Checkpoints

[fabian-embodied-ai]

In the repository's documentation, there are many references to pretrained weights and checkpoints.

However, I can't find any checkpoints in the code or any links to a Hugging Face repo where they might be stored. Does such a thing exist, or should I try to create my own?

[zhouzypaul]

Hi,

If you are referring to the the resume_path argument in the training script here: this is an extra functionality used to resume training from a checkpoint, and is not necessary if you want to train from scratch on BridgeData and/or SOAR data.

If you are referring to the checkpoint_path when deploying the policy on robots here: you should pass in the path to your trained checkpoint (which you can train from model_training/experiments/train.py). Currently we don't have model weights uploaded to Hugging Face yet. But let me know if you have a specific use case and we can release related checkpoints.