jesbu1/robometer-4b-fft-busybox-tiled

Robometer (RBM) reward model, full fine-tune of robometer/Robometer-4B on tiled multi-view video from AutoRLBench SO-101 push_green_button rollouts.

Tiled input specification

Three synchronized 426x240 h264 views are tiled into one 640x540 RGB frame:

• top -> primary upper panel, 640x360
• front -> lower-left cell, 320x180
• wrist -> lower-right cell, 320x180

Every panel keeps the source ~1.78 aspect ratio. Tiling utility: robometer/utils/tiling.py:tile_synchronized_views.

Feeding a different layout still returns numbers but invalidates the rewards.

Training data

jesbu1/so101_busybox_push_green_button_tiled (converted from AutoRLBench/so101_busybox_push_green_button_cell03_rollouts_426x240).

• 2,900 episodes, single task: push the green button
• Labels: 1,450 successful, 1,450 failure (timeouts)
• Successes are terminal-flagged from frame 0; timeouts are all-zero
• Source: pi05 DSRL/RLT rollouts plus offline ACT/SmolVLA/Diffusion/DiT/GMM evals
• partial_success is intentionally unset: training treats failures as rejected trajectories against same-task successes

Metrics (1,000 steps, 4x H200, lr 2e-5, bs 16)

Training-time evaluation on the full 2,900-episode dataset:

Step	Pearson	Kendall	Ranking acc
250	0.798	1.000	1.000
500	0.836	1.000	1.000
750	0.844	1.000	1.000
1000	0.844	1.000	1.000

Standalone evaluation of this checkpoint (200 sampled trajectories, frame steps):

Metric	Value
Reward-alignment Pearson	0.974
Policy-ranking Kendall	0.996
Ranking accuracy	0.998

Kendall saturates at 1.0 because success vs timeout is nearly perfectly separated on this task; Pearson on graded progress is the informative metric.

Serving

This checkpoint accepts tiled frames directly, or raw per-view videos that the eval server tiles on the fly:

sbatch run_scripts/serve_tiled_eval.sbatch /path/to/checkpoint 8010
python scripts/send_videos_to_tiled_eval.py --url http://localhost:8010 \
  --task "push the green button" \
  --view top=top.mp4 --view front=front.mp4 --view wrist=wrist.mp4

See robometer/evals/README_TILED_SERVER.md.

Citation

If you use this model, please cite Robometer.