robomimic-v0.1#

We provide links below to several pretrained models that were trained with robomimic-v0.1 for our CoRL 2021 study. All success rates listed below are approximate - they may vary.

Note: see tutorial on using these models

See the “Using Pretrained Models” tutorial for instructions on using these models.

Warning: use correct robosuite branch!

When using these trained models, please make sure that robosuite is on the offline_study branch of robosuite.

Proficient-Human (PH)#

Lift (PH)#

proficient_human

BC-RNN#

  • low-dim agent (success rate ~100%) (download)

  • image agent (success rate ~100%) (download)

Can (PH)#

proficient_human

BC-RNN#

  • low-dim agent (success rate ~100%) (download)

  • image agent (success rate ~100%) (download)

Square (PH)#

proficient_human

BC-RNN#

  • low-dim agent (success rate ~84%) (download)

  • image agent (success rate ~78%) (download)

Transport (PH)#

proficient_human

BC-RNN#

  • low-dim agent (success rate ~78%) (download)

  • image agent (success rate ~70%) (download)

Tool Hang (PH)#

proficient_human

BC-RNN#

  • low-dim agent (success rate ~14%) (download)

  • image agent (success rate ~ 50-74%) (download)