Instructions to use eunjuri/pi0_training_baseball_ft with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use eunjuri/pi0_training_baseball_ft with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "type": "pi0", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 26 | |
| ] | |
| }, | |
| "observation.language.tokens": { | |
| "type": "STATE", | |
| "shape": [ | |
| 48 | |
| ] | |
| }, | |
| "observation.language.attention_mask": { | |
| "type": "STATE", | |
| "shape": [ | |
| 48 | |
| ] | |
| }, | |
| "observation.images.cam_left_high": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 848 | |
| ] | |
| }, | |
| "observation.images.cam_third": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_little_finger_tip": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_little_finger_nail": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 12, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_little_finger_pad": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 10, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_ring_finger_tip": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_ring_finger_nail": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 12, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_ring_finger_pad": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 10, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_middle_finger_tip": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_middle_finger_nail": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 12, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_middle_finger_pad": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 10, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_index_finger_tip": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_index_finger_nail": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 12, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_index_finger_pad": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 10, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_thumb_tip": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_thumb_nail": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 12, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_thumb_middle": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_thumb_pad": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 12, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.left_tactile_palm": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 8, | |
| 14 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_little_finger_tip": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_little_finger_nail": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 12, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_little_finger_pad": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 10, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_ring_finger_tip": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_ring_finger_nail": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 12, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_ring_finger_pad": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 10, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_middle_finger_tip": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_middle_finger_nail": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 12, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_middle_finger_pad": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 10, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_index_finger_tip": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_index_finger_nail": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 12, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_index_finger_pad": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 10, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_thumb_tip": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_thumb_nail": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 12, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_thumb_middle": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_thumb_pad": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 12, | |
| 8 | |
| ] | |
| }, | |
| "observation.tactiles.right_tactile_palm": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 8, | |
| 14 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 26 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": true, | |
| "repo_id": "eunjuri/pi0_training_baseball_ft", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": "eunjuri/pi0_training_pick_and_place_full_fullpft", | |
| "paligemma_variant": "gemma_2b", | |
| "action_expert_variant": "gemma_300m", | |
| "dtype": "bfloat16", | |
| "chunk_size": 50, | |
| "n_action_steps": 50, | |
| "max_state_dim": 32, | |
| "max_action_dim": 32, | |
| "num_inference_steps": 10, | |
| "time_sampling_beta_alpha": 1.5, | |
| "time_sampling_beta_beta": 1.0, | |
| "time_sampling_scale": 0.999, | |
| "time_sampling_offset": 0.001, | |
| "min_period": 0.004, | |
| "max_period": 4.0, | |
| "rtc_config": null, | |
| "image_resolution": [ | |
| 224, | |
| 224 | |
| ], | |
| "empty_cameras": 0, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "gradient_checkpointing": true, | |
| "compile_model": false, | |
| "compile_mode": "max-autotune", | |
| "freeze_vision_encoder": true, | |
| "train_expert_only": false, | |
| "optimizer_lr": 2.5e-05, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 0.01, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 30000, | |
| "scheduler_decay_lr": 2.5e-06, | |
| "tokenizer_max_length": 48 | |
| } |