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| Architecture | act (from scratch) |
| Dataset | grab-iter9-iter5basis-plus-calibrated-v1-flat @ 40b62b04 |
| Scale | 264 episodes · 25,805 frames @ 20 fps |
| Steps / batch / seed | 60,000 / 8 / None |
| lerobot | 30da8e68 |
| Provider / GPU | runpod / NVIDIA A40 |
| Duration | 3h 19m |
| Final train loss | 0.067 |
| W&B | vds44-742a6920 |
| Instruction | Episodes |
|---|---|
| grab the cucumber close to one of the cucumber's end | 182 |
| 000004-cucumber-grab | 1 |
| 000005-cucumber-grab | 1 |
| 000007-cucumber-grab | 1 |
| 000010-cucumber-grab | 1 |
| 000011-cucumber-grab | 1 |
| 000014-cucumber-grab | 1 |
| 000015-cucumber-grab | 1 |
| 000016-cucumber-grab | 1 |
| 000018-cucumber-grab | 1 |
| 000019-cucumber-grab | 1 |
| 000020-cucumber-grab | 1 |
| 000021-cucumber-grab | 1 |
| 000022-cucumber-grab | 1 |
| vibepi-000178-cucumber-grab | 1 |
| vibepi-000179-cucumber-grab | 1 |
| vibepi-000180-cucumber-grab | 1 |
| vibepi-000181-cucumber-grab | 1 |
| vibepi-000182-cucumber-grab | 1 |
| vibepi-000183-cucumber-grab | 1 |
| vibepi-000184-cucumber-grab | 1 |
| vibepi-000185-cucumber-grab | 1 |
| vibepi-000186-cucumber-grab | 1 |
| vibepi-000187-cucumber-grab | 1 |
| vibepi-000189-cucumber-grab | 1 |
| vibepi-000190-cucumber-grab | 1 |
| vibepi-000191-cucumber-grab | 1 |
| vibepi-000192-cucumber-grab | 1 |
| vibepi-000193-cucumber-grab | 1 |
| vibepi-000194-cucumber-grab | 1 |
| vibepi-000195-cucumber-grab | 1 |
| vibepi-000196-cucumber-grab | 1 |
| vibepi-000197-cucumber-grab | 1 |
| vibepi-000198-cucumber-grab | 1 |
| vibepi-000199-cucumber-grab | 1 |
| vibepi-000200-cucumber-grab | 1 |
| vibepi-000201-cucumber-grab | 1 |
| vibepi-000202-cucumber-grab | 1 |
| vibepi-000203-cucumber-grab | 1 |
| vibepi-000204-cucumber-grab | 1 |
| vibepi-000205-cucumber-grab | 1 |
| vibepi-000206-cucumber-grab | 1 |
| vibepi-000207-cucumber-grab | 1 |
| vibepi-000208-cucumber-grab | 1 |
| vibepi-000209-cucumber-grab | 1 |
| vibepi-000210-cucumber-grab | 1 |
| vibepi-000211-cucumber-grab | 1 |
| vibepi-000212-cucumber-grab | 1 |
| vibepi-000213-cucumber-grab | 1 |
| vibepi-000214-cucumber-grab | 1 |
| vibepi-000215-cucumber-grab | 1 |
| vibepi-000216-cucumber-grab | 1 |
| vibepi-000217-cucumber-grab | 1 |
| vibepi-000218-cucumber-grab | 1 |
| vibepi-000219-cucumber-grab | 1 |
| vibepi-000220-cucumber-grab | 1 |
| vibepi-000221-cucumber-grab | 1 |
| vibepi-000223-cucumber-grab | 1 |
| vibepi-000224-cucumber-grab | 1 |
| vibepi-000226-cucumber-grab | 1 |
| vibepi-000227-cucumber-grab | 1 |
| vibepi-000228-cucumber-grab | 1 |
| vibepi-000229-cucumber-grab | 1 |
| vibepi-000230-cucumber-grab | 1 |
| vibepi-000232-cucumber-grab | 1 |
| vibepi-000233-cucumber-grab | 1 |
| vibepi-000235-cucumber-grab | 1 |
| vibepi-000236-cucumber-grab | 1 |
| vibepi-000238-cucumber-grab | 1 |
| vibepi-000239-cucumber-grab | 1 |
| vibepi-000241-cucumber-grab | 1 |
