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
| { | |
| "dataset": { | |
| "repo_id": "Dicomsky/evo_rl_grasp_tape", | |
| "root": null, | |
| "episodes": null, | |
| "image_transforms": { | |
| "enable": false, | |
| "max_num_transforms": 3, | |
| "random_order": false, | |
| "tfs": { | |
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| "hue": { | |
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| "affine": { | |
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| "type": "RandomAffine", | |
| "kwargs": { | |
| "degrees": [ | |
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| ], | |
| "translate": [ | |
| 0.05, | |
| 0.05 | |
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| }, | |
| "revision": null, | |
| "use_imagenet_stats": true, | |
| "video_backend": "torchcodec", | |
| "streaming": false | |
| }, | |
| "value": { | |
| "type": "pistar06", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
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| ] | |
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| "observation.images.top": { | |
| "type": "VISUAL", | |
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| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
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| }, | |
| "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", | |
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| "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" | |
| } | |
| }, | |
| "env": null, | |
| "output_dir": "outputs/value_train/evo_rl_grasp_tape", | |
| "job_name": "evo_rl_grasp_tape", | |
| "resume": false, | |
| "seed": 1000, | |
| "num_workers": 4, | |
| "batch_size": 16, | |
| "steps": 8000, | |
| "log_freq": 200, | |
| "tolerance_s": 0.0001, | |
| "save_checkpoint": true, | |
| "save_freq": 4000, | |
| "use_value_training_preset": true, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 5e-05, | |
| "weight_decay": 1e-05, | |
| "grad_clip_norm": 10.0, | |
| "betas": [ | |
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| 0.999 | |
| ], | |
| "eps": 1e-08 | |
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| "scheduler": { | |
| "type": "cosine_decay_with_warmup", | |
| "num_warmup_steps": 500, | |
| "num_decay_steps": 8000, | |
| "peak_lr": 5e-05, | |
| "decay_lr": 1e-06 | |
| }, | |
| "targets": { | |
| "success_field": "episode_success", | |
| "default_success": "failure", | |
| "c_fail_coef": 1.0, | |
| "target_field": "observation.value_target" | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": false, | |
| "project": "lerobot", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": "gzvmvvcg", | |
| "mode": null | |
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| "rename_map": {}, | |
| "checkpoint_path": null | |
| } |