dreamtacvla

Checkpoints for the DreamTacVLA policy trained on bimanual Dobot X-Trainer data with vision + tactile observations (recorded 2025-11-07).

Datasets: michaelyeah7/dobot_xtrainer_tac_1107

Subfolders

Folder	Task	Notes
dreamtacvla_gearassemb_1107/	Gear assembly	full training run
dreamtacvla_peginhole_1107/	Peg-in-hole	full training run
dreamtacvla_usb_vitg_1107/	USB insertion	ViT-G encoder variant

Each subfolder contains:

• config.pkl — training config
• dataset_stats.pkl — normalization stats from the training dataset
• policy_step_*_seed_42.ckpt — checkpoints at various training steps
• policy_last.ckpt — last checkpoint (where available)

Loading

from huggingface_hub import snapshot_download
path = snapshot_download(
    repo_id="michaelyeah7/dreamtacvla",
    allow_patterns="dreamtacvla_peginhole_1107/*",  # or any other subfolder
)