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Nurgalyev Shakhizat

shakhizat
11 9 18
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new activity 5 days ago
unsloth/Qwen3.6-35B-A3B-NVFP4:ValueError: moe_backend='flashinfer_b12x' is not supported for FP8 MoE.
reacted to IliaLarchenko's post with 🔥 8 days ago
I placed 🥈 2nd in the LeHome Challenge (ICRA 2026), and 🥇 1st of 62 teams in the first simulation round. Now I'm open-sourcing the full solution — code, tech report, and final weights. The task: teach a cheap two-armed robot (SO-ARM101) to fold 4 garment types — long/short tops and pants. Garment category is hidden at eval. Round 1 in sim (auto-scored), round 2 on a real robot (jury-scored). I trained a VLA policy with an RL loop on top. The key ideas: 🧠 The policy is its own value function. From the same forward pass that picks the next action chunk, cheap heads predict success probability, task completion %, garment type, and future keypoint distances + a Q-residual. Those become the advantage signal for RL — no separate critic. 🔁 A fully asynchronous RL loop coordinated only through the HF Hub: 1 trainer (H200) ships a fresh checkpoint ~every 40 min while N rollout workers (and a human doing teleop / DAgger corrections) collect data in parallel. Nobody waits — it uses the off-policy nature of the loop to the fullest. 📈 Binary success is too sparse, so I densify it into per-frame advantage via GAE — from objective keypoint checkpoints, the success-probability value baseline, and completion %. 🎛️ The RL combines AWR + RECAP. I also tune the inference knobs — execution length, playback speed, inpainting overlap, CFG scale, best-of-N — with a per-parameter Thompson-sampling bandit folded into rollout collection. 🔧 Round 2: with only ~1 week and no access to the eval robot — so the pipeline was sim → my robot → their robot, leaning on heavy augmentation to make the policy more robust. 📝 Blog: https://ilialarchenko.com/projects/lehome2026 📄 Tech report: https://huggingface.co/papers/2606.27163 🔧 Code: https://github.com/IliaLarchenko/lehome_solution 🤗 Sim policy: https://huggingface.co/IliaLarchenko/lehome_sim 🤗 Real policy: https://huggingface.co/IliaLarchenko/lehome_real 🌐 Challenge: https://lehome-challenge.com/
upvoted an article 11 days ago
LeRobot v0.6.0: Imagine, Evaluate, Improve
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