AngchenXie/fada-checkpoints

FADA Oracle PPO Checkpoints

Oracle PPO expert checkpoints for FADA: Few-Shot Domain Adaptation via Dynamics Alignment for Humanoid Control (arXiv:2606.28476), used as the --expert-checkpoint input to the DAgger distillation step of the FADA pipeline.

• Code: https://github.com/lecar-lab/FADA
• Paper: https://arxiv.org/abs/2606.28476
• Project page: https://lecar-lab.github.io/FADA-humanoid/

Contents

• t1/: Booster T1 (23-DoF) oracle PPO training run, every intermediate checkpoint saved every 100 iterations (model_00000.pt ... model_24999.pt, 251 files).
• g1/: Unitree G1 (29-DoF) oracle PPO training run, every intermediate checkpoint saved every 100 iterations (model_00000.pt ... model_24999.pt, 251 files).

The full intermediate history is included, not just the final checkpoint: FADA's DAgger training reward-samples 20 checkpoints from across the oracle run for its weak-policy ("suboptimal-data") source, so --expert-checkpoint must point into a directory holding every intermediate model_*.pt. See the code repository's README for the exact usage and how to opt out of that source (--suboptimal-data-ratio 0), which only requires the single final checkpoint.

Security note

A .pt checkpoint is executable content. The FADA codebase loads these with torch's restricted weights_only=True reader, which raises rather than executing an untrusted pickle stream.

Citation

@article{xie2026fada,
  title   = {FADA: Few-Shot Domain Adaptation via Dynamics Alignment for Humanoid Control},
  author  = {Xie, Angchen and Sobanbabu, Nikhil and Shikhare, Ishayu and Wang, Alan
             and Simchowitz, Max and Shi, Guanya},
  journal = {arXiv preprint arXiv:2606.28476},
  year    = {2026},
  doi     = {10.48550/arXiv.2606.28476}
}