| --- |
| license: mit |
| tags: |
| - robotics |
| - vlabench |
| - pi0.5 |
| - race2 |
| --- |
| |
| # RACE2 on VLABench — checkpoints and data |
|
|
| Artifacts of the RACE2 (transition-aware fine-tuning of pi0.5) experiments on the VLABench |
| primitive tasks. Code: [Seonghoon-Yu/VLABench](https://github.com/Seonghoon-Yu/VLABench). |
|
|
| ## Data |
|
|
| | folder | contents | |
| |---|---| |
| | `data/vlabench_phase_5000/` | 5,000 freshly generated expert demonstrations (500 per task, LeRobot v2.0, same schema as `SeonghoonYu/vlabench_primitive_ft_lerobot_224`) with **generator-logged transition labels**: `labels/vlabench_phase_cps.npz` (reference phase boundaries, 4.49/ep) and `labels/vlabench_phase_pelt.npz` (PELT labels on the same episodes, 3.81/ep). See [`data/vlabench_phase_5000/README.md`](data/vlabench_phase_5000/README.md). | |
|
|
| The original training set (5,000 episodes, PELT labels) is `SeonghoonYu/vlabench_primitive_ft_lerobot_224`. |
|
|
| ## Checkpoints |
|
|
| | folder | run | |
| |---|---| |
| | `teacher_official/` | pi0.5 VLABench teacher (official) | |
| | `plainft_h{10,15,20,25,30}_40k/` | PlainFT baseline, action horizon H, 40k steps | |
| | `h{10,15,20,25,30,35}_40k/` | RACE2, action horizon H, 40k steps | |
| | `acot_h{10,20}_40k/` | ACoT-VLA reproduction (JAX/orbax checkpoint; see its README) | |
| | `ablation/abl_*_h20_40k/` | RACE2 ablations at H20 (actionhead, nojitter, notf, speedcp, timing_only, vlmhead, …) | |
| | `h25_support/`, `h30_h35_support/` | openpi overlays (configs, CPS assets, serving entrypoint) needed to load the H25 / H30–H35 checkpoints | |
|
|
| Each run folder carries its `assets/` (norm stats), weights, and where available `README.md`, |
| `training_config.json`, `provenance.json` and `logs/`. |
|
|
| ## Download |
|
|
| ```python |
| from huggingface_hub import snapshot_download |
| snapshot_download("SeonghoonYu/RACE2_vlabench", allow_patterns="data/vlabench_phase_5000/*", |
| local_dir="/path/to/lerobot/SeonghoonYu") # -> .../SeonghoonYu/data/vlabench_phase_5000 |
| ``` |
|
|
