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franka-realrobot-final-checkpoints
SeonghuJeon/franka-realrobot-final-checkpoints
franka-realrobot-final-checkpoints is a robotics model from SeonghuJeon. Use it for the robotics task on the model card, and read the license before you ship it in a product. The card lists the license as other.
This public repository contains the final compact PyTorch checkpoints from the Franka real-robot finetuning runs found under checkpoints/realrobot on the CVLAB1 workspace. The upload keeps one highest-step compact .pt…
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Updated Jun 5, 2026
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At a glance
- Task
- Robotics
- License
- other
- Access
- Public
- Created
- Jun 5, 2026
- Updated
- Jun 5, 2026
- SHA
- ba059bb8
Model card
From the Hugging Face model README
Franka Real-Robot Final Checkpoints
This public repository contains the final compact PyTorch checkpoints from the
Franka real-robot finetuning runs found under checkpoints/realrobot on the
CVLAB1 workspace. The upload keeps one highest-step compact .pt file for each
robot-* run that still had a compact checkpoint on disk.
The runs are DA3/GAM real-robot finetunes over the Franka task mixture:
franka_pickplace, franka_chocomilk, franka_kitchen, and franka_pot.
Several variants are included, covering the original multitask recipe,
non-idle/OpenVLA-style sampling, an old-code resume comparison, and the latest
openvla_noidle_resume_0036000 continuation.
Checkpoints
| Run | Final step | Checkpoint | Size | Logged eval |
|---|---|---|---|---|
franka_multitask/robot-20260525-061300 | 0020000 | .pt | 3.0 GiB | l1_raw=0.0019, r2=0.180, rel@5/10=0.386/0.557 |
franka_multitask/robot-20260526-035255 | 0030000 | .pt | 3.0 GiB | l1_raw=0.0069, r2=0.144, rel@5/10=0.330/0.498 |
franka_multitask/robot-20260526-234418 | 0034000 | .pt | 3.0 GiB | l1_raw=0.0041, r2=0.192, rel@5/10=0.334/0.508 |
franka_multitask_0526/robot-20260527-064944 | 0056000 | .pt | 3.0 GiB | l1_raw=0.0021, r2=0.067, rel@5/10=0.401/0.534 |
franka_multitask_0526/robot-20260528-104747 | 0002000 | .pt | 3.0 GiB | l1_raw=0.0036, r2=0.064, rel@5/10=0.404/0.548 |
franka_multitask_oldcode_resume20k/robot-20260528-130248 | 0032000 | .pt | 3.0 GiB | l1_raw=0.0019, r2=0.185, rel@5/10=0.372/0.553 |
franka_multitask_openvla_noidle_resume_0036000_8gpu_gb512_cvlab1/robot-20260529-151455 | 0052000 | .pt | 3.0 GiB | l1_raw=0.003, r2=0.250, rel@5/10=0.400/0.574 |
Included Files
checkpoints/<experiment>/<robot-run>/<step>.pt: compact finetune checkpoint intended for inference/deployment style loading.checkpoints/<experiment>/<robot-run>/config.yaml: resolved trainer config saved with the run.checkpoints/<experiment>/<robot-run>/log.txt: local training log for that run.checkpoints/<experiment>/<robot-run>/metadata.json: generated upload metadata, file size, source path, and parsed eval summary where available.configs/training/realrobot/: real-robot training YAMLs and DeepSpeed config copied fromGAM_realrobot_train.stats_realrobot/: action/proprio stats and non-idle range metadata copied fromGAM_realrobot_train/_stats_realrobot.manifest.json: machine-readable index for this upload.
Notes
The DeepSpeed ZeRO optimizer/model-state directories are not uploaded. They are
available locally next to each .pt checkpoint, but this Hub repo is scoped to
the compact final checkpoints plus the configs needed to identify and deploy
them.
Some saved configs contain absolute paths from the original training machine. Treat those paths as provenance; the companion stats/config folders in this repo provide the portable context.
Repository ID: SeonghuJeon/franka-realrobot-final-checkpoints
- Task
- Robotics
- License
- other
- Created
- Jun 5, 2026
- Updated
- Jun 5, 2026