| --- |
| license: mit |
| tags: |
| - robotics |
| - flow-matching |
| - libero |
| - robotwin |
| --- |
| |
| # RoboActualizer checkpoints |
|
|
| Checkpoints of Roboactualizer, a joint image/action flow-matching policy on a frozen V-JEPA 2.1 ViT-L/16 encoder. |
| Code, environments and full instructions: the Roboactualizer repository. |
|
|
| | Folder | Model | Benchmark | Inference | Result | Eval config | |
| |---|---|---|---|---|---| |
| | `libero_dits/` | DiT-S, step 173580 | LIBERO (4 suites x 10 tasks x 50) | 4 steps, no CFG, bf16 | 98.00 | `eval_libero_dits` | |
| | `libero_dits/` | DiT-S, step 173580 | LIBERO-Plus (10,030 tasks x 1) | 4 steps, action text-CFG 1.5, bf16 | 63.1 | `eval_libero_plus_dits` | |
| | `libero_ditb/` | DiT-B, step 130185 | LIBERO-Plus (10,030 tasks x 1) | 4 steps, action text-CFG 1.5, bf16 | 65.0 | `eval_libero_plus_ditb` | |
| | `robotwin_dits_fp32/` | DiT-S, fp32 weights, step 176540 | RoboTwin 2.0 (50 tasks x clean/randomized x 25) | 10 steps, no CFG, fp32 | 58.84 | `eval_robotwin_dits` | |
|
|
| Each folder holds the checkpoint, the `dataset_stats.json` used for action/state normalization (keep it next to the |
| checkpoint; evaluation looks for it there) and the training `config.yaml`. `SHA256SUMS` lists file hashes. |
|
|
| All checkpoints use the 300M V-JEPA 2.1 encoder: |
| `https://dl.fbaipublicfiles.com/vjepa2/vjepa2_1_vitl_dist_vitG_384.pt`, saved as |
| `checkpoints/vjepa2/vjepa2_1_vit_large_384.pt` in the code repository. |
|
|
| ## Usage |
|
|
| ```bash |
| huggingface-cli download db12312607/RoboActualizer --exclude "data/*" --local-dir checkpoints/roboactualizer |
| |
| # from the code repository root |
| python experiments/libero/run_libero_manager.py --config-name eval_libero_dits \ |
| ckpt=checkpoints/roboactualizer/libero_dits/step_173580.pt |
| bash experiments/libero/run_libero_plus.sh --config-name=eval_libero_plus_ditb \ |
| ckpt=checkpoints/roboactualizer/libero_ditb/step_130185.pt |
| python experiments/robotwin/run_robotwin_manager.py --config-name eval_robotwin_dits \ |
| ckpt=checkpoints/roboactualizer/robotwin_dits_fp32/step_176540.pt |
| ``` |
|
|
