grogu-continual-archive

Public cold storage for the checkpoint trees of a research project on continual learning for flow-matching robot manipulation policies (CMU). Uploaded 2026-09-08 off /grogu/user/soumojib scratch, which was at 93% quota.

3,587 files · 128,686,933,127 bytes (119.85 GiB) · 330 run directories.

This is an archive, not a released model — there is no inference entry point here. The runs are training artifacts (*.pt checkpoints alongside config_snapshot.yaml, normalizer.json, and eval/*.json) kept so results remain reproducible and re-analysable.

Layout

Paths mirror the original scratch layout exactly (scratch path minus /grogu/user/soumojib/), so downloading with --local-dir /grogu/user/soumojib restores everything where it was.

Prefix	What	Runs	Size
cl0/	LIBERO base policies + P5/P6/P16/P26 adaptation runs	14	6.71 GiB
cl1_libero/	LIBERO continual arm: ft, glora, embgate, hend, replay, ureplay × 3 tasks	25	15.56 GiB
continual/	P7 method comparison on RoboCasa kitchen/tray, 2 seeds	17	10.79 GiB
continual_scratch/	P4–P15 campaign checkpoints (the bulk; p15_base_* draws dominate)	274	86.79 GiB

Usage

# one tree
hf download Soumojit048/grogu-continual-archive --repo-type model \
    --include 'cl1_libero/**' --local-dir ./restore

# one run
hf download Soumojit048/grogu-continual-archive --repo-type model \
    --include 'continual/runs/p7_gated_kitchen/**' --local-dir ./restore

from huggingface_hub import hf_hub_download
import torch

p = hf_hub_download(
    "Soumojit048/grogu-continual-archive",
    "continual_scratch/experiments/cl0/results/runs/p15_base_goal_otcfm/checkpoints/last.pt",
    repo_type="model",
)
ckpt = torch.load(p, map_location="cpu")

Related repos

• Soumojit048/grogu_continual — the P17 hardening battery (215 runs). Disjoint from this repo except for one run name; together the two are the project's complete checkpoint record.
• Soumojit048/continual-mg-im-k1000 — the RoboCasa multi-gripper image dataset used to train the base policies.
• Soumojit048/libero-robomimic-benchmark-mirror — the exact LIBERO/robomimic benchmark copy these experiments ran against.

Note for the author

continual_scratch/**/*.pt are the targets of 310 per-file symlinks in ~/repos/continual/experiments/cl0/results/runs/. Restoring that prefix to /grogu/user/soumojib un-dangles them with no relinking. See CONTINUAL_ON_HUGGINGFACE.md on scratch, and ~/repos/continual/MOVED_TO_GROGU.md.