Square (robomimic) BC / CCIL checkpoints
Private release of Square PH absolute-action policies from the AI2
image_ccil Square grid (author helenw).
Companion PushT repo: helen9975/opal-pusht-ckpts.
Layout (by purpose)
Paths are family / data split / train mode — not dated folders.
{family}/data20|data_full/{expert_only,expert_aug}/best.pt
bc_{dino,resnet}/data20|data_full/best.pt
README.md manifest.json
Families: bc_*, frozen_*, state_*, ft_*, seqa_*, seqb_*, seqc_*.
Quick download
huggingface-cli download helen9975/square-robomimic-ckpts \
--include "state_tf/**" \
--local-dir ./square_ckpts
# or whole repo
huggingface-cli download helen9975/square-robomimic-ckpts --local-dir ./square_ckpts
Each cell: best.pt + summary.json. Index: manifest.json.
Task & knobs
- Env: robomimic Square PH, absolute EE actions, 2 cams
- Image: 140 → crop
[128,128] - Policy: diffusion; DINO
patch_hw=[3,3]or ResNet-18 + UNet[256,512,1024] - Horizons: obs 1 / pred 16 / act 8;
action_dim=10 - CCIL eval: 3 seeds × 50 eps, success threshold 0.5
- BC eval on card: in-loop 50 eps (indicative; not multi-seed)
Highlights
BC-only (in-loop 50):
| Path | recipe | SR |
|---|---|---|
bc_dino/data_full |
sb3 |
94.0% |
bc_resnet/data_full |
sb4 |
82.0% |
bc_dino/data20 |
sb1 |
60.0% |
bc_resnet/data20 |
sb2 |
24.0% |
Top EA — 20% demos (3×50):
| Path | recipe | EA binary SR |
|---|---|---|
state_unet/data20/expert_aug |
su1 |
70.7% |
state_tf/data20/expert_aug |
st1 |
65.3% |
ft_dino/data20/expert_aug |
d1 |
64.7% |
seqa_dino/data20/expert_aug |
sa1 |
48.0% |
seqb_resnet/data20/expert_aug |
s3 |
42.7% |
seqb_dino/data20/expert_aug |
s1 |
34.7% |
seqc_resnet/data20/expert_aug |
sc3 |
34.0% |
ft_resnet/data20/expert_aug |
e1 |
28.7% |
Top EA — full PH:
| Path | recipe | EA binary SR |
|---|---|---|
ft_dino/data_full/expert_aug |
d2 |
94.0% |
state_tf/data_full/expert_aug |
st2 |
90.0% |
seqa_dino/data_full/expert_aug |
sa2 |
90.0% |
ft_resnet/data_full/expert_aug |
e2 |
89.3% |
seqb_dino/data_full/expert_aug |
s2 |
87.3% |
seqb_resnet/data_full/expert_aug |
s4 |
85.3% |
state_unet/data_full/expert_aug |
su2 |
83.3% |
seqc_resnet/data_full/expert_aug |
sc4 |
68.0% |
Full leaderboard
| Path | recipe | binary_SR | note |
|---|---|---|---|
bc_dino/data_full |
sb3 |
0.940 | BC-only DINO full |
ft_dino/data_full/expert_aug |
d2 |
0.940 | FT BC→CCIL DINO full |
ft_dino/data_full/expert_only |
d2 |
0.920 | FT BC→CCIL DINO full |
state_tf/data_full/expert_only |
st2 |
0.907 | State TF→CCIL full |
seqa_dino/data_full/expert_aug |
sa2 |
0.900 | Seq-A DINO→CCIL full |
state_tf/data_full/expert_aug |
st2 |
0.900 | State TF→CCIL full |
ft_resnet/data_full/expert_aug |
e2 |
0.893 | FT BC→CCIL ResNet full (rerun wave) |
ft_resnet/data_full/expert_only |
e2 |
0.893 | FT BC→CCIL ResNet full (rerun wave) |
seqb_dino/data_full/expert_aug |
s2 |
0.873 | Seq-B DINO→CCIL full |
seqb_dino/data_full/expert_only |
s2 |
0.860 | Seq-B DINO→CCIL full |
seqb_resnet/data_full/expert_aug |
s4 |
0.853 | Seq-B ResNet→CCIL full |
state_unet/data_full/expert_only |
su2 |
0.853 | State UNet→CCIL full |
seqa_dino/data_full/expert_only |
sa2 |
0.847 | Seq-A DINO→CCIL full |
state_unet/data_full/expert_aug |
su2 |
0.833 | State UNet→CCIL full |
bc_resnet/data_full |
sb4 |
0.820 | BC-only ResNet full |
seqb_resnet/data_full/expert_only |
s4 |
0.787 | Seq-B ResNet→CCIL full |
state_unet/data20/expert_aug |
su1 |
0.707 | State UNet→CCIL |
ft_dino/data20/expert_only |
d1 |
0.687 | FT BC→CCIL DINO (corrected rerun) |
seqc_resnet/data_full/expert_aug |
sc4 |
0.680 | Seq-C ResNet→CCIL full |
frozen_dino/data_full/expert_aug |
fd2 |
0.653 | Frozen DINO→CCIL full |
state_tf/data20/expert_aug |
st1 |
0.653 | State TF→CCIL |
