Instructions to use chalkp/vla-jepa-folding with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use chalkp/vla-jepa-folding with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "dataset": { | |
| "repo_id": "lerobot/high_quality_folding", | |
| "root": "lerobot/high_quality_folding", | |
| "episodes": null, | |
| "image_transforms": { | |
| "enable": false, | |
| "max_num_transforms": 3, | |
| "random_order": false, | |
| "tfs": { | |
| "brightness": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "brightness": [ | |
| 0.8, | |
| 1.2 | |
| ] | |
| } | |
| }, | |
| "contrast": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "contrast": [ | |
| 0.8, | |
| 1.2 | |
| ] | |
| } | |
| }, | |
| "saturation": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "saturation": [ | |
| 0.5, | |
| 1.5 | |
| ] | |
| } | |
| }, | |
| "hue": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "hue": [ | |
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| 0.05 | |
| ] | |
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| }, | |
| "sharpness": { | |
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| "type": "SharpnessJitter", | |
| "kwargs": { | |
| "sharpness": [ | |
| 0.5, | |
| 1.5 | |
| ] | |
| } | |
| }, | |
| "affine": { | |
| "weight": 1.0, | |
| "type": "RandomAffine", | |
| "kwargs": { | |
| "degrees": [ | |
| -5.0, | |
| 5.0 | |
| ], | |
| "translate": [ | |
| 0.05, | |
| 0.05 | |
| ] | |
| } | |
| } | |
| } | |
| }, | |
| "revision": null, | |
| "use_imagenet_stats": true, | |
| "video_backend": "torchcodec", | |
| "return_uint8": false, | |
| "streaming": false | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "vla_jepa", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 16 | |
| ] | |
| }, | |
| "observation.images.left_wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 720, | |
| 1280 | |
| ] | |
| }, | |
| "observation.images.right_wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 720, | |
| 1280 | |
| ] | |
| }, | |
| "observation.images.base": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 16 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": true, | |
| "use_peft": false, | |
| "push_to_hub": false, | |
| "repo_id": "chalkp/vla-jepa-folding", | |
| "private": false, | |
| "tags": [ | |
| "vla-jepa", | |
| "folding", | |
| "bimanual", | |
| "fine-tuned" | |
| ], | |
| "license": "apache-2.0", | |
| "pretrained_path": "chalkp/vla-jepa-folding", | |
| "chunk_size": 7, | |
| "n_action_steps": 7, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "QUANTILES", | |
| "ACTION": "QUANTILES" | |
| }, | |
| "qwen_model_name": "Qwen/Qwen3-VL-2B-Instruct", | |
| "jepa_encoder_name": "facebook/vjepa2-vitl-fpc64-256", | |
| "freeze_qwen": true, | |
| "enable_world_model": false, | |
| "reinit_modules": [ | |
| "model.action_model.action_encoder", | |
| "model.action_model.action_decoder", | |
| "model.action_model.state_encoder" | |
| ], | |
| "tokenizer_padding_side": "left", | |
| "prompt_template": "Your task is {instruction}. Infer the temporal dynamics from frames {actions} and produce the corresponding policy actions {e_actions}.", | |
| "special_action_token": "<|action_{}|>", | |
| "embodied_action_token": "<|embodied_action|>", | |
| "action_dim": 16, | |
| "state_dim": 16, | |
| "num_action_tokens_per_timestep": 8, | |
| "num_embodied_action_tokens_per_instruction": 32, | |
| "num_inference_timesteps": 4, | |
| "action_hidden_size": 1024, | |
| "action_model_type": "DiT-B", | |
| "action_num_layers": 16, | |
| "action_num_heads": 12, | |
| "action_attention_head_dim": 64, | |
| "action_dropout": 0.2, | |
| "action_num_timestep_buckets": 1000, | |
| "action_noise_beta_alpha": 1.5, | |
| "action_noise_beta_beta": 1.0, | |
| "action_noise_s": 0.999, | |
| "num_target_vision_tokens": 32, | |
| "action_max_seq_len": 1024, | |
| "num_video_frames": 8, | |
| "predictor_depth": 12, | |
| "predictor_num_heads": 8, | |
| "predictor_mlp_ratio": 4.0, | |
| "predictor_dropout": 0.0, | |
| "world_model_loss_weight": 0.1, | |
| "jepa_tubelet_size": 2, | |
| "repeated_diffusion_steps": 8, | |
| "resize_images_to": [ | |
| 224, | |
| 224 | |
| ], | |
| "binarize_gripper_action": false, | |
| "pre_snap_gripper_action": false, | |
| "clip_normalized_actions": true, | |
| "gripper_dim": 7, | |
| "gripper_threshold": 0.5, | |
| "torch_dtype": "bfloat16", | |
| "optimizer_lr": 3.75e-05, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 0.01, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 40000, | |
| "scheduler_decay_lr": 2.5e-06 | |
| }, | |
| "reward_model": null, | |
| "output_dir": "outputs/train/vla-jepa-folding", | |
| "job_name": "vla-jepa-folding", | |
| "resume": true, | |
| "seed": 1000, | |
| "cudnn_deterministic": false, | |
| "num_workers": 4, | |
| "batch_size": 8, | |
| "prefetch_factor": 4, | |
| "persistent_workers": true, | |
| "steps": 40000, | |
| "eval_freq": 10000, | |
| "log_freq": 500, | |
| "tolerance_s": 0.01, | |
| "save_checkpoint": true, | |
| "save_freq": 10000, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 3.75e-05, | |
| "weight_decay": 0.01, | |
| "grad_clip_norm": 1.0, | |
| "betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": { | |
| "type": "cosine_decay_with_warmup", | |
| "num_warmup_steps": 1000, | |
| "num_decay_steps": 40000, | |
| "peak_lr": 3.75e-05, | |
| "decay_lr": 2.5e-06 | |
| }, | |
| "eval": { | |
| "n_episodes": 0, | |
| "batch_size": 0, | |
| "use_async_envs": false | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": true, | |
| "project": "lerobot-folding", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": "ccjqh3dl", | |
| "mode": "offline", | |
| "add_tags": true | |
| }, | |
| "peft": null, | |
| "sample_weighting": { | |
| "type": "rabc", | |
| "progress_path": "lerobot/high_quality_folding/sarm_progress.parquet", | |
| "head_mode": "sparse", | |
| "kappa": 0.0265, | |
| "epsilon": 1e-06, | |
| "extra_params": {} | |
| }, | |
| "rename_map": {}, | |
| "checkpoint_path": "outputs/train/vla-jepa-folding/checkpoints/last" | |
| } |