RARA – fine-tuned Diffusion Policies for RoboTwin 2.0 "move pill bottle to pad"
All three policies start from ShuaKang/RARA-robotwin-pretrain
and use the 50 demonstrations in ShuaKang/robotwin_pill_rara.
| file | method |
|---|---|
ft.pt |
FT: fine-tuned on the pill demonstrations (300 epochs) |
coft.pt |
Co-FT: fine-tuned on the pill demonstrations + 250 retrieved pre-training episodes |
rara_stage1.pt |
RARA stage 1: encoder aligned to the retrieved data |
rara.pt |
RARA: stage 2 from rara_stage1.pt with the feature anchor to the pre-trained policy |
Evaluate with github.com/Shua-Kang/RARA:
bash scripts/download.sh
CKPT=data/weights/rara.pt SPLIT=id SEEDSTART=100000 bash scripts/eval.sh
Success rate on the demonstration configuration (150 rollouts per method): FT 44.0, Co-FT 44.7, RARA 59.3.