Instructions to use AndreGaio/pi05_packing_lora with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use AndreGaio/pi05_packing_lora with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "dataset": { | |
| "repo_id": "AndreGaio/test-packing_3cam_20260823_140000", | |
| "repo_type": "dataset", | |
| "root": "data/test-packing_3cam_20260823_140000", | |
| "episodes": null, | |
| "exclude_episodes": null, | |
| "image_transforms": { | |
| "enable": false, | |
| "max_num_transforms": 3, | |
| "random_order": false, | |
| "tfs": { | |
| "brightness": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "brightness": [ | |
| 0.8, | |
| 1.2 | |
| ] | |
| } | |
| }, | |
| "contrast": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "contrast": [ | |
| 0.8, | |
| 1.2 | |
| ] | |
| } | |
| }, | |
| "saturation": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "saturation": [ | |
| 0.5, | |
| 1.5 | |
| ] | |
| } | |
| }, | |
| "hue": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "hue": [ | |
| -0.05, | |
| 0.05 | |
| ] | |
| } | |
| }, | |
| "sharpness": { | |
| "weight": 1.0, | |
| "type": "SharpnessJitter", | |
| "kwargs": { | |
| "sharpness": [ | |
| 0.5, | |
| 1.5 | |
| ] | |
| } | |
| }, | |
| "affine": { | |
| "weight": 1.0, | |
| "type": "RandomAffine", | |
| "kwargs": { | |
| "degrees": [ | |
| -5.0, | |
| 5.0 | |
| ], | |
| "translate": [ | |
| 0.05, | |
| 0.05 | |
| ] | |
| } | |
| } | |
| } | |
| }, | |
| "revision": null, | |
| "use_imagenet_stats": true, | |
| "video_backend": "torchcodec", | |
| "return_uint8": false, | |
| "depth_output_unit": "mm", | |
| "streaming": false, | |
| "eval_split": 0.0 | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "pi05", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.images.camera1": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 640, | |
| 480 | |
| ] | |
| }, | |
| "observation.images.camera2": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 640, | |
| 480 | |
| ] | |
| }, | |
| "observation.images.camera3": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": true, | |
| "push_to_hub": true, | |
| "repo_id": "AndreGaio/pi05_packing_lora", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": "lerobot/pi05_base", | |
| "pretrained_revision": null, | |
| "paligemma_variant": "gemma_2b", | |
| "action_expert_variant": "gemma_300m", | |
| "dtype": "bfloat16", | |
| "chunk_size": 50, | |
| "n_action_steps": 50, | |
| "use_visual_memory": false, | |
| "use_proprioceptive_memory": false, | |
| "memory_frames": 6, | |
| "memory_stride": 30, | |
| "memory_temporal_attention_every": 4, | |
| "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, | |
| "use_relative_actions": false, | |
| "relative_exclude_joints": [ | |
| "gripper" | |
| ], | |
| "action_feature_names": [ | |
| "shoulder_pan.pos", | |
| "shoulder_lift.pos", | |
| "elbow_flex.pos", | |
| "wrist_flex.pos", | |
| "wrist_roll.pos", | |
| "gripper.pos" | |
| ], | |
| "rtc_config": null, | |
| "rtc_training_max_delay": 0, | |
| "image_resolution": [ | |
| 224, | |
| 224 | |
| ], | |
| "empty_cameras": 0, | |
| "tokenizer_max_length": 200, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "QUANTILES", | |
| "ACTION": "QUANTILES" | |
| }, | |
| "gradient_checkpointing": true, | |
| "compile_model": true, | |
| "compile_mode": "max-autotune", | |
| "freeze_vision_encoder": false, | |
| "train_expert_only": false, | |
| "optimizer_lr": 0.0001, | |
| "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": 1e-05 | |
| }, | |
| "reward_model": null, | |
| "output_dir": "outputs/train/pi05_packing_lora", | |
| "job_name": "pi05_packing_lora", | |
| "resume": false, | |
| "seed": 1000, | |
| "cudnn_deterministic": false, | |
| "num_workers": 4, | |
| "batch_size": 8, | |
| "prefetch_factor": 4, | |
| "persistent_workers": true, | |
| "dataloader_multiprocessing_context": "spawn", | |
| "steps": 1000, | |
| "env_eval_freq": 20000, | |
| "log_freq": 200, | |
| "eval_steps": 0, | |
| "max_eval_samples": 0, | |
| "tolerance_s": 0.0001, | |
| "save_checkpoint": true, | |
| "save_freq": 500, | |
| "checkpoint_format": "safetensors", | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 0.0001, | |
| "weight_decay": 0.01, | |
| "grad_clip_norm": 1.0, | |
| "betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": { | |
| "type": "cosine_decay_with_warmup", | |
| "num_warmup_steps": 1000, | |
| "num_decay_steps": 30000, | |
| "peak_lr": 0.0001, | |
| "decay_lr": 1e-05 | |
| }, | |
| "parallelism": { | |
| "dp_replicate": 1, | |
| "dp_shard": 1, | |
| "context_parallel": { | |
| "ring_degree": 1, | |
| "ulysses_degree": 1 | |
| }, | |
| "cfg_parallel": 1 | |
| }, | |
| "accelerator": { | |
| "mixed_precision": "no", | |
| "gradient_accumulation": { | |
| "steps": 1 | |
| }, | |
| "fsdp": { | |
| "reshard_after_forward": true, | |
| "wrap_modules": null, | |
| "min_num_params": null, | |
| "cpu_offload": false, | |
| "ignored_modules": null | |
| }, | |
| "ddp": { | |
| "find_unused_parameters": true, | |
| "gradient_as_bucket_view": false, | |
| "static_graph": false | |
| }, | |
| "compile": { | |
| "enabled": false, | |
| "backend": "inductor", | |
| "mode": null, | |
| "regional": true | |
| }, | |
| "activation_checkpointing": { | |
| "mode": "none" | |
| } | |
| }, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 14, | |
| "use_async_envs": true, | |
| "recording": false, | |
| "recording_repo_id": null, | |
| "recording_private": false | |
| }, | |
| "ema": { | |
| "enable": false, | |
| "decay": null, | |
| "update_after_step": 0, | |
| "inv_gamma": 1.0, | |
| "power": 0.75, | |
| "min_decay": 0.0, | |
| "max_decay": 0.9999, | |
| "use_for_eval": true | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": true, | |
| "project": "lerobot", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": "bluhs1cf", | |
| "mode": null, | |
| "add_tags": true | |
| }, | |
| "peft": { | |
| "target_modules": null, | |
| "full_training_modules": null, | |
| "method_type": "LORA", | |
| "init_type": null, | |
| "r": 64, | |
| "lora_alpha": 64 | |
| }, | |
| "job": { | |
| "target": null, | |
| "image": "huggingface/lerobot-gpu:latest", | |
| "timeout": "2d", | |
| "detach": false, | |
| "tags": [] | |
| }, | |
| "save_checkpoint_to_hub": false, | |
| "sample_weighting": null, | |
| "rename_map": { | |
| "observation.images.front": "observation.images.camera1", | |
| "observation.images.top": "observation.images.camera2", | |
| "observation.images.wrist": "observation.images.camera3" | |
| }, | |
| "checkpoint_path": null | |
| } |