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kunhsiang/
inverse-aug-30k-seed42-2026-03-30-113609-10k

Name: inverse-aug-30k-seed42-2026-03-30-113609-10k
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inverse-aug-30k-seed42-2026-03-30-113609-10k

備份自 ID Lab lerobot-vla-fbagent 專案，含完整中間 checkpoint。

訓練資訊

項目	值
Policy Type	`joint_inverse_act`
Dataset	`HuggingFaceVLA/libero`
Max Steps	10,000
Checkpoints	2 個
Seed	?
Batch Size	?
Learning Rate	?
Num Workers	?
Chunk Size	100
Git Commit	`d440da2`
Source Dir	`11-36-09_joint_inverse_act`

復現指令

bash

git clone --recurse-submodules git@github.com:KunHsiang/lerobot-vla-fbagent.git
cd lerobot-vla-fbagent
git checkout d440da2
uv sync

HF_HUB_ENABLE_HF_TRANSFER=1 .venv/bin/python scripts/train_with_fb.py \
    --policy.type=joint_inverse_act \
    --policy.repo_id=kunhsiang/inverse-aug-30k-seed42-2026-03-30-113609-10k \
    --dataset.repo_id=HuggingFaceVLA/libero \
    --training.seed=? \
    --training.batch_size=? \
    --training.learning_rate=? \
    --training.num_workers=?

Checkpoint 結構

checkpoints/
  005000/          # step 5,000
  010000/          # step 10,000
  ...
  010000/          # final (10,000 steps)

每個 step 目錄包含:

pretrained_model/model.safetensors — 模型權重
pretrained_model/config.json — 模型設定
pretrained_model/train_config.json — 完整訓練設定
training_state/optimizer_state.safetensors — Optimizer 狀態（可 resume）
training_state/rng_state.safetensors — RNG 狀態（可 resume）

Resume 訓練

bash

.venv/bin/python scripts/train_with_fb.py \
    --policy.type=joint_inverse_act \
    --resume=true \
    --policy.pretrained_path=checkpoints/010000/pretrained_model