Checkpoint issue

[kmax2001]

Could you provide us explanation about the correct weight to run the eval code?

Should I use ata/release/weights/rlb/arp_plus_model_70000.pth at STAGE23_ONLY_IL_WEIGHTS and data/release/weights/rlb/arp_model_80000.pth at STAGE1_INIT_WEIGHTS??

Can I get a checkpoint which contains full parameters of CameraPolicy model? I think there are some mismatches betweeen the model and checkpoint file.

Thank you !

[baiyu858]

@kmax2001 Hello!
Because the model architecture has changed, you cannot use the ARP checkpoint.

You need to run start_tvve_stage1.sh to retrain the base model and obtain STAGE1_INIT_WEIGHTS. Then, use STAGE1_INIT_WEIGHTS to perform Stage 2 training and get STAGE23_ONLY_IL_WEIGHTS. After that, use STAGE23_ONLY_IL_WEIGHTS to run Stage 3 training and obtain STAGE23_EVAL_WEIGHTS.

Finally, you can use STAGE23_EVAL_WEIGHTS to evaluate on the test set.