Upload policy weights, train config and readme

README.md

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+---
+datasets: Dicomsky/human_inloop_grasp
+library_name: lerobot
+license: apache-2.0
+model_name: pistar06
+pipeline_tag: robotics
+tags:
+- pistar06
+- lerobot
+- robotics
+---
+
+# Model Card for pistar06
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+_Model type not recognized — please update this template._
+
+
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+
+---
+
+## How to Get Started with the Model
+
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+
+### Train from scratch
+
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+
+### Evaluate the policy/run inference
+
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+
+---
+
+## Model Details
+
+- **License:** apache-2.0

config.json

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+{
+    "type": "pistar06",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": "Dicomsky/value_human_inloop_grasp",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "vision_repo_id": "google/siglip-so400m-patch14-384",
+    "language_repo_id": "google/gemma-3-270m",
+    "vision_revision": null,
+    "language_revision": null,
+    "task_field": "task",
+    "camera_features": [],
+    "state_feature": "observation.state",
+    "include_state_in_prompt": true,
+    "max_state_dim": 32,
+    "state_discretization_bins": 256,
+    "target_key": "observation.value_target",
+    "loss_weight_key": "observation.value_loss_weight",
+    "task_index_feature": "task_index",
+    "tokenizer_max_length": 200,
+    "state_proj_dim": 512,
+    "fusion_hidden_dim": 512,
+    "fusion_num_layers": 2,
+    "fusion_num_heads": 8,
+    "num_bins": 201,
+    "bin_min": -1.0,
+    "bin_max": 0.0,
+    "dropout": 0.1,
+    "dtype": "bfloat16",
+    "freeze_vision_encoder": true,
+    "freeze_language_model": true,
+    "use_gradient_checkpointing": false,
+    "optimizer_lr": 5e-05,
+    "optimizer_weight_decay": 1e-05,
+    "optimizer_grad_clip_norm": 10.0,
+    "scheduler_warmup_steps": 500,
+    "scheduler_decay_steps": 8000,
+    "scheduler_decay_lr": 1e-06,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "QUANTILES",
+        "ACTION": "IDENTITY"
+    }
+}

model.safetensors

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2b8990146c8562fea035b1a081be1a99e1683a722b6687a83264f39540fd4ab5
+size 6194892

pistar06_save_info.json

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+{
+  "excluded_prefixes": [
+    "model.vision_encoder.",
+    "model.language_model."
+  ],
+  "format_version": 1,
+  "freeze_language_model": true,
+  "freeze_vision_encoder": true,
+  "saved_tensor_count": 10,
+  "weights_mode": "partial"
+}

value_train_config.json

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+{
+    "dataset": {
+        "repo_id": "Dicomsky/human_inloop_grasp",
+        "root": null,
+        "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": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "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",
+        "streaming": false
+    },
+    "value": {
+        "type": "pistar06",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": true,
+        "repo_id": "Dicomsky/value_human_inloop_grasp",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "vision_repo_id": "google/siglip-so400m-patch14-384",
+        "language_repo_id": "google/gemma-3-270m",
+        "vision_revision": null,
+        "language_revision": null,
+        "task_field": "task",
+        "camera_features": [],
+        "state_feature": "observation.state",
+        "include_state_in_prompt": true,
+        "max_state_dim": 32,
+        "state_discretization_bins": 256,
+        "target_key": "observation.value_target",
+        "loss_weight_key": "observation.value_loss_weight",
+        "task_index_feature": "task_index",
+        "tokenizer_max_length": 200,
+        "state_proj_dim": 512,
+        "fusion_hidden_dim": 512,
+        "fusion_num_layers": 2,
+        "fusion_num_heads": 8,
+        "num_bins": 201,
+        "bin_min": -1.0,
+        "bin_max": 0.0,
+        "dropout": 0.1,
+        "dtype": "bfloat16",
+        "freeze_vision_encoder": true,
+        "freeze_language_model": true,
+        "use_gradient_checkpointing": false,
+        "optimizer_lr": 5e-05,
+        "optimizer_weight_decay": 1e-05,
+        "optimizer_grad_clip_norm": 10.0,
+        "scheduler_warmup_steps": 500,
+        "scheduler_decay_steps": 8000,
+        "scheduler_decay_lr": 1e-06,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "QUANTILES",
+            "ACTION": "IDENTITY"
+        }
+    },
+    "env": null,
+    "output_dir": "outputs/value_train/human_inloop_grasp",
+    "job_name": "human_inloop_grasp",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 16,
+    "steps": 8000,
+    "log_freq": 200,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 4000,
+    "use_value_training_preset": true,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 5e-05,
+        "weight_decay": 1e-05,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 500,
+        "num_decay_steps": 8000,
+        "peak_lr": 5e-05,
+        "decay_lr": 1e-06
+    },
+    "targets": {
+        "success_field": "episode_success",
+        "default_success": "failure",
+        "c_fail_coef": 1.0,
+        "target_field": "observation.value_target"
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "yf2b7ime",
+        "mode": null
+    },
+    "peft": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}