ft_dino/data20/expert_aug |
d1 |
0.647 | FT BC→CCIL DINO (corrected rerun) |
seqc_resnet/data_full/expert_only |
sc4 |
0.633 | Seq-C ResNet→CCIL full |
bc_dino/data20 |
sb1 |
0.600 | BC-only DINO 20% |
state_unet/data20/expert_only |
su1 |
0.547 | State UNet→CCIL |
seqa_dino/data20/expert_aug |
sa1 |
0.480 | Seq-A DINO→CCIL |
seqb_resnet/data20/expert_aug |
s3 |
0.427 | Seq-B ResNet→CCIL |
frozen_dino/data_full/expert_only |
fd2 |
0.360 | Frozen DINO→CCIL full |
seqb_dino/data20/expert_aug |
s1 |
0.347 | Seq-B DINO→CCIL |
seqc_resnet/data20/expert_aug |
sc3 |
0.340 | Seq-C ResNet→CCIL |
state_tf/data20/expert_only |
st1 |
0.333 | State TF→CCIL |
seqb_dino/data20/expert_only |
s1 |
0.320 | Seq-B DINO→CCIL |
ft_resnet/data20/expert_aug |
e1 |
0.287 | FT BC→CCIL ResNet (corrected rerun) |
ft_resnet/data20/expert_only |
e1 |
0.287 | FT BC→CCIL ResNet (corrected rerun) |
frozen_resnet/data_full/expert_only |
fr2 |
0.260 | Frozen ResNet→CCIL full |
seqb_resnet/data20/expert_only |
s3 |
0.247 | Seq-B ResNet→CCIL |
bc_resnet/data20 |
sb2 |
0.240 | BC-only ResNet 20% |
frozen_resnet/data_full/expert_aug |
fr2 |
0.240 | Frozen ResNet→CCIL full |
seqa_dino/data20/expert_only |
sa1 |
0.227 | Seq-A DINO→CCIL |
frozen_dino/data20/expert_aug |
fd1 |
0.133 | Frozen DINO→CCIL |
seqc_resnet/data20/expert_only |
sc3 |
0.127 | Seq-C ResNet→CCIL |
seqc_dino/data_full/expert_aug |
sc2 |
0.120 | Seq-C DINO→CCIL full |
frozen_resnet/data20/expert_only |
fr1 |
0.107 | Frozen ResNet→CCIL |
frozen_resnet/data20/expert_aug |
fr1 |
0.087 | Frozen ResNet→CCIL |
seqc_dino/data_full/expert_only |
sc2 |
0.080 | Seq-C DINO→CCIL full |
frozen_dino/data20/expert_only |
fd1 |
0.027 | Frozen DINO→CCIL |
seqc_dino/data20/expert_aug |
sc1 |
0.020 | Seq-C DINO→CCIL |
seqa_resnet/data20/expert_only |
sa3 |
0.013 | Seq-A ResNet→CCIL (corrected rerun) |
seqc_dino/data20/expert_only |
sc1 |
0.013 | Seq-C DINO→CCIL |
seqa_resnet/data20/expert_aug |
sa3 |
0.000 | Seq-A ResNet→CCIL (corrected rerun) |
Recipe families
| Family | Codes | Notes |
|---|---|---|
| BC-only | sb1–sb4 |
DINO/ResNet × 20%/full |
| Frozen → CCIL | fd* / fr* |
Frozen encoder, scratch head |
| State → CCIL | st* / su* |
TF / UNet |
| FT BC → CCIL | d* / e* |
Warm-start head from BC |
| Sequential → CCIL | s* / sa* / sc* |
Seq-B / A / C SSL → freeze → CCIL |
expert_only= latent FT on expert demos only (--expert_ratio 1.0)expert_aug= expert + CCILbackward_euler_fastaugmentations
Not in this release
- seqa_resnet/data_full (no Seq-A ResNet full tab in Square grid)
- obsolete dated HF prefixes square20_* / square_r1_* (removed earlier)
- contaminated premature-resume dumps (archived under output/arxiv_premature_resume_20260722/)
Caveats
- Contaminated premature-resume FT/sa3 weights were removed from this repo
(old dated prefixes deleted).
ft_*/seqa_resnethere are corrected reruns where applicable (d1/e1/e2/sa3via rerun wave). - CCIL after strong BC is not guaranteed to improve Square (see
e1: EA≈EO). seqa_resnet20% (sa3) remains near-zero after the corrected rerun.
Eval example
python eval_checkpoints_multi_seed.py \
--ckpt ./state_tf/data_full/expert_only/best.pt \
--output_dir ./eval_out --n_seeds 3 --n_test 50 --base_seed 42 \
--success_threshold 0.5
Reproduce / re-stage
Local weka: image_embedding/image_ccil — see SQUARE_README.md.
python release/stage_square_ckpts_update.py
set -a && source scripts/ai2/secrets.env && set +a
export HF_HUB_OFFLINE=0 TRANSFORMERS_OFFLINE=0
unset HF_HUB_ENABLE_HF_TRANSFER
python release/upload_opal_to_hf.py \
--repo helen9975/square-robomimic-ckpts \
--release-dir release/square_ckpts_20260723 \
--allow-overwrite
# then delete any leftover obsolete dated prefixes if needed