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PushT DeSimplex Final Checkpoint
This repo stores the final mixed-obstacle HPA checkpoint used by the PushT DeSimplex HPA/HAA/Switch evaluation defaults.
Project default path after download:
outputs/finetune/mixed_continue_400k_to_650k_eval200_20260512/final.pt
SHA256: 7bf40261b82aca6bdd4f161681cd8d669026a1cb889506ea450c156d9fe79559
Size: 1050927895 bytes
The checkpoint includes bundled normalization stats, so the training dataset is not required for HPA or Switch inference.
final_20261002.pt (retrained 2026-10-02)
Finetuned from lerobot/diffusion_pusht on 500 new mixed-obstacle MPC demos (450 train / 50 held out; 65,592 training frames). The demos push on to 0.95 coverage and keep the pusher 12 px off the obstacles. 512,500 steps at batch 64 (about 500 passes), fp32, one cosine segment with 1,000 warmup steps, seed 42. The model weights are the EMA (decay 0.9999); normalization stats are bundled as above.
Project path:
outputs/train/dp_ft_t095_20261002/final.pt
SHA256: fc8d2fa22c69ddf8db6c1f62097835b651121ff64adb909890b69618421d04c7
Size: 1050928343 bytes