SLIM for LIBERO
This repository contains the released SLIM Stage 2 policy checkpoint for LIBERO and LIBERO-Plus. SLIM is a compact latent interaction policy for robot manipulation.
Checkpoint
- Stage 1: action-grounded masked trajectory prediction on LIBERO all+90
- Stage 1 objective: IDM:FDM = 0.125:1 for 3 epochs
- Stage 2: flow-matching policy training on LIBERO all for 40 epochs
- Stage 1 and Stage 2 video backend:
torchvision_av - Stage 1 EMA: enabled, momentum 0.999
- Stage 2 EMA: disabled
- Action horizon and execution chunk: 8
- Image size: 224 x 224, agent and wrist views
- State/action dimensions: 7/7
The checkpoint is a plain PyTorch state_dict and loads directly with
SLIM.
Results
| Benchmark | Coverage | Score |
|---|---|---|
| LIBERO | 2,000 / 2,000 | 97.50% |
| LIBERO-Plus | 10,030 / 10,030 | 77.45% |
LIBERO suite scores are 94.40% (LIBERO-10), 99.40% (Spatial), 99.40%
(Object), and 96.80% (Goal). The complete LIBERO-Plus suite/category reports
are included under evaluation/.
Usage
Install SLIM and configure the DINOv2 and T5 paths as described in the SLIM README. Then run a policy server from the SLIM repository root:
python -m slim.serving.server \
--checkpoint /path/to/SLIM-LIBERO/checkpoints/epoch_40_pytorch_model.pt \
--port 10093 \
--bf16
The checkpoint requires the included config.yaml and action_stats.json to
remain in the repository root. See checkpoint_manifest.json for hashes and
the exact release revision.
Limitations
This checkpoint is intended for research evaluation in LIBERO-compatible simulation environments. It should not be deployed on physical robots without task-specific safety validation and action-bound checks.
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