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---
license: apache-2.0
datasets:
- JayLee131/vqbet_pusht
pipeline_tag: robotics
---
# Model Card for VQ-BeT/PushT
VQ-BeT (as per [Behavior Generation with Latent Actions](https://arxiv.org/abs/2403.03181)) trained for the `PushT` environment from [gym-pusht](https://github.com/huggingface/gym-pusht).
## How to Get Started with the Model
See the [LeRobot library](https://github.com/huggingface/lerobot) (particularly the [evaluation script](https://github.com/huggingface/lerobot/blob/main/lerobot/scripts/eval.py)) for instructions on how to load and evaluate this model.
## Training Details
Trained with [LeRobot@342f429](https://github.com/huggingface/lerobot/tree/342f429f1c321a2b4501c3007b1dacba7244b469).
The model was trained using this command:
```bash
python lerobot/scripts/train.py \
policy=vqbet \
env=pusht dataset_repo_id=lerobot/pusht \
wandb.enable=true \
device=cuda
```
The training curves may be found at https://wandb.ai/jaylee0301/lerobot/runs/9r0ndphr?nw=nwuserjaylee0301.
Training VQ-BeT on PushT took about 7-8 hours to train on an Nvida A6000.
## Model Size
<blank>|Number of Parameters
-|-
RGB Encoder | 11.2M
Remaining VQ-BeT Parts | 26.3M
## Evaluation
The model was evaluated on the `PushT` environment from [gym-pusht](https://github.com/huggingface/gym-pusht). There are two evaluation metrics on a per-episode basis:
- Maximum overlap with target (seen as `eval/avg_max_reward` in the charts above). This ranges in [0, 1].
- Success: whether or not the maximum overlap is at least 95%.
Here are the metrics for 500 episodes worth of evaluation.
Metric|Value
-|-
Average max. overlap ratio for 500 episodes | 0.895
Success rate for 500 episodes (%) | 63.8
The results of each of the individual rollouts may be found in [eval_info.json](eval_info.json). |