---
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).