robocasa-kitchen_v2

Whalswp/robocasa-kitchen_v2

robocasa-kitchen_v2 is a robotics model from Whalswp. Use it for the robotics task on the model card, and read the license before you ship it in a product.

Layout: model-version / method-family / exact-run-name / checkpoint-step.

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Public

Updated Sep 27, 2026

Repo size

976 GB

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Public

Hugging Face

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.safetensors665 GB · 56%

At a glance

Task: Robotics
Access: Public
Created: Sep 7, 2026
Updated: Sep 27, 2026
SHA: bbb66174

Model card

From the Hugging Face model README

RoboCasa Kitchen checkpoints

Layout: model-version / method-family / exact-run-name / checkpoint-step.

Full N1.5 checkpoints include model, configuration, optimizer, scheduler, RNG and trainer state. 40K checkpoints are intermediate snapshots with a 60K target. Run-root files and final model exports are preserved separately under run_root/.

Author-provided checkpoints remain under n1.5/reference/author-provided/.

Version	Family	Run	Step	Kind	Files	GB	Resume	Path
n1.5	action-direct	CSN_RawPhysicalActionOnly_RKDD_DirectToken_N1d5_ZeroLength_Full_BS64_60K	60000	trained	10	16.199	true	checkpoint
n1.5	baseline	Baseline_RoboCasaKitchen_N1d5_Full_BS64_60K	60000	trained	10	16.138	true	checkpoint
n1.5	baseline	Baseline_RoboCasaKitchen_N1d5_ZeroLength_Full_BS64_60K	60000	trained	10	16.137	true	checkpoint
n1.5	baseline	Baseline_RoboCasaKitchen_N1d5_ZeroLength_N17OfficialShard1024_BS64_60K	60000	trained	10	16.137	true	checkpoint
n1.5	combined-loss	N15_RoboCasa_Combined_run1_task_BS64_60K_20260924	60000	trained	10	16.138	true	checkpoint
n1.5	combined-loss	N15_RoboCasa_Combined_run2_task_state_BS64_60K_20260924	60000	trained	10	16.139	true	checkpoint
n1.5	combined-loss	N15_RoboCasa_Combined_run3_task_action_BS64_60K_20260924	40000	remote-existing	10	16.138	true	checkpoint
n1.5	combined-loss	N15_RoboCasa_Combined_run3_task_action_BS64_60K_20260924	60000	trained	10	16.139	true	checkpoint
n1.5	direct-token	CSN_RawPhysicalDual_RKDD_DirectToken_BottleneckP50_N1d5_ZeroLength_Full_BS64_60K	60000	trained	10	16.258	true	checkpoint
n1.5	direct-token	CSN_RawPhysicalDual_RKDD_DirectToken_HTokenwiseBottleneckP50_N1d5_ZeroLength_Full_BS64_60K	60000	trained	10	16.259	true	checkpoint
n1.5	direct-token	CSN_RawPhysicalDual_RKDD_DirectToken_Mismatch_N1d5_ZeroLength_Full_BS64_60K	60000	trained	10	16.263	true	checkpoint
n1.5	direct-token	CSN_RawPhysicalDual_RKDD_DirectToken_N1d5_ZeroLength_Full_BS64_60K	60000	trained	10	16.258	true	checkpoint
n1.5	direct-token	CSN_RawPhysicalDual_RKDD_FullHOnly_N1d5_ZeroLength_Full_BS64_60K	60000	trained	10	16.258	true	checkpoint
n1.5	factorized	N15_HStock_Joint6Q_DirectQ_FactorizedJoint_Cosine0p5To0_BS64_60K	60000	trained	10	16.211	true	checkpoint
n1.5	factorized	N15_HStock_Joint6Q_DirectQ_FactorizedJoint_Lambda1_BS64_60K	60000	trained	10	16.211	true	checkpoint
n1.5	factorized	N15_HStock_Joint6Q_DirectQ_FactorizedRelation_BS64_60K	60000	trained	11	16.210	true	checkpoint
n1.5	factorized	N15_HStock_Joint6Q_DirectQ_FullRelation_BS64_60K	60000	trained	10	16.210	true	checkpoint
n1.5	raw-physical-dual	CSN_RawPhysicalDual_RKDD_N1d5_Full_BS64_60K_N17OfficialShard1024	60000	trained	10	16.252	true	checkpoint
n1.5	raw-physical-dual	CSN_RawPhysicalDual_RKDD_N1d5_ZeroLength_Full_BS64_60K	60000	trained	10	16.252	true	checkpoint
n1.5	raw-physical-dual	CSN_RawPhysicalDual_RotScale05_20_RKDD_N1d5_Full_BS64_60K_N17OfficialShard1024	60000	trained	10	16.252	true	checkpoint
n1.5	raw-physical-dual	CSN_RawPhysicalDual_RotScale05_20_RKDD_N1d5_ZeroLength_Full_BS64_60K	60000	trained	10	16.252	true	checkpoint
n1.5	reference/author-provided/baseline	gr00t_n1_5_max60k_baseline_bs64_rc300	60000	author-provided	10	7.587	false	checkpoint
n1.5	reference/author-provided/rscl	gr00t_n1_5_max60k_rscl_rc300	60000	author-provided	10	7.613	false	checkpoint
