Juelg/RPD-maniskill

Maniskill Sub-Dataset in RLDS Format used in RPD

This repo contains the maniskill subset in RLDS format used to train Octo and OpenVLA in the Refined Policy Distillation paper which distilled these models using RL.

Checkout octo-base-1.5-finetuned-maniskill and openvla-7b-finetuned-maniskill which have been fine-tuned with that dataset.

Citation

If you find RPD useful for your work, please consider citing it:

@inproceedings{juelg2025refinedpolicydistillationvla,
    title={{Refined Policy Distillation}: {F}rom {VLA} Generalists to {RL} Experts}, 
    author={Tobias Jülg and Wolfram Burgard and Florian Walter},
    year={2025},
    booktitle={Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
    note={Accepted for publication.}
}