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 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 lists every file with its path, size and
SHA-256.
Download
From the root of a trainnr checkout:
uvx --from huggingface_hub hf download trainnr/trainnr-artifacts \
--repo-type dataset --include "docs/*" --local-dir .
Then check the files against the manifest:
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.