| vibepi-000242-cucumber-grab | 1 |
| vibepi-000244-cucumber-grab | 1 |
| vibepi-000245-cucumber-grab | 1 |
| vibepi-000246-cucumber-grab | 1 |
| vibepi-000248-cucumber-grab | 1 |
| vibepi-000249-cucumber-grab | 1 |
| vibepi-000250-cucumber-grab | 1 |
| vibepi-000251-cucumber-grab | 1 |
| vibepi-000252-cucumber-grab | 1 |
| vibepi-000253-cucumber-grab | 1 |
| vibepi-000254-cucumber-grab | 1 |
| vibepi-000255-cucumber-grab | 1 |
grab-iter9-iter5basis-plus-calibrated@v1 (frozen 2026-07-26):cucumber-grab-DAgger-iter4-v2-trim @ 34b0f3ab (182 eps)autoresearch-000004-cucumber-grab @ e2e071d9 (1 eps)autoresearch-000005-cucumber-grab @ 22dd4341 (1 eps)autoresearch-000007-cucumber-grab @ 72f846fd (1 eps)autoresearch-000010-cucumber-grab @ c9dd850b (1 eps)autoresearch-000011-cucumber-grab @ d91e0655 (1 eps)autoresearch-000014-cucumber-grab @ 718289c1 (1 eps)autoresearch-000015-cucumber-grab @ 8ce7acae (1 eps)autoresearch-000016-cucumber-grab @ 3582067c (1 eps)autoresearch-000018-cucumber-grab @ fd7912d9 (1 eps)autoresearch-000019-cucumber-grab @ 3de26824 (1 eps)autoresearch-000020-cucumber-grab @ 975ab111 (1 eps)autoresearch-000021-cucumber-grab @ 3b4af4e4 (1 eps)autoresearch-000022-cucumber-grab @ 8e0479ac (1 eps)autoresearch-vibepi-000178-cucumber-grab @ 7d4b0e20 (1 eps)autoresearch-vibepi-000179-cucumber-grab @ b2936264 (1 eps)autoresearch-vibepi-000180-cucumber-grab @ 1e6ad7e4 (1 eps)autoresearch-vibepi-000181-cucumber-grab @ c168d5ef (1 eps)autoresearch-vibepi-000182-cucumber-grab @ a1427791 (1 eps)autoresearch-vibepi-000183-cucumber-grab @ 3d7489b9 (1 eps)autoresearch-vibepi-000184-cucumber-grab @ b3a66cfc (1 eps)autoresearch-vibepi-000185-cucumber-grab @ 104b7778 (1 eps)autoresearch-vibepi-000186-cucumber-grab @ 4f5d7797 (1 eps)autoresearch-vibepi-000187-cucumber-grab @ 7f181f63 (1 eps)autoresearch-vibepi-000189-cucumber-grab @ 6a538040 (1 eps)autoresearch-vibepi-000190-cucumber-grab @ 87c9c2b7 (1 eps)autoresearch-vibepi-000191-cucumber-grab @ 38195eef (1 eps)autoresearch-vibepi-000192-cucumber-grab @ b41da95e (1 eps)autoresearch-vibepi-000193-cucumber-grab @ e64bdfa4 (1 eps)autoresearch-vibepi-000194-cucumber-grab @ b66d859f (1 eps)autoresearch-vibepi-000195-cucumber-grab @ 9938ac5a (1 eps)autoresearch-vibepi-000196-cucumber-grab @ 462a8bc8 (1 eps)autoresearch-vibepi-000197-cucumber-grab @ 1adb68a4 (1 eps)autoresearch-vibepi-000198-cucumber-grab @ c89fd25f (1 eps)autoresearch-vibepi-000199-cucumber-grab @ 31a3e559 (1 eps)autoresearch-vibepi-000200-cucumber-grab @ a8044dc0 (1 eps)autoresearch-vibepi-000201-cucumber-grab @ 9d84487d (1 eps)autoresearch-vibepi-000202-cucumber-grab @ ec8a7890 (1 eps)autoresearch-vibepi-000203-cucumber-grab @ c665cc98 (1 eps)autoresearch-vibepi-000204-cucumber-grab @ a94ffeb1 (1 eps)autoresearch-vibepi-000205-cucumber-grab @ 48755643 (1 eps)autoresearch-vibepi-000206-cucumber-grab @ 50ddfc7c (1 eps)autoresearch-vibepi-000207-cucumber-grab @ d09a2986 (1 