| { | |
| "model_name": "SimpleTouch", | |
| "format": "simpletouch_inference_bundle", | |
| "format_version": 1, | |
| "checkpoint_step": 20000, | |
| "task_checkpoints": { | |
| "lift_bottle": {"path": "lift_bottle/global_step_20000", "execution_horizon": 50}, | |
| "pull_out_key": {"path": "pull_out_key/global_step_20000", "execution_horizon": 50}, | |
| "lift_can": {"path": "lift_can/global_step_20000", "execution_horizon": 50}, | |
| "put_bottle_in_shelf": {"path": "put_bottle_in_shelf/global_step_20000", "execution_horizon": 50}, | |
| "insert_hole": {"path": "insert_hole/global_step_20000", "execution_horizon": 25}, | |
| "insert_tube": {"path": "insert_tube/global_step_20000", "execution_horizon": 25} | |
| }, | |
| "checkpoint_files": [ | |
| "actor/model_state_dict/full_weights.pt", | |
| "config.yaml", | |
| "norm_stats.json", | |
| "_SUCCESS" | |
| ] | |
| } | |