---
license: apache-2.0
---
# 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](https://refined-policy-distillation.github.io/) paper which distilled these models using RL. 

Checkout [octo-base-1.5-finetuned-maniskill](https://huggingface.co/Juelg/octo-base-1.5-finetuned-maniskill) and [openvla-7b-finetuned-maniskill](https://huggingface.co/Juelg/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.}
}
```