eps)autoresearch-vibepi-000208-cucumber-grab @ 513503ab (1 eps)autoresearch-vibepi-000209-cucumber-grab @ 543480cc (1 eps)autoresearch-vibepi-000210-cucumber-grab @ dd5a4c44 (1 eps)autoresearch-vibepi-000211-cucumber-grab @ f4863adc (1 eps)autoresearch-vibepi-000212-cucumber-grab @ 00342220 (1 eps)autoresearch-vibepi-000213-cucumber-grab @ 6d8e4c68 (1 eps)autoresearch-vibepi-000214-cucumber-grab @ e5cafc41 (1 eps)autoresearch-vibepi-000215-cucumber-grab @ 340a8aba (1 eps)autoresearch-vibepi-000216-cucumber-grab @ 8f7fbc74 (1 eps)autoresearch-vibepi-000217-cucumber-grab @ 02dcd370 (1 eps)autoresearch-vibepi-000218-cucumber-grab @ 5741fc1c (1 eps)autoresearch-vibepi-000219-cucumber-grab @ 14134f28 (1 eps)autoresearch-vibepi-000220-cucumber-grab @ 212f956c (1 eps)autoresearch-vibepi-000221-cucumber-grab @ 3f825c07 (1 eps)autoresearch-vibepi-000223-cucumber-grab @ cf1da937 (1 eps)autoresearch-vibepi-000224-cucumber-grab @ b54b9e0b (1 eps)autoresearch-vibepi-000226-cucumber-grab @ 63c0e3a2 (1 eps)autoresearch-vibepi-000227-cucumber-grab @ c130fa95 (1 eps)autoresearch-vibepi-000228-cucumber-grab @ 613e2b43 (1 eps)autoresearch-vibepi-000229-cucumber-grab @ 5c4840dc (1 eps)autoresearch-vibepi-000230-cucumber-grab @ 45265a35 (1 eps)autoresearch-vibepi-000232-cucumber-grab @ 07dc1e1f (1 eps)autoresearch-vibepi-000233-cucumber-grab @ 0fc79db9 (1 eps)autoresearch-vibepi-000235-cucumber-grab @ 45650fda (1 eps)autoresearch-vibepi-000236-cucumber-grab @ bcfb1d01 (1 eps)autoresearch-vibepi-000238-cucumber-grab @ fb955c3b (1 eps)autoresearch-vibepi-000239-cucumber-grab @ d36e8c11 (1 eps)autoresearch-vibepi-000241-cucumber-grab @ d20a417f (1 eps)autoresearch-vibepi-000242-cucumber-grab @ fc07468c (1 eps)autoresearch-vibepi-000244-cucumber-grab @ 66d877ef (1 eps)autoresearch-vibepi-000245-cucumber-grab @ 6e38eee2 (1 eps)autoresearch-vibepi-000246-cucumber-grab @ 493c5f5a (1 eps)autoresearch-vibepi-000248-cucumber-grab @ 0eeeff2e (1 eps)autoresearch-vibepi-000249-cucumber-grab @ fb26ea08 (1 eps)autoresearch-vibepi-000250-cucumber-grab @ 611779ed (1 eps)autoresearch-vibepi-000251-cucumber-grab @ 8813bb17 (1 eps)autoresearch-vibepi-000252-cucumber-grab @ eeada888 (1 eps)autoresearch-vibepi-000253-cucumber-grab @ f621e63b (1 eps)autoresearch-vibepi-000254-cucumber-grab @ 0ab15313 (1 eps)autoresearch-vibepi-000255-cucumber-grab @ a3a9f1ab (1 eps)lerobot-train --policy.type=act --policy.repo_id=VibeCuisine/autorl-grab-act-vibepi-iter9 --dataset.repo_id=VibeCuisine/grab-iter9-iter5basis-plus-calibrated-v1-flat --dataset.revision=40b62b04869e7451a3cefa78e65564a6d9a3e1cf --batch_size=8 --steps=60000 --output_dir=outputs/train/autorl-grab-act-vibepi-iter9 --job_name=grab-iter9-iter5basis-plus-calibrated --policy.device=cuda --wandb.enable=true --wandb.disable_artifact=true --wandb.project=lerobot --wandb.run_id=vds44-742a6920 --wandb.entity=jeremyhx-freelance--num_workers is appended host-side (clamped to the host's allocation).