FTP-1 UniVTAC Finetune

ftp1_univtac_finetune is the UniVTAC fine-tuned release of FTP-1. It contains task-specific checkpoints initialized from the FTP-1 pretrained model and further trained on UniVTAC tasks.

This release currently includes 6 task checkpoints:

• FTP1_UniVTAC_insert_hole_expert_gsmall_ftp1
• FTP1_UniVTAC_insert_tube_expert_gsmall_ftp1
• FTP1_UniVTAC_lift_bottle_expert_gsmall_ftp1
• FTP1_UniVTAC_lift_can_expert_gsmall_ftp1
• FTP1_UniVTAC_pull_out_key_expert_gsmall_ftp1
• FTP1_UniVTAC_put_bottle_expert_gsmall_ftp1

Each task directory contains a fine-tuned checkpoint at step 19999.

Notes

• Type: fine-tuned checkpoint collection
• Base model: ftp1_pretrain_v0426_50kstep
• Domain: UniVTAC
• Use: task-specific inference or further adaptation

Links

• Project homepage: https://ftp1-policy.github.io/
• Open-source repository: https://github.com/michaelyuancb/ftp1-policy
• Pretrained checkpoints: https://huggingface.co/datasets/MJJJJ1064/ftp1_v0426_50kstep or https://www.modelscope.cn/models/michaelyuancb/ftp1_v0426_50kstep