| --- |
| license: mit |
| tags: |
| - robotics |
| - oat |
| - robocasa |
| --- |
| |
| # RoboCasa last-two policies + tokenizers |
|
|
| Datasets + Wave1 logs: [`hackhackhack66666/rc-last-two`](https://huggingface.co/datasets/hackhackhack66666/rc-last-two) |
|
|
| Guides (branch `robocasa`): |
| - [SINK BoN16/AWR](https://github.com/Mirageinvo/OAT_BLT_research/blob/robocasa/oat/AGENT_GUIDE_ROBOCASA_SINK_BON16_AWR.md) |
| - [MICROWAVE BoN16/AWR](https://github.com/Mirageinvo/OAT_BLT_research/blob/robocasa/oat/AGENT_GUIDE_ROBOCASA_MICROWAVE_BON16_AWR.md) |
|
|
| ## 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? |
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|
| **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. |
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|
