Instructions to use Dicomsky/value_evo_rl_grasp_tape with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use Dicomsky/value_evo_rl_grasp_tape with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "type": "pistar06", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.images.top": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": true, | |
| "repo_id": "Dicomsky/value_evo_rl_grasp_tape", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "vision_repo_id": "google/siglip-so400m-patch14-384", | |
| "language_repo_id": "google/gemma-3-270m", | |
| "vision_revision": null, | |
| "language_revision": null, | |
| "task_field": "task", | |
| "camera_features": [], | |
| "state_feature": "observation.state", | |
| "include_state_in_prompt": true, | |
| "max_state_dim": 32, | |
| "state_discretization_bins": 256, | |
| "target_key": "observation.value_target", | |
| "loss_weight_key": "observation.value_loss_weight", | |
| "task_index_feature": "task_index", | |
| "tokenizer_max_length": 200, | |
| "state_proj_dim": 512, | |
| "fusion_hidden_dim": 512, | |
| "fusion_num_layers": 2, | |
| "fusion_num_heads": 8, | |
| "num_bins": 201, | |
| "bin_min": -1.0, | |
| "bin_max": 0.0, | |
| "dropout": 0.1, | |
| "dtype": "bfloat16", | |
| "freeze_vision_encoder": true, | |
| "freeze_language_model": true, | |
| "use_gradient_checkpointing": false, | |
| "optimizer_lr": 5e-05, | |
| "optimizer_weight_decay": 1e-05, | |
| "optimizer_grad_clip_norm": 10.0, | |
| "scheduler_warmup_steps": 500, | |
| "scheduler_decay_steps": 8000, | |
| "scheduler_decay_lr": 1e-06, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "QUANTILES", | |
| "ACTION": "IDENTITY" | |
| } | |
| } |