xlerobot-coffee-md-real-force-in
⚠️ PROVISIONAL — this naming grammar has not been ratified. It was generated on 2026-08-25 from a proposal whose open questions (
docs/coffee/hub_taxonomy/NAMING_GRAMMAR.md§6) were never answered by a human. Leaf and repo names here may still change. Do not cite these paths in a paper, deck or script without checking that the grammar has since been signed off.
Coffee Automata — real domain. Part of the v2 taxonomy reorganization.
The legacy repos remain authoritative and untouched; this is a copy under a naming grammar that makes every experimental axis explicit.
Leaf grammar
<task>__<arch>__<N>cam__<platform>__<src><width>__<steps>[__<subset>]
Every field is always present, in this order, with no implicit defaults. The old scheme made
_2cam optional, so a 1-camera model and a truncated name were indistinguishable.
| field | values |
|---|---|
arch |
act act_v2 act_v3 smolvla pi0 dot — this also encodes the active-DoF loss version: v1=act, v2=act_v2, v3=act_v3, so it is never carried twice |
platform |
xlerobot-17dof / xlerobot-6dof-left / xlerobot-6dof-right / so101-6dof |
src+width |
none / est9 / est24 / gt12 (reserved — no model reads ground truth yet) |
steps |
training steps: 50k 75k 100k |
subset |
s567 (success 5+6+7) / redcup / eval / ds2 (second dataset build) / mixed |
Two axes, not one. Force source (none/est/gt) is a property of the data; force use
(none/in/loss) is a property of the model and names this repo. loss is a strict superset of
in: it adds an auxiliary force-prediction term (hpi_pred_enabled).
Evaluation settings (n_action_steps 25 vs 100, checkpoint step) are not in these names — the
same weights are evaluated at both, so they belong to the eval result.
PreTrainedPolicy.from_pretrained cannot read a subfolder; download the leaf and pass the dir:
from huggingface_hub import snapshot_download
from lerobot.policies.act.modeling_act import ACTPolicy
root = snapshot_download("IntelligentDecisionLab/xlerobot-coffee-md-real-force-in", allow_patterns="g1235_shared_t1_t2_t3_t5__act_v2__2cam__xlerobot-17dof__est24__100k/*")
policy = ACTPolicy.from_pretrained(f"{root}/g1235_shared_t1_t2_t3_t5__act_v2__2cam__xlerobot-17dof__est24__100k")
Provenance — 34 leaves
| new leaf | copied from |
|---|---|
g1235_shared_t1_t2_t3_t5__act_v2__2cam__xlerobot-17dof__est24__100k |
xlerobot-coffee-model-real-b-force/g1235_shared_t1_t2_t3_t5_2cam_17dof_actv2 |
g135_shared_t1_t3_t5__act__1cam__xlerobot-17dof__est24__50k |
xlerobot-coffee-model-real-b-force/g135_shared_t1_t3_t5_17dof_50k |
g135_shared_t1_t3_t5__act__1cam__xlerobot-6dof-left__est9__100k |
xlerobot-coffee-model-real-b-force/g135_shared_t1_t3_t5_6dof |
g135_shared_t1_t3_t5__act__2cam__xlerobot-17dof__est24__100k |
xlerobot-coffee-model-real-b-force/g135_shared_t1_t3_t5_2cam_17dof |
g135_shared_t1_t3_t5__act__2cam__xlerobot-17dof__est24__100k__eval |
xlerobot-coffee-model-real-b-force/g135_shared_t1_t3_t5_2cam_17dof_eval |
g135_shared_t1_t3_t5__act__2cam__xlerobot-6dof-left__est9__100k |
xlerobot-coffee-model-real-b-force/g135_shared_t1_t3_t5_2cam_6dof |
g135_shared_t1_t3_t5__act_v2__2cam__xlerobot-17dof__est24__100k |
xlerobot-coffee-model-real-b-force/g135_shared_t1_t3_t5_2cam_17dof_actv2 |
g35_shared_t3_t5__act__1cam__xlerobot-17dof__est24__50k |
