Upload policy weights, train config and readme

README.md

@@ -4,9 +4,9 @@ license: apache-2.0
 model_name: pi05
 pipeline_tag: robotics
 tags:
-- pi05
 - lerobot
 - robotics
+- pi05
 ---
 
 # Model Card for pi05

config.json

@@ -49,7 +49,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "lerobot/pi05_base",
+    "pretrained_path": "/ephemeral/production_run_/checkpoints/075000/pretrained_model",
     "paligemma_variant": "gemma_2b",
     "action_expert_variant": "gemma_300m",
     "dtype": "bfloat16",
@@ -64,6 +64,11 @@
     "time_sampling_offset": 0.001,
     "min_period": 0.004,
     "max_period": 4.0,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [
+        "gripper"
+    ],
+    "action_feature_names": null,
     "rtc_config": null,
     "image_resolution": [
         224,
@@ -89,7 +94,7 @@
     "optimizer_eps": 1e-08,
     "optimizer_weight_decay": 0.01,
     "optimizer_grad_clip_norm": 1.0,
-    "scheduler_warmup_steps": 1,
-    "scheduler_decay_steps": 1,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 96097,
     "scheduler_decay_lr": 2.5e-06
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:44a40d674c772eca872d6cdcb784f04189fdaf9678a09150c7983a2d2c9624be
+oid sha256:89b8d5771878e4ce8f817f0f1179e56d4428f4c833d18064cff33ed70ccb9264
 size 9354050752

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "so100:/tmp/pi05_chain_smoke_out/community_dataset_v3:/tmp/pi05_chain_smoke_repo/filtered_index_inplace_new_convention_train.remote_ready.json:/tmp/pi05_chain_smoke_repo/norm_stats_inplace_new_quantiles_train_split.remote_ready.json",
+        "repo_id": "so100:/ephemeral/community_dataset_v3:/home/nvidia/pi05-so100-diverse/filtered_index_inplace_new_convention_train.remote_ready.json:/home/nvidia/pi05-so100-diverse/norm_stats_inplace_new_quantiles_train_split.remote_ready.json",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -131,7 +131,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "lerobot/pi05_base",
+        "pretrained_path": "/ephemeral/production_run_/checkpoints/075000/pretrained_model",
         "paligemma_variant": "gemma_2b",
         "action_expert_variant": "gemma_300m",
         "dtype": "bfloat16",
@@ -146,6 +146,11 @@
         "time_sampling_offset": 0.001,
         "min_period": 0.004,
         "max_period": 4.0,
+        "use_relative_actions": false,
+        "relative_exclude_joints": [
+            "gripper"
+        ],
+        "action_feature_names": null,
         "rtc_config": null,
         "image_resolution": [
             224,
@@ -171,23 +176,23 @@
         "optimizer_eps": 1e-08,
         "optimizer_weight_decay": 0.01,
         "optimizer_grad_clip_norm": 1.0,
-        "scheduler_warmup_steps": 1,
-        "scheduler_decay_steps": 1,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 96097,
         "scheduler_decay_lr": 2.5e-06
     },
-    "output_dir": "/tmp/pi05_chain_smoke_out/train4",
+    "output_dir": "/data/pi05_runs/production_run_resume_075000",
     "job_name": "pi05",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
-    "num_workers": 0,
-    "batch_size": 1,
-    "steps": 1,
+    "num_workers": 4,
+    "batch_size": 24,
+    "steps": 96097,
     "eval_freq": 20000,
-    "log_freq": 1,
+    "log_freq": 50,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 1,
+    "save_freq": 1000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -202,8 +207,8 @@
     },
     "scheduler": {
         "type": "cosine_decay_with_warmup",
-        "num_warmup_steps": 1,
-        "num_decay_steps": 1,
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 96097,
         "peak_lr": 2.5e-05,
         "decay_lr": 2.5e-06
     },
@@ -218,7 +223,7 @@
         "project": "pi05-so100-diverse",
         "entity": null,
         "notes": null,
-        "run_id": "93gm3uds",
+        "run_id": "ilp46xxp",
         "mode": null,
         "add_tags": true
     },
@@ -232,5 +237,5 @@
         "observation.images.image": "observation.images.base_0_rgb",
         "observation.images.image2": "observation.images.left_wrist_0_rgb"
     },
-    "checkpoint_path": null
+    "checkpoint_path": "/ephemeral/production_run_/checkpoints/075000"
 }