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sarm_0610 / config.json
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{
"type": "sarm",
"input_features": {
"observation.images.camera1": {
"type": "VISUAL",
"shape": [
480,
640,
3
]
},
"observation.state": {
"type": "STATE",
"shape": [
32
]
}
},
"output_features": {
"sparse_stage": {
"type": "REWARD",
"shape": [
13,
1
]
},
"sparse_progress": {
"type": "REWARD",
"shape": [
13,
1
]
},
"dense_stage": {
"type": "REWARD",
"shape": [
13,
1
]
},
"dense_progress": {
"type": "REWARD",
"shape": [
13,
1
]
}
},
"device": "cuda",
"pretrained_path": null,
"push_to_hub": true,
"repo_id": "wuc1/sarm_0610",
"license": null,
"tags": null,
"private": null,
"annotation_mode": "dense_only",
"temporal_window_mode": "bidirectional",
"n_obs_steps": 8,
"frame_gap": 30,
"max_rewind_steps": 4,
"image_dim": 512,
"text_dim": 512,
"hidden_dim": 768,
"num_heads": 12,
"num_layers": 8,
"max_state_dim": 32,
"drop_n_last_frames": 1,
"batch_size": 64,
"clip_batch_size": 64,
"dropout": 0.1,
"stage_loss_weight": 1.0,
"rewind_probability": 0.8,
"language_perturbation_probability": 0.2,
"num_sparse_stages": 1,
"sparse_subtask_names": [
"task"
],
"sparse_temporal_proportions": [
1.0
],
"num_dense_stages": 4,
"dense_subtask_names": [
"fold the rag in half again",
"fold the rag in half",
"place the folded rag",
"rotate the rag 90 degrees"
],
"dense_temporal_proportions": [
0.2931283501062518,
0.3003214776515989,
0.22014899407460498,
0.18640117816754428
],
"pretrained_model_path": null,
"image_key": "observation.images.camera1",
"state_key": "observation.state",
"precomputed_image_features_path": "/home/wy/.cache/huggingface/lerobot/wuc1/bi_so101_ffp_20260603_200349_subtask/meta/clip_features_left_camera1.npy",
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"LANGUAGE": "IDENTITY",
"REWARD": "IDENTITY"
}
}