HiRE: Base Policies for Finetuning
Behavior-cloning checkpoints for HiRE policy finetuning on MimicGen. Each task includes the selected checkpoint and its original Hydra configuration, which the finetuning loader uses to restore the policy architecture.
| Task | Demonstrations | BC seed | Checkpoint |
|---|---|---|---|
| Stack Three | 200 | 42 | stack_three/checkpoint/state_75.pt |
| Threading | 30 | 42 | threading/checkpoint/state_100.pt |
| Three Piece Assembly | 200 | 42 | three_piece_assembly/checkpoint/state_75.pt |
These are diffusion policies with a ResNet-18 visual encoder, a 1D UNet action head, and an eight-step action horizon. The selected epochs are 75, 100, and 75, respectively. The original checkpoint payloads are preserved, including both model and ema weights. The HiRE finetuning loader selects model.
Files
stack_three/
.hydra/config.yaml
checkpoint/state_75.pt
threading/
.hydra/config.yaml
checkpoint/state_100.pt
three_piece_assembly/
.hydra/config.yaml
checkpoint/state_75.pt
manifest.json
Keep each .hydra/config.yaml with its checkpoint. manifest.json records the original repository revision, file paths, training overrides, and SHA256 hashes.
Finetuning
From the HiRE code repository, after installing dependencies and preparing demonstrations:
source scripts/set_path.sh
python scripts/launch.py finetune stack_three \
--checkpoint /absolute/path/to/HiRE-release/stack_three/checkpoint/state_75.pt \
--seed 42
Select threading or three_piece_assembly and the corresponding checkpoint path for the other tasks. The code handles the Python class paths in the original Hydra configurations.
Processed demonstrations and their matching normalization.npz files are required separately. Use the same task, camera order, delta-action convention, and demonstration subset as the BC policy. Tool Hang weights are not included in this bundle.
Source
The checkpoint files and configurations are copied without modification from JimmyHan2004/MimicGen-pretrain, at revision e0d681881f64771604353b5d2535c71d87e5d4a1.