v0.2.1: model.py finds instructions.json from the Hugging Face cache; link to the LeRobot version
434b56b verified | { | |
| "model": "amp-tadpole", | |
| "version": "0.2.1", | |
| "parameters": 6507335, | |
| "inputs": { | |
| "images": "uint8 (3, 3, 512, 512): top, side, iso", | |
| "state": "(7,): 6 joint angles (rad) + gripper (0 open .. 1 closed)", | |
| "clause": "one canonical instruction clause" | |
| }, | |
| "output": "(8, 7): the next 8 joint states + gripper", | |
| "training": { | |
| "steps": 330000, | |
| "batch_size": 64, | |
| "learning_rate": 0.0003, | |
| "state_dropout": 0.5, | |
| "seeds": "from 0 (scenes from 9,000,000 up never used)", | |
| "progress_reward": 0.0, | |
| "path_weight": 0.0, | |
| "success_on_100_held_out_scenes_during_training": 0.893 | |
| } | |
| } | |