PSWAM — RoboDojo simulation (ARX X5, joint action)
Evaluated checkpoint submitted to the SafeWorldModels Challenge @ ECCV 2026 (RoboDojo benchmark).
Contents
RoboDojo-sim-arx_x5-joint-0/
├── params/ openpi/orbax parameters, step 59999
└── assets/RoboDojo_lerobot_v21_merged/norm_stats.json
Usage
Requires the PSWAM policy directory in XPolicyLab.
cd XPolicyLab/policy/PSWAM
bash install.sh
CKPT_REPO=ByteMelodist/pswam-robodojo-ckpt bash download_ckpt.sh
bash eval.sh RoboDojo <task_name> RoboDojo-sim-arx_x5-joint-0 arx_x5 joint <seed> \
<policy_gpu_id> <env_gpu_id> uv <eval_env_conda_env>
Results
42 tasks × 3 evaluation seeds (126 cells), official aggregator.
| Generalization | Precision | Long-Horizon | Memory | Open | Average |
|---|---|---|---|---|---|
| 13.41 ±0.22 | 13.92 ±0.98 | 22.70 ±0.42 | 6.23 ±0.54 | 6.93 ±0.83 | 12.64 ±0.10 |
License
Derived from pi05_base (Physical Intelligence, openpi) which contains PaliGemma weights;
the Gemma Terms of Use apply. Code is Apache-2.0.