Hugging Face's logo

SkieyFly
/
pi0-R1LiteB_fold_clothes_20251116

Safetensors
Model card Files
xet
 Community
SkieyFly commited on
Commit
f8876ac
·
verified ·
1 Parent(s): 83ff218

Upload folder using huggingface_hub

Browse files
Files changed (3) hide show
  1. config.json +87 -0
  2. model.safetensors +3 -0
  3. train_config.json +166 -0
config.json ADDED
@@ -0,0 +1,87 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "pi0",
3
+ "n_obs_steps": 1,
4
+ "normalization_mapping": {
5
+ "VISUAL": "IDENTITY",
6
+ "STATE": "MEAN_STD",
7
+ "ACTION": "MEAN_STD"
8
+ },
9
+ "input_features": {
10
+ "observation.images.head_left_rgb": {
11
+ "type": "VISUAL",
12
+ "shape": [
13
+ 3,
14
+ 720,
15
+ 1280
16
+ ]
17
+ },
18
+ "observation.images.left_wrist_rgb": {
19
+ "type": "VISUAL",
20
+ "shape": [
21
+ 3,
22
+ 720,
23
+ 1280
24
+ ]
25
+ },
26
+ "observation.images.right_wrist_rgb": {
27
+ "type": "VISUAL",
28
+ "shape": [
29
+ 3,
30
+ 720,
31
+ 1280
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "type": "STATE",
36
+ "shape": [
37
+ 14
38
+ ]
39
+ }
40
+ },
41
+ "output_features": {
42
+ "action": {
43
+ "type": "ACTION",
44
+ "shape": [
45
+ 14
46
+ ]
47
+ }
48
+ },
49
+ "device": "cuda",
50
+ "use_amp": false,
51
+ "push_to_hub": true,
52
+ "repo_id": null,
53
+ "private": null,
54
+ "tags": null,
55
+ "license": null,
56
+ "chunk_size": 50,
57
+ "n_action_steps": 50,
58
+ "max_state_dim": 32,
59
+ "max_action_dim": 32,
60
+ "resize_imgs_with_padding": [
61
+ 224,
62
+ 224
63
+ ],
64
+ "empty_cameras": 0,
65
+ "adapt_to_pi_aloha": false,
66
+ "use_delta_joint_actions_aloha": false,
67
+ "tokenizer_max_length": 48,
68
+ "proj_width": 1024,
69
+ "num_steps": 10,
70
+ "use_cache": true,
71
+ "attention_implementation": "eager",
72
+ "freeze_vision_encoder": false,
73
+ "train_expert_only": false,
74
+ "train_state_proj": true,
75
+ "optimizer_lr": 2.5e-05,
76
+ "optimizer_betas": [
77
+ 0.9,
78
+ 0.95
79
+ ],
80
+ "optimizer_eps": 1e-08,
81
+ "optimizer_weight_decay": 1e-10,
82
+ "scheduler_warmup_steps": 1000,
83
+ "scheduler_decay_steps": 30000,
84
+ "scheduler_decay_lr": 2.5e-06,
85
+ "pi05": false,
86
+ "state_cond": false
87
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ed2a14d544b3c911d9f44e6503e26413cff8d731239bb3a218dfb4c05b8a65d0
3
+ size 7536023296
train_config.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "ELM/R1LiteB_fold_clothes_20251116",
4
+ "root": "/dataset/yufeis/datasets/R1LiteB_fold_clothes_20251116",
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ }
61
+ }
62
+ },
63
+ "revision": null,
64
+ "use_imagenet_stats": true,
65
+ "video_backend": "torchcodec"
66
+ },
67
+ "env": null,
68
+ "policy": {
69
+ "type": "pi0",
70
+ "n_obs_steps": 1,
71
+ "normalization_mapping": {
72
+ "VISUAL": "IDENTITY",
73
+ "STATE": "MEAN_STD",
74
+ "ACTION": "MEAN_STD"
75
+ },
76
+ "input_features": {},
77
+ "output_features": {},
78
+ "device": "cuda",
79
+ "use_amp": false,
80
+ "push_to_hub": false,
81
+ "repo_id": null,
82
+ "private": null,
83
+ "tags": null,
84
+ "license": null,
85
+ "chunk_size": 50,
86
+ "n_action_steps": 50,
87
+ "max_state_dim": 32,
88
+ "max_action_dim": 32,
89
+ "resize_imgs_with_padding": [
90
+ 224,
91
+ 224
92
+ ],
93
+ "empty_cameras": 0,
94
+ "adapt_to_pi_aloha": false,
95
+ "use_delta_joint_actions_aloha": false,
96
+ "tokenizer_max_length": 48,
97
+ "proj_width": 1024,
98
+ "num_steps": 10,
99
+ "use_cache": true,
100
+ "attention_implementation": "eager",
101
+ "freeze_vision_encoder": false,
102
+ "train_expert_only": false,
103
+ "train_state_proj": true,
104
+ "optimizer_lr": 2.5e-05,
105
+ "optimizer_betas": [
106
+ 0.9,
107
+ 0.95
108
+ ],
109
+ "optimizer_eps": 1e-08,
110
+ "optimizer_weight_decay": 1e-10,
111
+ "scheduler_warmup_steps": 1000,
112
+ "scheduler_decay_steps": 30000,
113
+ "scheduler_decay_lr": 2.5e-06,
114
+ "pi05": false,
115
+ "state_cond": false
116
+ },
117
+ "output_dir": "/dataset/yufeis/checkpoints/pi0-R1LiteB_fold_clothes_20251116",
118
+ "job_name": "pi0-R1LiteB_fold_clothes_20251116",
119
+ "resume": false,
120
+ "seed": 42,
121
+ "num_workers": 8,
122
+ "batch_size": 8,
123
+ "steps": 50000,
124
+ "eval_freq": 1000000,
125
+ "log_freq": 100,
126
+ "save_checkpoint": true,
127
+ "save_freq": 10000,
128
+ "use_policy_training_preset": false,
129
+ "optimizer": {
130
+ "type": "adamw",
131
+ "lr": 5e-05,
132
+ "weight_decay": 1e-10,
133
+ "grad_clip_norm": 10.0,
134
+ "betas": [
135
+ 0.9,
136
+ 0.95
137
+ ],
138
+ "eps": 1e-08
139
+ },
140
+ "scheduler": {
141
+ "type": "cosine_decay_with_warmup",
142
+ "num_warmup_steps": 1000,
143
+ "num_decay_steps": 50000,
144
+ "peak_lr": 5e-05,
145
+ "decay_lr": 2.5e-06
146
+ },
147
+ "eval": {
148
+ "n_episodes": 50,
149
+ "batch_size": 50,
150
+ "use_async_envs": false
151
+ },
152
+ "wandb": {
153
+ "enable": true,
154
+ "disable_artifact": true,
155
+ "project": "lerobot",
156
+ "entity": null,
157
+ "notes": null,
158
+ "run_id": "e4gkiskm",
159
+ "mode": null
160
+ },
161
+ "profile_steps": 0,
162
+ "profile_skip_first": 100,
163
+ "profile_output_dir": "trace.json",
164
+ "async_interval": 0,
165
+ "async_training_random": false
166
+ }