| { |
| "model_name": "droid-franka", |
| "joint_names": [ |
| "joint1", |
| "joint2", |
| "joint3", |
| "joint4", |
| "joint5", |
| "joint6", |
| "joint7" |
| ], |
| "sample_rate_hz": 15.0, |
| "source_repository": "https://github.com/SamratSahoo/DATAFARM", |
| "source_commit": "fd403ea6eb16163261a13439fe9bbc10a980f50d", |
| "source_checkpoint": "https://raw.githubusercontent.com/SamratSahoo/DATAFARM/fd403ea6eb16163261a13439fe9bbc10a980f50d/encoder/checkpoints/encoder.pt", |
| "source_checkpoint_sha256": "e31ef96b6ffc0af8ce890e8774b9b57d3fa6e91c48ba9125d1e3574219c30c5b", |
| "converted_checkpoint_sha256": "ed6296980f448704c92e88cc91e9767a7dd4b758e82b93b80adc80178ee825a9", |
| "source_model": "https://github.com/SamratSahoo/DATAFARM/blob/fd403ea6eb16163261a13439fe9bbc10a980f50d/encoder/model.py", |
| "license": "MIT; Copyright (c) 2026 Samrat Sahoo; see DATAFARM-LICENSE.txt", |
| "conversion": "Lossless extraction of state_dict tensors and reference statistics to NPZ", |
| "training_metadata": { |
| "dataset": "lerobot/droid_1.0.1", |
| "dataset_codebase_version": "v3.0", |
| "train_protocol": "full DROID lerobot/droid_1.0.1 (v3.0); fingerprint regression + Fisher discriminant (within/between latent scatter) on balanced DROID/cuTAMP batches; encoder on a DROID subsample + cuTAMP, val-selected by held-out pair-silhouette; cluster stats over ALL episodes", |
| "n_droid_train": 30000, |
| "n_droid_stats": 94774, |
| "stats_max_segments": 120000, |
| "hparams": { |
| "d": 16, |
| "beta_max": 0.005, |
| "dropout": 0.3, |
| "disc_w": 1.0, |
| "batch": 128, |
| "n_crops_d": 6, |
| "n_crops_c": 16, |
| "balanced": true |
| }, |
| "metrics": { |
| "val_pair_silhouette": 0.8552306294441223, |
| "val_probe": 1.0, |
| "selected_epoch": 50 |
| }, |
| "kl_droid_mean": 17.193614959716797, |
| "maha2_droid_mean": 7.039307359411732 |
| } |
| } |
|
|
