OPAL PushT checkpoints
Private repo: helen9975/opal-pusht-ckpts
Multi-seed eval protocol (unless noted): 3 seeds × 50 episodes, success_threshold=0.95.
Packages are additive — later drops use new path prefixes and do not replace earlier trees.
| Package | When | Path prefix | What |
|---|---|---|---|
| Jul 15 | 2026-07-15 | repo root (frozen_dino/, state_*, resnet_unet/, repro/) | Frozen / scratch + Celia BC→CCIL repro (OPAL knobs: crop84 / bs640) |
| Jul 18 | 2026-07-18 | ft_*, bc_h2_*, seqb_*, seqa_resnet/ | OPAL knobs: FT→CCIL, h2 BC, Seq-A/B |
| Jul 20 k76b64 | 2026-07-20 | k76b64/ | Celia knobs (crop76 / bs64): FT, h2 BC, Seq-A/B, and frozen scratch |
Details and metrics:
- k76b64 table + knobs →
k76b64/README.md·k76b64/manifest.json - Full handoff (eval / repro) →
HANDOFF_CHECKPOINTS_AND_REPRO.md
Layout
# Jul 15 (OPAL knobs)
frozen_dino|state_transformer|resnet_unet|state_unet/
demos{41,206}/{expert_only,expert_aug}/{best.pt,summary.txt}
repro/dino_tf_*_demos{41,206}/
# Jul 18 (OPAL knobs)
ft_{dino,resnet}/demos{41,206}/{expert_only,expert_aug}/
bc_h2_{dino,resnet}/demos{41,206}/
seqb_{dino,resnet}/...
seqa_resnet/demos41/...
# Jul 20 (Celia knobs) — not duplicates of Jul-15 scratch
k76b64/
frozen_dino_scratch|resnet_unet_scratch/demos{41,206}/{expert_only,expert_aug}/
ft_{dino,resnet}/demos{41,206}/{expert_only,expert_aug}/
bc_h2_{dino,resnet}/demos{41,206}/
seqb_{dino,resnet}/...
seqa_{dino,resnet}/...
README.md manifest.json
k76b64 knobs: crop [76,76], BC batch_size=64, DINO patch_hw=[-1,-1], dynamics patch [5,5], UNet [256,512,1024] emb 256.
Jul-15 frozen_dino/ / resnet_unet/ ≠ k76b64 *_scratch/ (different crop / batch size / UNet).
Not on HF (weka only): SSL probes, bc_h1_*.
Download
huggingface-cli login
# full repo
huggingface-cli download helen9975/opal-pusht-ckpts \
--repo-type model --local-dir ./opal_ckpts
# Celia-knob package only
huggingface-cli download helen9975/opal-pusht-ckpts \
--repo-type model --include "k76b64/**" \
--local-dir ./opal_ckpts_k76b64
Quick eval
python eval_checkpoints_multi_seed.py \
--ckpt ./k76b64/frozen_dino_scratch/demos206/expert_aug/best.pt \
--output_dir ./eval_out \
--n_seeds 3 --n_test 50 --base_seed 42 \
--success_threshold 0.95
Code: personalrobotics/image_ccil branch helen.