Release reference
Configs, artifacts, and diagnostics
Use this page to resolve a paper model name to an executable entry point, check required artifacts, and diagnose the first failing reproduction gate.
Paper model and configuration registry
Every model name in the supplied table's first column was located. Nine are complete OpenPI configurations retained in this package. Five use separate frameworks and therefore remain external entry points rather than invented TrainConfig objects.
| Paper model | Framework | Release config / entry | Evidence |
|---|---|---|---|
| OpenVLA | OpenVLA | train_oft_robotwin_l20.sh | External run confirmed |
| RDT-1B | RDT-1B | finetune.sh | Checkpoint confirmed |
| pi0-Full | OpenPI | pi0_full_diyrobot | OpenPI config confirmed |
| pi0-LoRA | OpenPI | pi0_lora_diyrobot | OpenPI config confirmed |
| pi0.5-Full | OpenPI | pi05_full_diyrobot | OpenPI config confirmed |
| pi0.5-LoRA | OpenPI | pi05_lora_diyrobot | OpenPI config confirmed |
| Hi-MoE | Hi-MoE | scripts/train.py | Checkpoint confirmed |
| AdaMoE | AdaMoE | scripts/train.py | Checkpoint confirmed |
| KinRT-OpenVLA | OpenVLA | train_oft_robotwin_l20.sh with K4 routing | External run confirmed |
| KinRT-Full (pi0) | OpenPI | kinrt_full_pi0_diyrobot | OpenPI config confirmed |
| KinRT-LoRA (pi0) | OpenPI | kinrt_lora_pi0_diyrobot | OpenPI config confirmed |
| KinRT-AdaMoE | OpenPI | kinrt_adamoe_diyrobot | OpenPI config confirmed |
| KinRT-Full | OpenPI | kinrt_full_diyrobot | OpenPI config confirmed |
| KinRT-LoRA | OpenPI | kinrt_lora_diyrobot | OpenPI config confirmed |
Additional RoboTwin configs
The FULL registry also contains kinrt_full and kinrt_full_pi0. The LORA registry also contains kinrt_lora. These are the primary 800-episode RoboTwin entries; the nine rows above are the paper's native OpenPI DIYRobot mappings.
The ambiguous source name pi05_800_full was separated into the explicit kinrt_full and kinrt_lora entries in one registry. The active release has no config registered under the legacy name.
Artifact checklist
| Artifact | Record | Verify before use |
|---|---|---|
| Source tree | Unified release and provenance commits | Release validator and source manifest pass |
| Dataset | Repository ID, revision, digest, frame/episode counts | Schema, shapes, units, prompt set, and outcomes |
| Router labels | Generator args, summary, model, digest | All selected global indices have valid labels |
| Base parameters | Model family and checkpoint digest | PI0.5/PI0 family matches the config |
| Norm stats | Asset ID and digest | Generated from the same dataset/action contract |
| Fine-tuned checkpoint | Config, experiment, step, digest | Restores with matching assets |
| Simulator | RoboTwin commit and asset revision | One policy-free episode resets and renders |
| Hardware calibration | Robot ID, timestamp, operator, file digests | Rest, range, direction, and validation pass |
Command reference
| Stage | Command |
|---|---|
| Install | uv sync --frozen |
| Labels | uv run python scripts/generate_router_labels.py --repo-root ... |
| Norm stats | uv run python scripts/compute_norm_stats.py --config-name ... |
| Train | uv run python scripts/train.py CONFIG --exp-name NAME |
| RoboTwin server | bash serve_remote_model.sh deploy_policy.yml |
| RoboTwin remote client | MODEL_SERVER_HOST=... bash eval_remote.sh TASK GPU |
| DIYRobot offline test | OFFLINE_SELF_TEST=1 ./start_diyrobot_pi05_policy_client.sh |
| DIYRobot dry policy | POLICY_SERVER=... TASK_ID=0 ./start_diyrobot_pi05_policy_client.sh |
| Release validation | python tools/validate_release.py --check-manifests |
| Local website | python -m http.server 8080 --directory docs |
Evaluation contract
One independent policy session per socket connection.
Numpy dtype and shape metadata; bfloat16 serialized as float32.
Success, seed, elapsed time, action count, checkpoint, and telemetry path.
All requested episodes must have result records before evaluation is complete.
LORA preserves connections after structured model errors when possible and isolates non-transport episode failures. FULL has broader FFN activation telemetry. These differences affect robustness and observability, not the routing objective.
Troubleshooting by first failing gate
| Symptom | Likely boundary | Action |
|---|---|---|
uv sync cannot resolve a workspace package | Incomplete source copy | Confirm packages/openpi-client exists and use the included lockfile. |
| JAX lists CPU only | GPU driver/runtime | Resolve CUDA/JAX installation before any training diagnosis. |
| Router label index error | Dataset/label mismatch | Regenerate labels from the exact dataset and check global index coverage. |
| Missing or unstable norm stats | Asset identity | Recompute with the exact selected config and dataset. |
| Checkpoint restore shape mismatch | Backbone or FULL/LoRA mismatch | Verify config name, model family, ranks, and checkpoint source. |
| RoboTwin task module missing | Incomplete simulator checkout | Restore the compatible envs/ and task assets. |
| Evaluation returns fewer trials | Partial run or transport loss | Count result records, inspect errors, and resume with explicit seed accounting. |
| DIYRobot startup mismatch | Pose/calibration | Stop before motion; restore the pose or recalibrate the affected joint. |
| Missing follower feedback | USB-CAN/wiring | Disable torque, inspect the relevant bus, and repeat passive checks. |
| Camera open or wrong image | Device contention/mapping | Stop preview processes and verify by-id paths and semantic views. |
| Policy response stale | Network/server latency | Stop motion, inspect server load and transport, then repeat the dry gate. |
Audit boundary and unresolved items
- The KinRT sources and configuration mappings were statically audited and validated; full training was not rerun in this documentation build.
- The DIYRobot source was inspected remotely with read-only commands. No remote file was edited and no hardware process was started.
- No real-robot calibration, camera stream, bus feedback, torque enable, collection, or motion was executed by this audit.
- The complete RoboTwin simulator and large artifacts are external, so end-to-end numeric reproduction remains dependent on their release.
- The paper label “Pull Bottle” conflicts with the active prompt-v3 pill-box pulling task and must be resolved before publication.
- Historical source-host documents contain stale port mappings and older camera names; this website uses the released DIYRobot copy and requires device discovery.
Do not describe an external artifact or an unexecuted hardware test as included, verified, or reproduced. State the exact boundary in the release notes.