so101_rl_test_reward_classifier

Reward Model Card for reward_classifier

<!-- Provide a quick summary of what the reward model is/does. -->

A reward classifier is a lightweight neural network that scores observations or trajectories for task success, providing a learned reward signal or offline evaluation when explicit rewards are unavailable.

This reward model has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs.

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How to Get Started with the Reward Model

Train from scratch

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --reward_model.type=reward_classifier \
  --output_dir=outputs/train/<desired_reward_model_repo_id> \
  --job_name=lerobot_reward_training \
  --reward_model.device=cuda \
  --reward_model.repo_id=${HF_USER}/<desired_reward_model_repo_id> \
  --wandb.enable=true

Writes checkpoints to outputs/train/<desired_reward_model_repo_id>/checkpoints/.

Load the reward model in Python

from lerobot.rewards import make_reward_model

reward_model = make_reward_model(pretrained_path="<hf_user>/<reward_model_repo_id>")
reward = reward_model.compute_reward(batch)

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Model Details

• License: apache-2.0