RoboCasa coffee — OAT TopK policy + tokenizer
Handoff artifacts for mentee BoN16/32 + AWR on coffee_press_button (branch robocasa).
Files
| Path | Role |
|---|---|
policies/robocasa_coffee_press_button_topk_ep0500_sr0.600.ckpt |
BASE_CKPT (TopK @ selection seed 2000, ep 500, SR 0.60) |
policies/robocasa_coffee_press_button_topk_lock.txt |
lock metadata |
tokenizers/coffee_ep-1940_mse-0.003.ckpt |
frozen task tokenizer (loaded via policy) |
Protocol
See repo guide oat/AGENT_GUIDE_ROBOCASA_COFFEE_BON16_AWR.md in Mirageinvo/OAT_BLT_research (robocasa branch).
- Report seeds: literal 5 ×
10000…10004(-n 1,n_test=50) - AWR: collect
--bon_n 16, train--epochs 100 - Env:
.venv_robocasa(robosuite 1.5),MUJOCO_GL=egl
Wave1 baseline + BoN8 eval logs / zarr: separate dataset repo (not this model repo).