| --- |
| license: mit |
| pretty_name: EPCC checkpoints and data |
| tags: |
| - robotics |
| - world-model |
| - model-predictive-control |
| - diffusion |
| - imitation-learning |
| --- |
| |
| # EPCC: checkpoints and data |
|
|
| Checkpoints, evaluation datasets and published run directories for |
| **Expert-Play Contouring Control: Faster-than-Demonstration Planning from Slow Expert and Fast Play** |
| ([arXiv:2609.22798](https://arxiv.org/abs/2609.22798)). |
| Code: [github.com/epcc-robotics/epcc](https://github.com/epcc-robotics/epcc). |
|
|
| ## Download |
|
|
| ```bash |
| hf download epcc-robotics/epcc --repo-type dataset --local-dir epcc_data # about 100 GB |
| export STABLEWM_HOME=$PWD/epcc_data/data # read by every evaluation cell |
| export EPCC_PUBLISHED=$PWD/epcc_data/published_runs # read by the Table I / II scorers |
| ``` |
|
|
| To rescore the paper's runs without running any policy, download only `published_runs/` (about 200 MB): |
|
|
| ```bash |
| hf download epcc-robotics/epcc --repo-type dataset --local-dir epcc_data --include "published_runs/*" |
| ``` |
|
|
| ## Contents |
|
|
| `data/` is the `STABLEWM_HOME` tree that the paper's evaluation cells |
| (`config/eval/cells/paper/` in the code repository) reference. `docs/DATA.md` in the code |
| repository lists every file with the cells that use it. File names are the ones the cells |
| were run with. |
|
|
| | Path | Contents | |
| |---|---| |
| | `data/checkpoints/agg_plainM2_object.ckpt`, `agg_slipM1_object.ckpt`, `agg_slipM2_object.ckpt`, `agg_cubeM2_object.ckpt` | EPCC world models (PushT, Slippery-PushT, Cube), Table I and II | |
| | `data/checkpoints/dtg/` | contour generators (latent diffusion, one per task), Table I and II, Fig. 4, data scaling | |
| | `data/checkpoints/pusht_wm/`, `slippery_pusht/lewm/`, `cube_wm/` | base world models referenced by the baseline cells (`pusht_wm/lewm_object.ckpt` is the public LeWM PushT checkpoint) | |
| | `data/checkpoints/dp/`, `skip/`, `sail/`, `data/cube/dp/`, `data/cube/sail/` | Diffusion Policy, SkiP and SAIL baselines | |
| | `data/{pusht,slippery_pusht,cube}/sup/` | SuP baseline (ADM models and IQL gate) | |
| | `data/pusht_invdyn/`, `data/slippery_pusht/invdyn_base/`, `data/cube/invdyn/` | inverse-dynamics models (Table II) | |
| | `data/checkpoints/fricd0*0_object.ckpt`, `data/checkpoints/friction/` | world models and contour generators per friction level, Fig. 3a | |
| | `data/checkpoints/f4cold/`, `wm_demoonly/`, `wm_playsub/` | world models of the data-composition study, Fig. 4 | |
| | `data/checkpoints/scaling/` | world models of the data-scaling study (appendix) | |
| | `data/datasets/` | evaluation datasets: slow expert demonstrations for PushT, Slippery-PushT and Cube (initial states and goals) | |
| | `data/slippery_pusht/data/`, `data/{pusht,cube}/latents/` | demonstration sets and their latent encodings used by the contour generators | |
| | `data/{pusht,slippery_pusht,cube}/sail/awe/` | SAIL waypoint labels | |
| | `data/stats/` | observation / action scaler statistics of each world model's training corpus (the corpora themselves are not included) | |
| | `published_runs/findings/260907_final_dtg_s1_warm/` | Table I (EPCC, Play+Goal) and Table II run directories and scores | |
| | `published_runs/findings/261023_sup_robot/` | Table I SuP run directories and scores | |
| | `published_runs/findings/260521_baseline_setup/` | baseline run directories read by the Table I scorer (Diffusion Policy, SkiP, SAIL at each k, SuP) | |
|
|
| Each run directory holds `rollout_traj.npz` (states, actions and success flags of every |
| episode), `meta.json` (the resolved configuration), the harness's `results.json` and, depending on |
| the policy, control-timing traces and candidate decisions. The paper's |
| success rates come from the scorers in the code repository (`paper/common/score_runs.py`), not |
| from `results.json`. |
|
|
| Absolute paths recorded in configurations, checkpoint metadata and HDF5 attributes were shortened to |
| `${STABLEWM_HOME}/…`, `${REPO}/…` and `${TMPDIR}/…`, and the experiment-logging account name was |
| replaced by `<wandb-entity>`; the paths document provenance and need not match this layout. The |
| SAIL label files (`data/*/sail/awe/*.h5`) keep HDF5 external links to the images of the |
| demonstration file they were labelled from; that file is not included and evaluation does not |
| read these links. |
|
|
| ## License |
|
|
| MIT, as the code. The PushT world models build on the |
| [LeWorldModel](https://github.com/lucas-maes/le-wm) PushT checkpoint (MIT). |
|
|
| ``` |
| Copyright (c) 2026 Lucas Maes |
| Copyright (c) 2026 the EPCC authors |
| |
| Permission is hereby granted, free of charge, to any person obtaining a copy |
| of this software and associated documentation files (the "Software"), to deal |
| in the Software without restriction, including without limitation the rights |
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| copies of the Software, and to permit persons to whom the Software is |
| furnished to do so, subject to the following conditions: |
| |
| The above copyright notice and this permission notice shall be included in all |
| copies or substantial portions of the Software. |
| |
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE |
| SOFTWARE. |
| ``` |
|
|
| ## Citation |
|
|
| ```bibtex |
| @article{cho2026epcc, |
| title={Expert-Play Contouring Control: Faster-than-Demonstration Planning from Slow Expert and Fast Play}, |
| author={Seunghoon Cho and Wonsuhk Jung and Sundhar Vinodh Sangeetha and Shreyas Kousik}, |
| journal={arXiv preprint arXiv:2609.22798}, |
| year={2026} |
| } |
| ``` |
|
|
