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| File | Description |
|---|---|
bc_lora_ep499.ckpt | BC policy, MAE FT with LoRA-edited data (epoch 499) |
bc_nolora_ep499.ckpt | BC policy, MAE FT with non-LoRA edited data |
bc_unedited_ep499.ckpt | BC policy, MAE FT with unedited data |
mae_lora_encoder.pth | MAE encoder (LoRA) |
mae_nolora_encoder.pth | MAE encoder (no LoRA) |
mae_unedited_encoder.pth | MAE encoder (unedited) |
mae.* weights; separate encoders are optional.deploy/ package in the project repo:python infer.py --checkpoint checkpoints/bc_lora_ep499.ckpt --smokebc_* ← bc_mae_sbint_pnp_aist_exp18_{lora,nolora,unedited}_ep500/checkpoints/epoch=0499.ckptmae_* ← mae_openarm_aist_exp18_{lora,nolora,unedited}/encoder.pth