xlerobot-coffee-model-real-b-force/g35_shared_t3_t5_17dof_50k |
g35_shared_t3_t5__act__1cam__xlerobot-6dof-left__est9__100k |
xlerobot-coffee-model-real-b-force/g35_shared_t3_t5_6dof |
g35_shared_t3_t5__act__2cam__xlerobot-17dof__est24__100k |
xlerobot-coffee-model-real-b-force/g35_shared_t3_t5_2cam_17dof |
g35_shared_t3_t5__act__2cam__xlerobot-17dof__est24__100k__eval |
xlerobot-coffee-model-real-b-force/g35_shared_t3_t5_2cam_17dof_eval |
g35_shared_t3_t5__act__2cam__xlerobot-6dof-left__est9__100k |
xlerobot-coffee-model-real-b-force/g35_shared_t3_t5_2cam_6dof |
g35_shared_t3_t5__act_v2__2cam__xlerobot-17dof__est24__100k |
xlerobot-coffee-model-real-b-force/g35_shared_t3_t5_2cam_17dof_actv2 |
t1_place_cup__act__1cam__xlerobot-17dof__est24__50k |
xlerobot-coffee-model-real-b-force/t1_place_cup_17dof_50k |
t1_place_cup__act__2cam__so101-6dof__est9__100k |
xlerobot-coffee-model-real-b-force/t1_place_cup |
t1_place_cup__act__2cam__xlerobot-17dof__est24__100k |
xlerobot-coffee-model-real-b-force/t1_place_cup_2cam_17dof |
t1_place_cup__act__2cam__xlerobot-17dof__est24__100k__eval |
xlerobot-coffee-model-real-b-force/t1_place_cup_2cam_17dof_eval |
t1_place_cup__act__2cam__xlerobot-6dof-left__est9__100k |
xlerobot-coffee-model-real-b-force/t1_place_cup_2cam_6dof |
t1_place_cup__act_v2__2cam__xlerobot-17dof__est24__100k |
xlerobot-coffee-model-real-b-force/t1_place_cup_2cam_17dof_actv2 |
t2_push_button__act__1cam__xlerobot-17dof__est24__100k |
xlerobot-coffee-model-real-b-force/t2_push_button_17dof |
t2_push_button__act__1cam__xlerobot-17dof__est24__50k |
xlerobot-coffee-model-real-b-force/t2_push_button_17dof_50k |
t2_push_button__act__2cam__xlerobot-17dof__est24__100k__s567 |
xlerobot-coffee-model-real-b-force/t2_push_button_2cam_17dof_s567 |
t2_push_button__act_v2__2cam__xlerobot-17dof__est24__100k__s567 |
xlerobot-coffee-model-real-b-force/t2_push_button_2cam_17dof_s567_actv2 |
t3_cup_to_tray__act__1cam__xlerobot-17dof__est24__50k |
xlerobot-coffee-model-real-b-force/t3_cup_to_tray_17dof_50k |
t3_cup_to_tray__act__2cam__xlerobot-17dof__est24__100k |
xlerobot-coffee-model-real-b-force/t3_cup_to_tray_2cam_17dof |
t3_cup_to_tray__act__2cam__xlerobot-17dof__est24__100k__eval |
xlerobot-coffee-model-real-b-force/t3_cup_to_tray_2cam_17dof_eval |
t3_cup_to_tray__act__2cam__xlerobot-6dof-left__est9__100k |
xlerobot-coffee-model-real-b-force/t3_cup_to_tray_2cam_6dof |
t3_cup_to_tray__act_v2__2cam__xlerobot-17dof__est24__100k |
xlerobot-coffee-model-real-b-force/t3_cup_to_tray_2cam_17dof_actv2 |
t5_tray_to_table__act__1cam__xlerobot-17dof__est24__50k |
xlerobot-coffee-model-real-b-force/t5_tray_to_table_17dof_50k |
t5_tray_to_table__act__1cam__xlerobot-6dof-left__est9__100k |
xlerobot-coffee-model-real-b-force/t5_tray_to_table_6dof |
t5_tray_to_table__act__2cam__xlerobot-17dof__est24__100k |
xlerobot-coffee-model-real-b-force/t5_tray_to_table_2cam_17dof |
t5_tray_to_table__act__2cam__xlerobot-17dof__est24__100k__eval |
xlerobot-coffee-model-real-b-force/t5_tray_to_table_2cam_17dof_eval |
t5_tray_to_table__act__2cam__xlerobot-6dof-left__est9__100k |
xlerobot-coffee-model-real-b-force/t5_tray_to_table_2cam_6dof |
t5_tray_to_table__act_v2__2cam__xlerobot-17dof__est24__100k |
xlerobot-coffee-model-real-b-force/t5_tray_to_table_2cam_17dof_actv2 |