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RLDG
charlesxu0124/RLDG
RLDG is a machine learning model from charlesxu0124. Use it for the machine learning task on the model card, and read the license before you ship it in a product.
This repository contains OpenVLA and Octo checkpoints fine-tuned on tele-op and RL generated datasets for the Connctor Insertion task in the paper RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning .
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Updated Dec 16, 2024
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At a glance
- Access
- Public
- Created
- Dec 16, 2024
- Updated
- Dec 16, 2024
- SHA
- d85bceed
Base models
Model card
From the Hugging Face model README
This repository contains OpenVLA and Octo checkpoints fine-tuned on tele-op and RL generated datasets for the Connctor Insertion task in the paper RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning .
Each model is trained on 45 episodes either collected by human tele-operation or rolling out converged RL policies. Each dataset contains 15 episodes for a VGA connector, 15 episodes for a USB-A connector, and 15 episodes for an ethernet connector. The models take 1 wrist camera and 1 language command as input, and outputs a 6D end-effector twist expressed in the wrist frame.
- Created
- Dec 16, 2024
- Updated
- Dec 16, 2024