RoboTwin Version B epoch 30

epoch-030/adapter.json

@@ -0,0 +1,48 @@
+{
+  "epoch": 30,
+  "step": 990,
+  "parameters": 465675523,
+  "bytes": 1862808684,
+  "sha256": "9af5d026857e73fb9ae627f09cdbf281c71e160acb65b824e00455fc50c6b501",
+  "contract": {
+    "features": {
+      "verified": true,
+      "demos": 854,
+      "queries": 2149,
+      "schema": "robotwin_a_b1_dino_fp32_v1",
+      "revision": "e2a347bb78dd48fd869bd7642a51430a60676876",
+      "train_manifest_sha256": "1fa416a57cd93983ceb31393947a0db2f7eaa3f82dfbebb5ae4de983638c0802",
+      "encoder_sha256": "d73036b56966966d07975d696bde331762f37297e2f095de8cea0040c3aa0841",
+      "b1_camera": "observation.images.cam_high"
+    },
+    "cameras": [
+      "observation.images.cam_high",
+      "observation.images.cam_left_wrist",
+      "observation.images.cam_right_wrist"
+    ],
+    "model": "/data/haoyuzhao/envs/video/zero-wam-ig10k/weights/zero-wam-pretrain",
+    "rank": 106,
+    "lora_alpha": 212,
+    "world": 4,
+    "per_gpu": 16,
+    "epochs": 200,
+    "updates_per_epoch": 33,
+    "tail": "shuffle then drop before length bucketing",
+    "learning_rate": 5e-05,
+    "min_lr": 1e-06,
+    "warmup": 0,
+    "weight_decay": 0.01,
+    "seed": 17,
+    "demo_dropout": 0.3,
+    "b1_weight": 0.5,
+    "chunk_size": 2,
+    "horizons": [
+      1,
+      3,
+      5,
+      7
+    ],
+    "allocator_floor_gib": 121,
+    "max_robot_frames": 16
+  }
+}

epoch-030/adapter.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9af5d026857e73fb9ae627f09cdbf281c71e160acb65b824e00455fc50c6b501
+size 1862808684