_distraction"
+  ],
+  "max_demo_index": 79,
+  "robot_camera": "base_camera",
+  "image_size": 224,
+  "num_prompt_frames": 16,
+  "num_state_frames": 8,
+  "chunk_size": 4,
+  "num_bins": 256,
+  "action_dim": 8,
+  "batch_size": 32,
+  "gradient_checkpointing": true,
+  "grad_accum": 1,
+  "learning_rate": 0.0003,
+  "final_learning_rate": 1e-06,
+  "warmup_steps": 2000,
+  "weight_decay": 0.05,
+  "num_train_steps": 50000,
+  "save_interval": 10000,
+  "log_interval": 100,
+  "num_workers": 4,
+  "fake_text": false,
+  "output_dir": "${ROBOREEL_CKPT}/wd/vid2robot",
+  "seed": 42
+}

wd/vid_cond_pi05_keyframes/20000/_CHECKPOINT_METADATA

@@ -0,0 +1 @@
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wd/vid_cond_pi05_keyframes/20000/params/_METADATA

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wd/vid_cond_pi05_keyframes/20000/params/array_metadatas/process_0

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wd/vid_cond_pi05_keyframes/demonstration_config.txt

@@ -0,0 +1 @@
+perceptual-keyframe-context.yaml

wd/vid_cond_pi05_keyframes/train_config.json

@@ -0,0 +1,44 @@
+{
+  "demonstration_config": "perceptual-keyframe-context.yaml",
+  "use_demonstration": true,
+  "prompt": "complete the task",
+  "batch_size": 64,
+  "num_train_steps": 50000,
+  "peak_lr": 5e-05,
+  "warmup_steps": 1000,
+  "ema_decay": 0.999,
+  "grad_clip": 1.0,
+  "seed": 43,
+  "fsdp_devices": 1,
+  "log_interval": 50,
+  "save_interval": 5000,
+  "wandb": false,
+  "lfo_max_demo_index": 79,
+  "include_video_types": [
+    "with_distraction"
+  ],
+  "paired_sampling": null,
+  "keyframe_annotation_dir": "${ROBOREEL_DATA}/bpp_keyframe_annotations",
+  "demo_cameras": [
+    "front"
+  ],
+  "robot_cameras": [
+    "base_camera",
+    "hand_camera"
+  ],
+  "output_dir": "${ROBOREEL_CKPT}/wd/pi05_video_perceptual_context_bpp",
+  "checkpoint_dir": "${OPENPI_DATA_HOME}/openpi-assets/checkpoints/pi05_base",
+  "data_dir": "${ROBOREEL_DATA}",
+  "tasks": [
+    "bowl_in_plate",
+    "close_drawer",
+    "empty_basket",
+    "open_lid",
+    "pick_cube",
+    "press_toaster",
+    "push_cube",
+    "stack_cups",
+    "toys_in_basket",
+    "toys_in_drawer"
+  ]
+}

wd/vid_cond_pi05_uniform/49999/_CHECKPOINT_METADATA

@@ -0,0 +1 @@
+{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1779676425789171874, "commit_timestamp_nsecs": 1779676436693444114, "custom_metadata": {}}

wd/vid_cond_pi05_uniform/49999/params/_METADATA

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wd/vid_cond_pi05_uniform/49999/params/array_metadatas/process_0

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wd/vid_cond_pi05_uniform/demonstration_config.txt

@@ -0,0 +1 @@
+perceptual-framesamp-context.yaml

wd/vid_cond_pi05_uniform/train_config.json

@@ -0,0 +1,43 @@
+{
+  "demonstration_config": "perceptual-framesamp-context.yaml",
+  "use_demonstration": true,
+  "prompt": "complete the task",
+  "batch_size": 64,
+  "num_train_steps": 50000,
+  "peak_lr": 5e-05,
+  "warmup_steps": 1000,
+  "ema_decay": 0.999,
+  "grad_clip": 1.0,
+  "seed": 42,
+  "fsdp_devices": 1,
+  "log_interval": 50,
+  "save_interval": 10000,
+  "wandb": false,
+  "lfo_max_demo_index": 79,
+  "include_video_types": [
+    "with_distraction"
+  ],
+  "paired_sampling": null,
+  "demo_cameras": [
+    "front"
+  ],
+  "robot_cameras": [
+    "base_camera",
+    "hand_camera"
+  ],
+  "output_dir": "${ROBOREEL_CKPT}/wd/pi05_video_perceptual_context_uniform",
+  "checkpoint_dir": "${OPENPI_DATA_HOME}/openpi-assets/checkpoints/pi05_base",
+  "data_dir": "${ROBOREEL_DATA}",
+  "tasks": [
+    "bowl_in_plate",
+    "close_drawer",
+    "empty_basket",
+    "open_lid",
+    "pick_cube",
+    "press_toaster",
+    "push_cube",
+    "stack_cups",
+    "toys_in_basket",
+    "toys_in_drawer"
+  ]
+}

wd/vlm_pi05/050000/config.json

@@ -0,0 +1,92 @@
+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.base_camera": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.hand_camera": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                8
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                8
+            ]
+        }
+    },
+    "device": "cuda:0",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "lerobot/pi05_base",
+    "paligemma_variant": "gemma_2b",
+    "action_expert_variant": "gemma_300m",
+    "dtype": "bfloat16",
+    "chunk_size": 20,
+    "n_action_steps": 20,
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "num_inference_steps": 10,
+    "time_sampling_beta_alpha": 1.5,
+    "time_sampling_beta_beta": 1.0,
+    "time_sampling_scale": 0.999,
+    "time_sampling_offset": 0.001,
+    "min_period": 0.004,
+    "max_period": 4.0,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [
+        "gripper"
+    ],
+    "action_feature_names": null,
+    "rtc_config": null,
+    "image_resolution": [
+        224,
+        224
+    ],
+    "empty_cameras": 0,
+    "tokenizer_max_length": 200,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "QUANTILES",
+        "ACTION": "QUANTILES"
+    },
+    "gradient_checkpointing": true,
+    "compile_model": false,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": true,
+    "optimizer_lr": 2.5e-05,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 0.01,
+    "optimizer_grad_clip_norm": 1.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06
+}

wd/vlm_pi05/norm_stats.json

@@ -0,0 +1,126 @@
+{
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+}

wd/vlm_pi05/train_config.json

@@ -0,0 +1,32 @@
+{
+  "data_root": "${ROBOREEL_DATA}",
+  "annotations": null,
+  "pretrained": "lerobot/pi05_base",
+  "output_dir": "${ROBOREEL_CKPT}/wd/lerobot_pi05_fft_vlm",
+  "robot_cameras": [
+    "base_camera",
+    "hand_camera"
+  ],
+  "include_video_types": [
+    "with_distraction"
+  ],
+  "paired_sampling": null,
+  "max_demo_index": 79,
+  "batch_size": 32,
+  "num_train_steps": 50000,
+  "lr": 2.5e-05,
+  "num_workers": 8,
+  "num_stats_samples": 5000,
+  "save_interval": 10000,
+  "log_interval": 50,
+  "device": "cuda:0",
+  "dtype": "bfloat16",
+  "gradient_checkpointing": true,
+  "train_expert_only": true,
+  "seed": 42,
+  "state_dim": 8,
+  "action_dim": 8,
+  "chunk": 20,
+  "variant": "vlm",
+  "training_method": "fft"
+}