n1.5	rotation-split	N15_RoboCasa_ActionOnly_RotationSplit_A256_BS64_60K_20260927	60000	trained	10	16.191	true	checkpoint
n1.5	rotation-split	N15_RoboCasa_StateAction_RotationSplit_S256_A256_BS64_60K_20260927	60000	trained	10	16.192	true	checkpoint
n1.5	rscl	RSCL_N1d5_PaperNative_Tau01_ZeroLength_Full_BS64_60K	60000	trained	10	16.194	true	checkpoint
n1.5	rscl	RSCL_N1d5_PaperNative_ZeroLength_Full_BS64_60K_Tau002	60000	trained	10	16.194	true	checkpoint
n1.5	rscl	RSCL_N1d5_PhysicalMinMaxXYZW_ZeroLength_Full_BS64_60K_Tau002	60000	trained	10	16.194	true	checkpoint
n1.5	rscl	RSCL_N1d5_WeightedState_P1_R0p1_G0p5_Tau01_BatchWiseCut_ZeroLength_Full_BS64_60K	60000	trained	10	16.196	true	checkpoint
n1.5	rscl	RSCL_N1d5_WeightedState_P1_R0p1_G0p5_Tau01_SampleWiseCut_ZeroLength_Full_BS64_60K	60000	trained	10	16.196	true	checkpoint
n1.5	state-direct	CSN_RawPhysicalStateOnly_RKDD_DirectToken_StateW1_R0p1_G0p5_N1d5_ZeroLength_Full_BS64_60K	60000	trained	10	16.200	true	checkpoint
n1.5	state-honly	CSN_RawPhysicalStateOnly_RKDD_HOnly_Unmasked_BatchRelCut_StateW1_R0p1_G0p5_N1d5_ZeroLength_Full_BS64_60K	60000	trained	10	16.205	true	checkpoint
n1.5	state-honly	CSN_RawPhysicalStateOnly_RKDD_HOnly_Unmasked_NoCut_StateW1_R0p1_G0p5_N1d5_ZeroLength_Full_BS64_60K	60000	trained	10	16.200	true	checkpoint
n1.5	state-subspace	N15_RoboCasa_StateOnly_ProjectionSubspace_D256_BS64_60K_20260925	60000	trained	10	16.146	true	checkpoint
n1.5	state-subspace	N15_RoboCasa_StateOnly_RotationSplit_D256_BS64_60K_20260925	60000	trained	10	16.190	true	checkpoint
n1.5	vision-ft	Baseline_FullVision_Connector_FMOnly_RoboCasaKitchen_N1d5_Full_BS64_60K	60000	trained	10	17.859	true	checkpoint
n1.5	vision-ft	Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K	60000	trained	10	17.859	true	checkpoint
n1.5	vision-ft	Baseline_Last4Vision_Connector_FMOnly_RoboCasaKitchen_N1d5_Full_BS64_60K	40000	trained-intermediate	10	16.391	true	checkpoint
n1.5	vision-ft	Baseline_VisionLoRAAllR32_Connector_FMOnly_RoboCasaKitchen_N1d5_Full_BS64_60K	60000	trained	10	16.361	true	checkpoint
n1.5	vision-ft	Baseline_VisionLoRAAllR32_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K	60000	trained	10	16.361	true	checkpoint
n1.7	baseline	Baseline_RoboCasaKitchen_N1d7_Full_BS64_60K_AfterPatch	60000	trained	20	25.549	true	checkpoint
n1.7	baseline	baseline_n17_rldxcfg_bs64_60k_sd0_20260804	60000	trained-inference-only	13	12.583	false	checkpoint
n1.7	csn	CSN_DualToken_RKDD_W1p0_1p0_N1d7_Full_BS64_60K_AfterPatch	60000	trained	20	25.664	true	checkpoint
n1.7	csn	CSN_JointShared_N1d7_Full_BS64_60K_Tau002	60000	trained	20	25.607	true	checkpoint
n1.7	csn	CSN_JointShared_N1d7_Full_BS64_60K_Tau002_BetaA03	60000	trained	20	25.607	true	checkpoint
n1.7	csn	CSN_JointSubspace_N1d7_Full_BS64_60K_Tau002	60000	trained	20	25.611	true	checkpoint
n1.7	csn	CSN_JointSubspace_N1d7_Full_BS64_60K_Tau002_BetaA03	60000	trained	20	25.611	true	checkpoint
n1.7	csn	CSN_ParityState_AllOne_N1d7_Full_BS64_60K_Tau002	60000	trained	20	25.606	true	checkpoint
n1.7	csn	CSN_StateOnly_N1d7_Full_BS64_60K_Tau002	60000	trained	20	25.608	true	checkpoint
n1.7	objective	CSN_DISTPearson_N1d7_Full_BS64_60K	60000	trained	20	25.614	true	checkpoint
n1.7	objective	CSN_HardDarkRank_N1d7_Full_BS64_60K	60000	trained	20	25.615	true	checkpoint
n1.7	objective	CSN_MarginHuber_N1d7_Full_BS64_60K	60000	trained	20	25.613	true	checkpoint
n1.7	objective	CSN_RKDD_N1d7_Full_BS64_60K	60000	trained	20	25.613	true	checkpoint
n1.7	objective	CSN_SoftDistanceCE_N1d7_Full_BS64_60K	60000	trained	20	25.610	true	checkpoint
n1.7	rscl	RSCL_N1d7_Full_BS64_60K	60000	trained	21	25.604	true	checkpoint
n1.7	rscl	RSCL_N1d7_Full_BS64_60K_Tau002_AfterPatch	60000	trained	20	25.604	true	checkpoint

Machine-readable inventory: index.jsonl.

Full N1.5 archive: _archive/n15_20260927/manifest.json.

Latest N1.5 entries were checked against live local sources by required paths, bytes and Git/LFS hashes. Existing inference manifests remain as auxiliary files. Historical entries retain their recorded verification.

Task: Robotics
Created: Sep 7, 2026
Updated: Sep 27, 2026