RoboCasa Kitchen checkpoints
Layout: model-version / method-family / exact-run-name / checkpoint-step.
Full N1.5 checkpoints include model, configuration, optimizer, scheduler, RNG and trainer state. 40K checkpoints are intermediate snapshots with a 60K target. Run-root files and final model exports are preserved separately under run_root/.
Author-provided checkpoints remain under n1.5/reference/author-provided/.
| Version | Family | Run | Step | Kind | Files | GB | Resume | Path |
|---|---|---|---|---|---|---|---|---|
| n1.5 | action-direct | CSN_RawPhysicalActionOnly_RKDD_DirectToken_N1d5_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.199 | true | checkpoint |
| n1.5 | baseline | Baseline_RoboCasaKitchen_N1d5_Full_BS64_60K | 60000 | trained | 10 | 16.138 | true | checkpoint |
| n1.5 | baseline | Baseline_RoboCasaKitchen_N1d5_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.137 | true | checkpoint |
| n1.5 | baseline | Baseline_RoboCasaKitchen_N1d5_ZeroLength_N17OfficialShard1024_BS64_60K | 60000 | trained | 10 | 16.137 | true | checkpoint |
| n1.5 | combined-loss | N15_RoboCasa_Combined_run1_task_BS64_60K_20260924 | 60000 | trained | 10 | 16.138 | true | checkpoint |
| n1.5 | combined-loss | N15_RoboCasa_Combined_run2_task_state_BS64_60K_20260924 | 60000 | trained | 10 | 16.139 | true | checkpoint |
| n1.5 | combined-loss | N15_RoboCasa_Combined_run3_task_action_BS64_60K_20260924 | 40000 | remote-existing | 10 | 16.138 | true | checkpoint |
| n1.5 | combined-loss | N15_RoboCasa_Combined_run3_task_action_BS64_60K_20260924 | 60000 | trained | 10 | 16.139 | true | checkpoint |
| n1.5 | direct-token | CSN_RawPhysicalDual_RKDD_DirectToken_BottleneckP50_N1d5_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.258 | true | checkpoint |
| n1.5 | direct-token | CSN_RawPhysicalDual_RKDD_DirectToken_HTokenwiseBottleneckP50_N1d5_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.259 | true | checkpoint |
| n1.5 | direct-token | CSN_RawPhysicalDual_RKDD_DirectToken_Mismatch_N1d5_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.263 | true | checkpoint |
| n1.5 | direct-token | CSN_RawPhysicalDual_RKDD_DirectToken_N1d5_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.258 | true | checkpoint |
| n1.5 | direct-token | CSN_RawPhysicalDual_RKDD_FullHOnly_N1d5_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.258 | true | checkpoint |
| n1.5 | factorized | N15_HStock_Joint6Q_DirectQ_FactorizedJoint_Cosine0p5To0_BS64_60K | 60000 | trained | 10 | 16.211 | true | checkpoint |
| n1.5 | factorized | N15_HStock_Joint6Q_DirectQ_FactorizedJoint_Lambda1_BS64_60K | 60000 | trained | 10 | 16.211 | true | checkpoint |
| n1.5 | factorized | N15_HStock_Joint6Q_DirectQ_FactorizedRelation_BS64_60K | 60000 | trained | 11 | 16.210 | true | checkpoint |
| n1.5 | factorized | N15_HStock_Joint6Q_DirectQ_FullRelation_BS64_60K | 60000 | trained | 10 | 16.210 | true | checkpoint |
| n1.5 | raw-physical-dual | CSN_RawPhysicalDual_RKDD_N1d5_Full_BS64_60K_N17OfficialShard1024 | 60000 | trained | 10 | 16.252 | true | checkpoint |
| n1.5 | raw-physical-dual | CSN_RawPhysicalDual_RKDD_N1d5_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.252 | true | checkpoint |
| n1.5 | raw-physical-dual | CSN_RawPhysicalDual_RotScale05_20_RKDD_N1d5_Full_BS64_60K_N17OfficialShard1024 | 60000 | trained | 10 | 16.252 | true | checkpoint |
| n1.5 | raw-physical-dual | CSN_RawPhysicalDual_RotScale05_20_RKDD_N1d5_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.252 | true | checkpoint |
| n1.5 | reference/author-provided/baseline | gr00t_n1_5_max60k_baseline_bs64_rc300 | 60000 | author-provided | 10 | 7.587 | false | checkpoint |
| n1.5 | reference/author-provided/rscl | gr00t_n1_5_max60k_rscl_rc300 | 60000 | author-provided | 10 | 7.613 | false | checkpoint |
| n1.5 | rotation-split | N15_RoboCasa_ActionOnly_RotationSplit_A256_BS64_60K_20260927 | 60000 | trained | 10 | 16.191 | true | checkpoint |
| n1.5 | rotation-split | N15_RoboCasa_StateAction_RotationSplit_S256_A256_BS64_60K_20260927 | 60000 | trained | 10 | 16.192 | true | checkpoint |
| n1.5 | rscl | RSCL_N1d5_PaperNative_Tau01_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.194 | true | checkpoint |
