Upload model from pi0bilora_robotwin_beat_block_hammer_using_same_parameter

README.md

@@ -0,0 +1,205 @@
+---
+library_name: peft
+tags:
+- base_model:adapter:None
+- lora
+- transformers
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]
+### Framework versions
+
+- PEFT 0.18.0

adapter_config.json

@@ -0,0 +1,60 @@
+{
+  "alora_invocation_tokens": null,
+  "alpha_pattern": {},
+  "arrow_config": null,
+  "auto_mapping": {
+    "base_model_class": "OpenPiPolicy",
+    "parent_library": "policy.openpi_bilora.modeling"
+  },
+  "base_model_name_or_path": null,
+  "bias": "none",
+  "corda_config": null,
+  "ensure_weight_tying": false,
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": true,
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 256,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [
+    "model.action_in_proj",
+    "model.action_out_proj",
+    "model.state_proj",
+    "model.action_time_mlp_in",
+    "model.action_time_mlp_out",
+    "model.paligemma_with_expert.paligemma.model.vision_tower"
+  ],
+  "peft_type": "LORA",
+  "peft_version": "0.18.0",
+  "qalora_group_size": 16,
+  "r": 256,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": [
+    "up_proj",
+    "gemma_expert.lm_head",
+    "o_proj",
+    "q_proj",
+    "k_proj",
+    "down_proj",
+    "v_proj",
+    "fc2",
+    "out_proj",
+    "fc1",
+    "gate_proj"
+  ],
+  "target_parameters": null,
+  "task_type": null,
+  "trainable_token_indices": null,
+  "use_dora": false,
+  "use_qalora": false,
+  "use_rslora": false
+}

adapter_model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1882398abe4d96b2c0b94d7572ee5821cb89f1ee2ac6b9d088e9e97ceff2b169
+size 840164716

config.json

@@ -0,0 +1,24 @@
+{
+  "action_dim": 14,
+  "action_expert_variant": "gemma_300m",
+  "action_horizon": 16,
+  "chunk_size": 16,
+  "discrete_state_input": false,
+  "freeze_vision_tower": false,
+  "lora_alpha": 256,
+  "lora_module": [
+    "gemma_expert",
+    "language_model",
+    "vision_tower"
+  ],
+  "lora_r": 256,
+  "max_action_dim": 32,
+  "max_token_len": 180,
+  "model_type": "openpi_policy",
+  "paligemma_variant": "gemma_2b",
+  "pi05": false,
+  "pytorch_training_precision": "bfloat16",
+  "pytorch_weight_path": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_base_torch",
+  "state_dim": 14,
+  "transformers_version": "4.53.2"
+}

example_data/action_raw.csv

@@ -0,0 +1,17 @@
+action_0,action_1,action_2,action_3,action_4,action_5,action_6,action_7,action_8,action_9,action_10,action_11,action_12,action_13
+8.072071671485900879e-01,-8.205289244651794434e-01,-8.206374049186706543e-01,8.162165880203247070e-01,8.016601204872131348e-01,8.049860596656799316e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+8.072071671485900879e-01,-8.205289244651794434e-01,-8.206374049186706543e-01,8.162165880203247070e-01,8.016601204872131348e-01,8.049860596656799316e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+8.072071671485900879e-01,-8.205289244651794434e-01,-8.206374049186706543e-01,8.162165880203247070e-01,8.016601204872131348e-01,8.049860596656799316e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+7.930151820182800293e-01,-8.108528852462768555e-01,-8.096444606781005859e-01,8.016938567161560059e-01,7.891927957534790039e-01,7.907843589782714844e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+7.631664872169494629e-01,-7.908391952514648438e-01,-7.863870263099670410e-01,7.711440920829772949e-01,7.630403637886047363e-01,7.609305381774902344e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+7.185656428337097168e-01,-7.604323625564575195e-01,-7.507540583610534668e-01,7.254947423934936523e-01,7.239795327186584473e-01,7.163169980049133301e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+6.608424186706542969e-01,-7.196813225746154785e-01,-7.027892470359802246e-01,6.664458513259887695e-01,6.733689904212951660e-01,6.585859656333923340e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+5.915310978889465332e-01,-6.686412096023559570e-01,-6.427150368690490723e-01,5.955480933189392090e-01,6.126218438148498535e-01,5.892735123634338379e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+5.121784210205078125e-01,-6.075120568275451660e-01,-5.714890956878662109e-01,5.143647789955139160e-01,5.431317687034606934e-01,5.099061727523803711e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+4.242713451385498047e-01,-5.367899537086486816e-01,-4.903058409690856934e-01,4.244174063205718994e-01,4.661302864551544189e-01,4.219761192798614502e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+3.290511965751647949e-01,-4.572987556457519531e-01,-4.000665247440338135e-01,3.269623219966888428e-01,3.826988935470581055e-01,3.267174661159515381e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+2.274337857961654663e-01,-3.700076341629028320e-01,-3.019430339336395264e-01,2.229491323232650757e-01,2.936494350433349609e-01,2.250719070434570312e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+1.204463168978691101e-01,-2.760530412197113037e-01,-1.975062042474746704e-01,1.134534031152725220e-01,1.998866051435470581e-01,1.180663853883743286e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+9.174223057925701141e-03,-1.767120659351348877e-01,-8.839209377765655518e-02,-4.000371263828128576e-04,1.023504883050918579e-01,6.785077508538961411e-03,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+-1.054725870490074158e-01,-7.304619252681732178e-02,2.406503446400165558e-02,-1.176839396357536316e-01,1.855861279182136059e-03,-1.078682243824005127e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01
+-2.226594984531402588e-01,3.387991711497306824e-02,1.387742161750793457e-01,-2.375707775354385376e-01,-1.008022576570510864e-01,-2.250744998455047607e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01

