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Merge pull request #4 from google-research/fxia22-patch-1 

improve documentation
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P G Keerthana Gopalakrishnan 2022-12-15 10:48:07 -08:00 committed by GitHub
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@ -36,9 +36,10 @@ bazel test ...
### Using trained checkpoints
Checkpoints are included in trained_checkpoints/ folder for three models:
1. RT-1 trained on 700 tasks
2. RT-1 jointly trained on EDR and Kuka data
3. RT-1 jointly trained on sim and real data
1. [RT-1 trained on 700 tasks](trained_checkpoints/rt1main)
2. [RT-1 jointly trained on EDR and Kuka data](trained_checkpoints/rt1multirobot)
3. [RT-1 jointly trained on sim and real data](trained_checkpoints/rt1simreal)
They are tensorflow SavedModel files. Instructions on usage can be found [here](https://www.tensorflow.org/guide/saved_model)