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Single-task Transfer SAILOR and Retrieval Artifacts
Artifacts from the public code repository
RahulSChand/single-task-transfer.
Contents
artifacts/encoders/: broad and pilot SAILOR checkpoints, configs, frozen normalization statistics, and TensorBoard logs.artifacts/retrieval/: frozen embeddings, Behavior Retrieval scores, exact global-IWR KDE scores, released batch-local IWR reference scores, top-100 selections, manual-review videos, and plots.artifacts/policies/: integration-only policy smoke artifacts.manifests/: deterministic episode manifests, source file hashes, and dataset counts.results/: benchmark outputs, environment locks, repository SHAs, code checksums, and preservation inventories.logs/andvideos/: execution logs and simulator/retrieval review media.
Main run
- Encoder: seven-task broad SAILOR, 16-D latent, ten-step chunks.
- Training: batch 128, 90,000 updates, seed 1.
- Representation pool: 100 demonstrations each from Coffee Preparation, Stack, Stack Three, Pick Place, Square, Nut Assembly, and Three Piece Assembly D0.
- Retrieval pool: fixed 100 Coffee Preparation demonstrations only.
- Positive-control target: 10 deterministic seed-0 Coffee D0 demonstrations, used only as frozen-encoder queries.
Data policy
The original MimicGen HDF5 datasets and generated RLDS copies are intentionally
not redistributed here. Obtain them from the official MimicGen release or the
amandlek/mimicgen_datasets mirror and verify them using the included manifests.
The artifacts are research outputs and may inherit constraints from the source code, datasets, and simulator assets used to create them. Consult those upstream licenses before redistribution or commercial use.
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