| --- |
| license: mit |
| pipeline_tag: robotics |
| --- |
| |
| # TokenHSI Checkpoint Instruction |
|
|
| [2025-04-07] All models have been released! |
|
|
| Please download the checkpoints and organize them as the following file structure: |
|
|
| ``` |
| |-- tokenhsi |
| |-- lpanlib |
| |-- body_models |
| |-- smpl |
| |-- SMPL_FEMALE.npz |
| |-- SMPL_MALE.npz |
| |-- SMPL_NEUTRAL.pkl |
| |-- ... |
| |-- output |
| |-- single_task |
| |-- ckpt_traj.pth |
| |-- ckpt_sit.pth |
| |-- ckpt_climb.pth |
| |-- ckpt_carry.pth |
| |-- tokenhsi |
| |-- ckpt_stage1.pth |
| |-- ckpt_stage2_comp_traj_carry |
| |-- ckpt_stage2_comp_sit_carry |
| |-- ckpt_stage2_comp_climb_carry |
| |-- ckpt_stage2_objShape_chair.pth |
| |-- ckpt_stage2_objShape_table.pth |
| |-- ckpt_stage2_terrainShape_traj.pth |
| |-- ckpt_stage2_terrainShape_carry.pth |
| |-- ckpt_stage2_longterm.pth |
| ``` |
|
|
| * We first provide four single-task environments, including path-following, sitting, climbing, and carrying. For each task, we train a specialized policy using AMP. The trained models are: |
| * single_task/ckpt_traj.pth |
| * single_task/ckpt_sit.pth |
| * single_task/ckpt_climb.pth |
| * single_task/ckpt_carry.pth |
|
|
| * We then provide our multi-task environment for training the versatile, unified transformer policy. The trained model is: |
| * tokenhsi/ckpt_stage1.pth |
| |
| * Finally, we perform policy adaptation to generalize the learned skills to novel tasks. We list the trained models across various downstream tasks. |
| * Skill Composition |
| * Follow + Carry: tokenhsi/ckpt_stage2_comp_traj_carry.pth |
| * Sit + Carry: tokenhsi/ckpt_stage2_comp_sit_carry.pth |
| * Climb + Carry: tokenhsi/ckpt_stage2_comp_climb_carry.pth |
| * Object Shape Variation |
| * Chair: tokenhsi/ckpt_stage2_objShape_chair.pth |
| * Table: tokenhsi/ckpt_stage2_objShape_table.pth |
| * Terrain Shape Variation |
| * Follow: tokenhsi/ckpt_stage2_terrainShape_traj.pth |
| * Carry: tokenhsi/ckpt_stage2_terrainShape_carry.pth |
| * Long-horizon Task Completion |
| * tokenhsi/ckpt_stage2_longterm.pth |
| |
| GitHub repo: https://github.com/liangpan99/TokenHSI |
| arXiv paper: https://huggingface.co/papers/2503.19901 |
| Project page: https://liangpan99.github.io/TokenHSI/ |
