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SeonghuJeon/
franka-realrobot-final-checkpoints

Name: franka-realrobot-final-checkpoints
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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 from GAM_realrobot_train.
stats_realrobot/: action/proprio stats and non-idle range metadata copied from GAM_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