chomeed/farm_rewind_state_dexmg_two_arm_three_piece_assembly
AI model by chomeed
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Failure-aware reward model (FARM, v7 recipe) for the bimanual task Assemble the three pieces: place the two pieces onto the base. It is the progress-only ReWiND-state model chomeed/rewindstatedexmgtwoarmthreepieceassembly fine-tuned for 5,000 steps on the same success demos plus 200 failed rollouts of the base policy, with exactly the recipe of the Threading model chomeed/farmrewindstatedexmgtwoarmthreading. It is trained so that the reward keeps rising while an attempt makes progress and falls once the attempt starts to fail. The model outputs one reward in [0, 1] per frame. Use it only with the causal hybrid8 window described under Evaluation. On 100 fresh rollouts that no model had seen, failed episodes end at a reward of 0.003 (baseline: 0.19) and successful ones at 0.93 (baseline: 0.91). FARM never labels a failure "0". It finds where each failed rollout goes wrong and trains the reward to fall over the 3 s after that point,…
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Inside the original model card — Document outline
- FARM reward model -- DexMimicGen Two-Arm Three-Piece Assembly
- How the failure reward is lowered
- Training data
- Model and configuration
- Evaluation
- Loading
- Caveats
- Companion artifacts
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Model overview
chomeed/farm_rewind_state_dexmg_two_arm_three_piece_assembly is a task-unspecified model repository published by chomeed on Hugging Face. A library was not reported.
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- Created
- 2026-10-18T06:10:27.000Z
- Last modified
- 2026-10-18T06:10:56.000Z
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