Instructions to use lerobot/Robometer-4B with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use lerobot/Robometer-4B with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "type": "robometer", | |
| "input_features": { | |
| "observation.images.top": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "progress": { | |
| "type": "REWARD", | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "success": { | |
| "type": "REWARD", | |
| "shape": [ | |
| 1 | |
| ] | |
| } | |
| }, | |
| "device": "cpu", | |
| "pretrained_path": "robometer/Robometer-4B", | |
| "push_to_hub": false, | |
| "repo_id": null, | |
| "license": "apache-2.0", | |
| "tags": [ | |
| "reward-model", | |
| "vision-language", | |
| "qwen3-vl", | |
| "zero-shot" | |
| ], | |
| "private": null, | |
| "image_key": "observation.images.top", | |
| "task_key": "task", | |
| "default_task": null, | |
| "max_frames": 8, | |
| "reward_output": "progress", | |
| "success_threshold": 0.5, | |
| "base_model_id": "Qwen/Qwen3-VL-4B-Instruct", | |
| "torch_dtype": "bfloat16", | |
| "use_multi_image": true, | |
| "use_per_frame_progress_token": true, | |
| "average_temporal_patches": true, | |
| "frame_pooling": "mean", | |
| "frame_pooling_attn_temperature": 1.0, | |
| "progress_loss_type": "discrete", | |
| "progress_discrete_bins": 10, | |
| "vlm_config": { | |
| "transformers_version": "5.5.4", | |
| "architectures": [ | |
| "Qwen3VLForConditionalGeneration" | |
| ], | |
| "output_hidden_states": false, | |
| "return_dict": true, | |
| "dtype": null, | |
| "chunk_size_feed_forward": 0, | |
| "is_encoder_decoder": false, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "problem_type": null, | |
| "text_config": { | |
| "architectures": null, | |
| "output_hidden_states": false, | |
| "return_dict": true, | |
| "dtype": "bfloat16", | |
| "chunk_size_feed_forward": 0, | |
| "is_encoder_decoder": false, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "problem_type": null, | |
| "vocab_size": 151674, | |
| "hidden_size": 2560, | |
| "intermediate_size": 9728, | |
| "num_hidden_layers": 36, | |
| "num_attention_heads": 32, | |
| "num_key_value_heads": 8, | |
| "head_dim": 128, | |
| "hidden_act": "silu", | |
| "max_position_embeddings": 262144, | |
| "initializer_range": 0.02, | |
| "rms_norm_eps": 1e-06, | |
| "use_cache": true, | |
| "rope_parameters": { | |
| "mrope_interleaved": true, | |
| "mrope_section": [ | |
| 24, | |
| 20, | |
| 20 | |
| ], | |
| "rope_type": "default", | |
| "rope_theta": 5000000 | |
| }, | |
| "attention_bias": false, | |
| "attention_dropout": 0.0, | |
| "pad_token_id": null, | |
| "_name_or_path": "", | |
| "bos_token_id": 151643, | |
| "eos_token_id": 151645, | |
| "model_type": "qwen3_vl_text", | |
| "tie_word_embeddings": true, | |
| "output_attentions": false | |
| }, | |
| "vision_config": { | |
| "architectures": null, | |
| "output_hidden_states": false, | |
| "return_dict": true, | |
| "dtype": null, | |
| "chunk_size_feed_forward": 0, | |
| "is_encoder_decoder": false, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "problem_type": null, | |
| "depth": 24, | |
| "hidden_size": 1024, | |
| "hidden_act": "gelu_pytorch_tanh", | |
| "intermediate_size": 4096, | |
| "num_heads": 16, | |
| "in_channels": 3, | |
| "patch_size": 16, | |
| "spatial_merge_size": 2, | |
| "temporal_patch_size": 2, | |
| "out_hidden_size": 2560, | |
| "num_position_embeddings": 2304, | |
| "deepstack_visual_indexes": [ | |
| 5, | |
| 11, | |
| 17 | |
| ], | |
| "initializer_range": 0.02, | |
| "_name_or_path": "", | |
| "model_type": "qwen3_vl", | |
| "output_attentions": false | |
| }, | |
| "image_token_id": 151655, | |
| "video_token_id": 151656, | |
| "vision_start_token_id": 151652, | |
| "vision_end_token_id": 151653, | |
| "tie_word_embeddings": true, | |
| "_name_or_path": "Qwen/Qwen3-VL-4B-Instruct", | |
| "model_type": "qwen3_vl", | |
| "output_attentions": false | |
| }, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "REWARD": "IDENTITY" | |
| } | |
| } |