| n1.5 | rscl | RSCL_N1d5_PaperNative_ZeroLength_Full_BS64_60K_Tau002 | 60000 | trained | 10 | 16.194 | true | checkpoint |
| n1.5 | rscl | RSCL_N1d5_PhysicalMinMaxXYZW_ZeroLength_Full_BS64_60K_Tau002 | 60000 | trained | 10 | 16.194 | true | checkpoint |
| n1.5 | rscl | RSCL_N1d5_WeightedState_P1_R0p1_G0p5_Tau01_BatchWiseCut_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.196 | true | checkpoint |
| n1.5 | rscl | RSCL_N1d5_WeightedState_P1_R0p1_G0p5_Tau01_SampleWiseCut_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.196 | true | checkpoint |
| n1.5 | state-direct | CSN_RawPhysicalStateOnly_RKDD_DirectToken_StateW1_R0p1_G0p5_N1d5_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.200 | true | checkpoint |
| n1.5 | state-honly | CSN_RawPhysicalStateOnly_RKDD_HOnly_Unmasked_BatchRelCut_StateW1_R0p1_G0p5_N1d5_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.205 | true | checkpoint |
| n1.5 | state-honly | CSN_RawPhysicalStateOnly_RKDD_HOnly_Unmasked_NoCut_StateW1_R0p1_G0p5_N1d5_ZeroLength_Full_BS64_60K | 60000 | trained | 10 | 16.200 | true | checkpoint |
| n1.5 | state-subspace | N15_RoboCasa_StateOnly_ProjectionSubspace_D256_BS64_60K_20260925 | 60000 | trained | 10 | 16.146 | true | checkpoint |
| n1.5 | state-subspace | N15_RoboCasa_StateOnly_RotationSplit_D256_BS64_60K_20260925 | 60000 | trained | 10 | 16.190 | true | checkpoint |
| n1.5 | vision-ft | Baseline_FullVision_Connector_FMOnly_RoboCasaKitchen_N1d5_Full_BS64_60K | 60000 | trained | 10 | 17.859 | true | checkpoint |
| n1.5 | vision-ft | Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K | 60000 | trained | 10 | 17.859 | true | checkpoint |
| n1.5 | vision-ft | Baseline_Last4Vision_Connector_FMOnly_RoboCasaKitchen_N1d5_Full_BS64_60K | 40000 | trained-intermediate | 10 | 16.391 | true | checkpoint |
| n1.5 | vision-ft | Baseline_VisionLoRAAllR32_Connector_FMOnly_RoboCasaKitchen_N1d5_Full_BS64_60K | 60000 | trained | 10 | 16.361 | true | checkpoint |
| n1.5 | vision-ft | Baseline_VisionLoRAAllR32_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K | 60000 | trained | 10 | 16.361 | true | checkpoint |
| n1.7 | baseline | Baseline_RoboCasaKitchen_N1d7_Full_BS64_60K_AfterPatch | 60000 | trained | 20 | 25.549 | true | checkpoint |
| n1.7 | baseline | baseline_n17_rldxcfg_bs64_60k_sd0_20260804 | 60000 | trained-inference-only | 13 | 12.583 | false | checkpoint |
| n1.7 | csn | CSN_DualToken_RKDD_W1p0_1p0_N1d7_Full_BS64_60K_AfterPatch | 60000 | trained | 20 | 25.664 | true | checkpoint |
| n1.7 | csn | CSN_JointShared_N1d7_Full_BS64_60K_Tau002 | 60000 | trained | 20 | 25.607 | true | checkpoint |
| n1.7 | csn | CSN_JointShared_N1d7_Full_BS64_60K_Tau002_BetaA03 | 60000 | trained | 20 | 25.607 | true | checkpoint |
| n1.7 | csn | CSN_JointSubspace_N1d7_Full_BS64_60K_Tau002 | 60000 | trained | 20 | 25.611 | true | checkpoint |
| n1.7 | csn | CSN_JointSubspace_N1d7_Full_BS64_60K_Tau002_BetaA03 | 60000 | trained | 20 | 25.611 | true | checkpoint |
| n1.7 | csn | CSN_ParityState_AllOne_N1d7_Full_BS64_60K_Tau002 | 60000 | trained | 20 | 25.606 | true | checkpoint |
| n1.7 | csn | CSN_StateOnly_N1d7_Full_BS64_60K_Tau002 | 60000 | trained | 20 | 25.608 | true | checkpoint |
| n1.7 | objective | CSN_DISTPearson_N1d7_Full_BS64_60K | 60000 | trained | 20 | 25.614 | true | checkpoint |
| n1.7 | objective | CSN_HardDarkRank_N1d7_Full_BS64_60K | 60000 | trained | 20 | 25.615 | true | checkpoint |
| n1.7 | objective | CSN_MarginHuber_N1d7_Full_BS64_60K | 60000 | trained | 20 | 25.613 | true | checkpoint |
| n1.7 | objective | CSN_RKDD_N1d7_Full_BS64_60K | 60000 | trained | 20 | 25.613 | true | checkpoint |
| n1.7 | objective | CSN_SoftDistanceCE_N1d7_Full_BS64_60K | 60000 | trained | 20 | 25.610 | true | checkpoint |
| n1.7 | rscl | RSCL_N1d7_Full_BS64_60K | 60000 | trained | 21 | 25.604 | true | checkpoint |
| n1.7 | rscl | RSCL_N1d7_Full_BS64_60K_Tau002_AfterPatch | 60000 | trained | 20 | 25.604 | true | checkpoint |
Machine-readable inventory: index.jsonl.
Full N1.5 archive: _archive/n15_20260927/manifest.json.
Latest N1.5 entries were checked against live local sources by required paths, bytes and Git/LFS hashes. Existing inference manifests remain as auxiliary files. Historical entries retain their recorded verification.