| language: | |
| - en | |
| tags: | |
| - robotics | |
| - vision-language-action | |
| - rsci | |
| # RSCI checkpoints | |
| Full 40,000-step training checkpoints for Rethinking State Conditioning in Vision-Language-Action Models. | |
| ## Layout | |
| `newcheckpoint/<architecture>/<model>/<task>/<vlm-mode>/<run>/` | |
| - Architecture: `Psi0`. | |
| - Models: `STATE`, `NO-STATE`, `VGQ-AE`, `(VGQ-AE-D)`; further variants retain their own names. | |
| - Tasks: `betweentables`, `hug`, `oven`, `faucet`, `xmovepick`, `handover`. | |
| - VLM mode: `frozen` or `lora`. | |
| Each published run includes `checkpoints/ckpt_40000/` with model weights, optimizer, scheduler and all distributed-rank random states, plus training configuration, launch contract and a SHA256 manifest. Runs and tasks are kept separate. Earlier intermediate checkpoints, training datasets and evaluation videos are not included. | |
| The accompanying configurations identify the actual model, data and source version. Checkpoint publication does not assert an evaluation success rate. See each run's manifest for provenance and exact file hashes. | |