Upload reward model weights, train config and readme

README.md

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+---
+datasets: lilkm/stackblocks_recap_all_for_vf
+library_name: lerobot
+license: apache-2.0
+model_name: distributional_value_function
+pipeline_tag: robotics
+tags:
+- reward-model
+- robotics
+- distributional_value_function
+- lerobot
+---
+
+# Reward Model Card for distributional_value_function
+
+<!-- Provide a quick summary of what the reward model is/does. -->
+
+
+_Reward model type not recognized — please update this template._
+
+
+This reward model 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 Reward Model
+
+### Train from scratch
+
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --reward_model.type=distributional_value_function \
+  --output_dir=outputs/train/<desired_reward_model_repo_id> \
+  --job_name=lerobot_reward_training \
+  --reward_model.device=cuda \
+  --reward_model.repo_id=${HF_USER}/<desired_reward_model_repo_id> \
+  --wandb.enable=true
+```
+
+_Writes checkpoints to `outputs/train/<desired_reward_model_repo_id>/checkpoints/`._
+
+### Load the reward model in Python
+
+```python
+from lerobot.rewards import make_reward_model
+
+reward_model = make_reward_model(pretrained_path="<hf_user>/<reward_model_repo_id>")
+reward = reward_model.compute_reward(batch)
+```
+
+---
+
+## Model Details
+
+- **License:** apache-2.0

config.json

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+{
+    "type": "distributional_value_function",
+    "input_features": {},
+    "output_features": {},
+    "device": "cuda",
+    "pretrained_path": null,
+    "pretrained_revision": null,
+    "push_to_hub": true,
+    "repo_id": "lilkm/vf_stackblocks_iter1_v2",
+    "license": null,
+    "tags": null,
+    "private": null,
+    "paligemma_variant": "gemma_2b",
+    "num_hidden_layers": 6,
+    "num_vision_layers": 13,
+    "num_value_bins": 201,
+    "value_support_min": -1.0,
+    "value_support_max": 0.0,
+    "hl_gauss_sigma_ratio": 5.0,
+    "target_method": "hl_gauss",
+    "use_one_hot_terminal": true,
+    "image_resolution": [
+        224,
+        224
+    ],
+    "tokenizer_max_length": 64,
+    "init_from_actor_path": "lerobot/pi05_base",
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "IDENTITY"
+    }
+}

model.safetensors

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3aaf15dab9ca666ff1e0acbbd02cf48bf8479dbc8e106b49c973c15a2225b88e
+size 5556600948

train_config.json

@@ -0,0 +1,185 @@
+{
+    "dataset": {
+        "repo_id": "lilkm/stackblocks_recap_all_for_vf",
+        "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": "pyav",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": null,
+    "reward_model": {
+        "type": "distributional_value_function",
+        "input_features": {},
+        "output_features": {},
+        "device": "cuda",
+        "pretrained_path": null,
+        "pretrained_revision": null,
+        "push_to_hub": true,
+        "repo_id": "lilkm/vf_stackblocks_iter1_v2",
+        "license": null,
+        "tags": null,
+        "private": null,
+        "paligemma_variant": "gemma_2b",
+        "num_hidden_layers": 6,
+        "num_vision_layers": 13,
+        "num_value_bins": 201,
+        "value_support_min": -1.0,
+        "value_support_max": 0.0,
+        "hl_gauss_sigma_ratio": 5.0,
+        "target_method": "hl_gauss",
+        "use_one_hot_terminal": true,
+        "image_resolution": [
+            224,
+            224
+        ],
+        "tokenizer_max_length": 64,
+        "init_from_actor_path": "lerobot/pi05_base",
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "IDENTITY"
+        }
+    },
+    "output_dir": "outputs/vf_stackblocks_iter1_v2",
+    "job_name": "vf_stackblocks_v2",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "steps": 20000,
+    "env_eval_freq": -1,
+    "log_freq": 50,
+    "eval_steps": 0,
+    "max_eval_samples": 0,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 5000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0003,
+        "weight_decay": 0.0001,
+        "grad_clip_norm": 1.0,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 500,
+        "num_decay_steps": 50000,
+        "peak_lr": 0.0003,
+        "decay_lr": 1e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": true,
+        "project": "recap-vf",
+        "entity": null,
+        "notes": null,
+        "run_id": "jxq72rdw",
+        "mode": null,
+        "add_tags": true
+    },
+    "peft": null,
+    "job": {
+        "target": null,
+        "image": "huggingface/lerobot-gpu:latest",
+        "timeout": "2d",
+        "detach": false,
+        "tags": []
+    },
+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}