PLS-VLA Skill Predictor
Transformer Skill Predictor SP_θ(V(f_t), e_t) → (Ŝ_t, p̂_t).
Checkpoint folders use the same names as W&B runs: sp-<dataset>
(e.g. sp-b1k-task0000).
Checkpoint sp-b1k-task0000
- file:
sp-b1k-task0000/sp.pt - d_vis=768 d_pre=4096 d_skill=4096
- d_model=256 layers=4 heads=8
- residual=False
- trained epochs=20 final train loss=26.258141210804816
- extra:
{"data": "skill_dataset version b1k-task0000 split=train"}
python scripts/run_skill_predictor.py \
--checkpoint <local.pt> # or download sp-b1k-task0000/sp.pt from this repo
Checkpoints in this repo
Folder names match W&B (sp-<dataset>).
sp-b1k-task0000