iFaz/eqm-aloha_transfer_cube-seed3-half

EQM Policy — eqm_aloha_transfer_cube_seed3

Trained with LeRobot.
Date: 2026-08-24 16:33
Policy type: eqm | Device: cuda

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📦 Dataset

Parameter	Value
dataset.repo_id	lerobot/aloha_sim_transfer_cube_human

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🏋️ Training Config

Parameter	Value
steps	40000
batch_size	8
eval_freq	0
save_freq	20000
num_workers	4
seed	3
eval.n_episodes	1
eval.batch_size	1
eval.use_async_envs	True

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📐 Policy Architecture

Parameter	Value
use_context_aware_encoder	True
context_aware_encoder_name	facebook/dinov2-with-registers-small
context_aware_embodied_pooling	spatial_softmax
context_aware_num_register_tokens	4
context_aware_freeze_backbone	False
resize_shape	(224, 224)
spatial_softmax_num_keypoints	32
enable_world_model	True
jepa_encoder_name	facebook/vjepa2-vitl-fpc64-256
freeze_jepa_encoder	True
jepa_tubelet_size	2
num_video_frames	8
predictor_depth	12
predictor_num_heads	8
predictor_mlp_ratio	4.0
num_action_tokens_per_timestep	4
world_model_loss_weight	0.01
num_predictor_views	2

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🎯 Eval Config

Parameter	Value
env.type	aloha
env.task	AlohaTransferCube-v0
eval.n_episodes	5
eval.batch_size	4
eval.use_async_envs	False
policy.path	/kaggle/working/outputs/train/aloha_transfer_cube_seed3/checkpoints/last/pretrained_model

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📊 Eval Results

Metric	Value
Episodes	5
Success rate	0.0%
Avg sum reward	0.00
Avg max reward	0.00
Eval time (s)	1267.1

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Citation

@misc{cadene2024lerobot,
  author = {Cadene, Remi and Alibert, Simon and others},
  title  = {LeRobot},
  year   = {2024},
  url    = {https://github.com/huggingface/lerobot}
}