Upload SAE model weights, config, and training state

README.md

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+---
+license: mit
+tags:
+- physical-ai-interpretability-sae
+- LeRobot
+- Robotics
+datasets:
+- villekuosmanen/drop_footbag_into_dice_tower
+- villekuosmanen/drop_footbag_into_dice_tower_continuous
+- villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.0.0
+- villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.1.0
+- villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.2.0
+- villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.3.0
+- villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.4.0
+- villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.5.0
+- villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.6.0
+- villekuosmanen/eval_footbag_11Sep
+library_name: physical-ai-interpretability
+---
+
+# Sparse Autoencoder (SAE) Model
+
+This model is a Sparse Autoencoder trained for interpretability analysis of robotics policies using the LeRobot framework.
+
+## Model Details
+
+- **Architecture**: Multi-modal Sparse Autoencoder
+- **Training Dataset**: `[villekuosmanen/drop_footbag_into_dice_tower, villekuosmanen/drop_footbag_into_dice_tower_continuous, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.0.0, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.1.0, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.2.0, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.3.0, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.4.0, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.5.0, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.6.0, villekuosmanen/eval_footbag_11Sep]`
+- **Base Policy**: LeRobot ACT policy
+- **Layer Target**: `model.encoder.layers.3.norm2`
+- **Tokens**: 77
+- **Token Dimension**: 128
+- **Feature Dimension**: 12320
+- **Expansion Factor**: 1.25
+
+## Training Configuration
+
+- **Learning Rate**: 0.0001
+- **Batch Size**: 16
+- **L1 Penalty**: 0.3
+- **Epochs**: 20
+- **Optimizer**: adam
+
+## Usage
+
+```python
+from src.sae.trainer import load_sae_from_hub
+
+# Load model from Hub
+model = load_sae_from_hub("villekuosmanen/drop_footbag_into_dice_tower_ood_sae_success")
+
+# Or load using builder
+from src.sae.builder import SAEBuilder
+builder = SAEBuilder(device='cuda')
+model = builder.load_from_hub("villekuosmanen/drop_footbag_into_dice_tower_ood_sae_success")
+```
+
+## Out-of-Distribution Detection
+
+This SAE model can be used for OOD detection with LeRobot policies:
+
+```python
+from src.ood import OODDetector
+
+# Create OOD detector with Hub-loaded SAE
+ood_detector = OODDetector(
+    policy=your_policy,
+    sae_hub_repo_id="villekuosmanen/drop_footbag_into_dice_tower_ood_sae_success"
+)
+
+# Fit threshold and use for detection
+ood_detector.fit_ood_threshold_to_validation_dataset(validation_dataset)
+is_ood, error = ood_detector.is_out_of_distribution(observation)
+```
+
+## Files
+
+- `model.safetensors`: The trained SAE model weights
+- `config.json`: Training and model configuration
+- `training_state.pt`: Complete training state (optimizer, scheduler, metrics)
+- `ood_params.json`: OOD detection parameters (if fitted)
+```
+
+## Framework
+
+This model was trained using the [physical-ai-interpretability](https://github.com/your-repo/physical-ai-interpretability) framework with [LeRobot](https://github.com/huggingface/lerobot).

config.json

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+{
+  "num_tokens": 77,
+  "token_dim": 128,
+  "expansion_factor": 1.25,
+  "activation_fn": "relu",
+  "use_token_sampling": true,
+  "fixed_tokens": [
+    0,
+    1
+  ],
+  "sampling_strategy": "block_average",
+  "sampling_stride": 8,
+  "max_sampled_tokens": 200,
+  "block_size": 8,
+  "batch_size": 16,
+  "learning_rate": 0.0001,
+  "num_epochs": 20,
+  "validation_split": 0.1,
+  "l1_penalty": 0.3,
+  "optimizer": "adam",
+  "weight_decay": 1e-05,
+  "lr_schedule": "constant",
+  "warmup_epochs": 2,
+  "gradient_clip_norm": 1.0,
+  "early_stopping_patience": 10,
+  "early_stopping_min_delta": 1e-05,
+  "log_every": 5,
+  "save_every": 1000,
+  "validate_every": 500,
+  "device": "cuda",
+  "repo_id": "[villekuosmanen/drop_footbag_into_dice_tower, villekuosmanen/drop_footbag_into_dice_tower_continuous, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.0.0, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.1.0, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.2.0, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.3.0, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.4.0, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.5.0, villekuosmanen/dAgger_drop_footbag_into_dice_tower_1.6.0, villekuosmanen/eval_footbag_11Sep]",
+  "repo_hash": "e78b65d9",
+  "layer_name": "model.encoder.layers.3.norm2",
+  "activation_cache_path": "/home/ville/.cache/physical_ai_interpretability/sae_activations",
+  "experiment_name": "sae_eval_footbag_11Sep_e78b65d9"
+}

model.safetensors

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+size 971496408

training_state.pt

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