opal-pusht-ckpts

OPAL PushT checkpoints

Private repo: helen9975/opal-pusht-ckpts

Multi-seed eval protocol (unless noted): 3 seeds × 50 episodes, success_threshold=0.95.

Packages are additive — later drops use new path prefixes and do not replace earlier trees.

Details and metrics:

• k76b64 table + knobs → k76b64/README.md · k76b64/manifest.json
• Full handoff (eval / repro) → HANDOFF_CHECKPOINTS_AND_REPRO.md

Layout

# Jul 15 (OPAL knobs)
frozen_dino|state_transformer|resnet_unet|state_unet/
  demos{41,206}/{expert_only,expert_aug}/{best.pt,summary.txt}
repro/dino_tf_*_demos{41,206}/

# Jul 18 (OPAL knobs)
ft_{dino,resnet}/demos{41,206}/{expert_only,expert_aug}/
bc_h2_{dino,resnet}/demos{41,206}/
seqb_{dino,resnet}/...
seqa_resnet/demos41/...

# Jul 20 (Celia knobs) — not duplicates of Jul-15 scratch
k76b64/
  frozen_dino_scratch|resnet_unet_scratch/demos{41,206}/{expert_only,expert_aug}/
  ft_{dino,resnet}/demos{41,206}/{expert_only,expert_aug}/
  bc_h2_{dino,resnet}/demos{41,206}/
  seqb_{dino,resnet}/...
  seqa_{dino,resnet}/...
  README.md  manifest.json

k76b64 knobs: crop [76,76], BC batch_size=64, DINO patch_hw=[-1,-1], dynamics patch [5,5], UNet [256,512,1024] emb 256.

Jul-15 frozen_dino/ / resnet_unet/ ≠ k76b64 *_scratch/ (different crop / batch size / UNet).

Not on HF (weka only): SSL probes, bc_h1_*.

Download

huggingface-cli login

# full repo
huggingface-cli download helen9975/opal-pusht-ckpts \
  --repo-type model --local-dir ./opal_ckpts

# Celia-knob package only
huggingface-cli download helen9975/opal-pusht-ckpts \
  --repo-type model --include "k76b64/**" \
  --local-dir ./opal_ckpts_k76b64

Quick eval

python eval_checkpoints_multi_seed.py \
  --ckpt ./k76b64/frozen_dino_scratch/demos206/expert_aug/best.pt \
  --output_dir ./eval_out \
  --n_seeds 3 --n_test 50 --base_seed 42 \
  --success_threshold 0.95

Code: personalrobotics/image_ccil branch helen.