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metadata 
license: mit
tags:
  - robotics
  - oat
  - robocasa

RoboCasa last-two policies + tokenizers

Datasets + Wave1 logs: hackhackhack66666/rc-last-two

Guides (branch robocasa):

Inventory

File Role
policies/robocasa_turn_off_sink_faucet_topk_ep0500_sr0.580.ckpt locked TopK policy (sink)
policies/robocasa_turn_off_sink_faucet_topk_lock.txt lock metadata
policies/robocasa_turn_off_microwave_topk_ep0500_sr0.620.ckpt locked TopK policy (microwave)
policies/robocasa_turn_off_microwave_topk_lock.txt lock metadata
tokenizers/sink_ep-3080_mse-0.002.ckpt frozen OAT tokenizer
tokenizers/microwave_ep-2720_mse-0.002.ckpt frozen OAT tokenizer

Mentee: enough for AWR16?

Yes, together with rc-last-two (zarr + full Wave1 baselines for both tasks):

  1. Copy policies → my_models/
  2. Place tokenizers at the paths in the guides (output/20260720/.../checkpoints/)
  3. Untar zarrs → data/robocasa/
  4. Rsync wave1_* → output/eval/matched_s10000/robocasa/<task>/
  5. Follow guide: BoN16/32 eval → collect --bon_n 16 → train --epochs 100

Wave1 BoN8 for microwave may still be running — not required to start AWR16.