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license: apache-2.0
pretty_name: trainnr research artifacts
tags:
- robotics
- reinforcement-learning
- mujoco
- system-identification
size_categories:
- n<1K
---
# trainnr research artifacts
The model checkpoints (`*.pt`) and study logs (`*.log`) that the
[trainnr](https://github.com/Trainnr-AI/trainnr) findings records cite. They are
not in the code repository: they would add over 100 MB to every clone and plugin
install.
Each file sits at the path it has in the repository (`docs/artifacts/...`), so
downloading this dataset into a checkout's root puts every file where a record
expects it. [`MOVED.tsv`](MOVED.tsv) lists every file with its path, size and
SHA-256.
## Download
From the root of a trainnr checkout:
```sh
uvx --from huggingface_hub hf download trainnr/trainnr-artifacts \
--repo-type dataset --include "docs/*" --local-dir .
```
Then check the files against the manifest:
```sh
grep -v '^#' docs/artifacts/MOVED.tsv | awk -F'\t' '{print $3" "$1}' | sha256sum -c
```
## What is here
- `docs/artifacts/walk-c1/`: the final checkpoint (`model_7999.pt`) of each of
the 15 arms of the microduck walk-c1 study (point, narrow, wide, identified
and point-refit, three seeds each).
- `docs/artifacts/lift-studies/`: the study logs of the SO-101 lift studies.
- `docs/artifacts/dagger/`: the DAgger round's data generation log.
Every run's `identity.json` in the repository names its robot, actuator and fit
by their stamps.
A `.pt` file is a Python pickle: load it with
`torch.load(path, weights_only=True)`, as trainnr does.
## Licence
These files are part of trainnr and are licensed under the Apache License 2.0
(see `LICENSE`). Revisions made available alongside trainnr releases up to and
including 0.2.0-rc.2 were under the Functional Source License, Version 1.1, ALv2
Future License.
The microduck checkpoints were trained on Pollen Robotics' microduck model
(Apache-2.0; its meshes are Creative Commons BY-NC-SA) with BAM actuator fits
(Rhoban, Apache-2.0). Third-party material is listed in the repository's
[NOTICE](https://github.com/Trainnr-AI/trainnr/blob/main/NOTICE).
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