g05-robodojo

G05 RoboDojo Checkpoints and Training Assets

This private repository hosts G05 assets for RoboDojo evaluation and training reproduction.

Files

Sim evaluation checkpoint

Use this for RoboDojo sim evaluation with the XPolicyLab policy/G05 adapter.

huggingface-cli download OpenGalaxea/g05-robodojo \
  g05_robodojo_fm_only_checkpoint.tar \
  g05_robodojo_fm_only_checkpoint.tar.sha256 \
  --local-dir ./checkpoints/g05_robodojo_sim

cd ./checkpoints/g05_robodojo_sim
sha256sum -c g05_robodojo_fm_only_checkpoint.tar.sha256
tar -xf g05_robodojo_fm_only_checkpoint.tar

Training base assets

Use these to reproduce RoboDojo training configs. RoboDojo datasets are not included and should be downloaded from the official RoboDojo data source separately.

huggingface-cli download OpenGalaxea/g05-robodojo \
  g05_robodojo_train_base_assets.tar \
  g05_robodojo_train_base_assets.tar.sha256 \
  --local-dir ./checkpoints/g05_robodojo_train_assets

cd ./checkpoints/g05_robodojo_train_assets
sha256sum -c g05_robodojo_train_base_assets.tar.sha256
tar -xf g05_robodojo_train_base_assets.tar

The training assets include:

pretrained/checkpoints/model_state_dict.pt
pretrained/hf_processor/
pretrained/action_tokenizer_hf/

XPolicyLab adapter

The corresponding adapter is submitted under policy/G05 in XPolicyLab. Set G05_ROOT, G05_PYTHON, and G05_CKPT_PATH according to the adapter README.