example_data/info.txt

@@ -0,0 +1,26 @@
+=== Training Example Data Info ===
+
+This example is saved from the raw training dataset (before data_processor).
+Data is saved in unnormalized form to match testing phase format.
+
+Sample keys:
+  image: shape=torch.Size([3, 3, 480, 640]), dtype=torch.uint8
+  state: shape=torch.Size([14]), dtype=torch.float32
+  action: shape=torch.Size([16, 14]), dtype=torch.float32
+  is_pad: shape=torch.Size([16]), dtype=torch.bool
+  raw_lang: str
+  reasoning: str
+  timestamp: int64
+  episode_id: int64
+  __index__: int
+  dataset_id: str
+
+Files saved:
+  - camera_{i}.png: raw images from dataset (unnormalized, original resolution)
+  - state_raw.csv: raw state values (unnormalized)
+  - action_raw.csv: raw action values (unnormalized)
+  - raw_lang.txt: language instruction (if available)
+  - reasoning.json: reasoning data (if available)
+  - info.txt: this file
+
+Note: These raw values can be directly compared with testing phase examples.

example_data/raw_lang.txt

@@ -0,0 +1 @@
+Use the medium-sized metal hammer to hammer the block.

example_data/state_raw.csv

@@ -0,0 +1,2 @@
+state_0,state_1,state_2,state_3,state_4,state_5,state_6,state_7,state_8,state_9,state_10,state_11,state_12,state_13
+8.072071671485900879e-01,-8.205289244651794434e-01,-8.206374049186706543e-01,8.162165880203247070e-01,8.016601204872131348e-01,8.049860596656799316e-01,5.500984787940979004e-01,-9.018050432205200195e-01,-9.577859044075012207e-01,-9.595123529434204102e-01,9.493910670280456543e-01,-6.009350419044494629e-01,-9.081494212150573730e-01,6.206994652748107910e-01

log/events.out.tfevents.1770113638.job-c72a080a-cb4c-4368-9bc0-fcf97c0d639c-worker-0.1414.0

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07199d465b6949444905a44bc7fa02acc4fb28909c728c101d0b1b8bdcf2a3e6
+size 643819

normalize.json

@@ -0,0 +1,16 @@
+{
+  "version": "2.0",
+  "datasets": [
+    {
+      "dataset_id": "robotwin_beat_block_hammer_official",
+      "ctrl_space": "joint",
+      "ctrl_type": "abs"
+    }
+  ],
+  "state": {
+    "robotwin_beat_block_hammer_official": "zscore"
+  },
+  "action": {
+    "robotwin_beat_block_hammer_official": "zscore"
+  }
+}

policy_metadata.json

@@ -0,0 +1,4 @@
+{
+  "policy_module": "policy.openpi_bilora",
+  "policy_name": "openpi_bilora"
+}

robotwin_beat_block_hammer_official_stats_joint_abs.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80e5911fb00881a6ecf5b7acc61e25eab1d426676917a4d609615b88b0eec793
+size 1457

training_metadata.json

@@ -0,0 +1,13 @@
+{
+  "model_type": "peft",
+  "base_model_name_or_path": null,
+  "modules_to_save": [
+    "model.action_in_proj",
+    "model.action_out_proj",
+    "model.state_proj",
+    "model.action_time_mlp_in",
+    "model.action_time_mlp_out",
+    "model.paligemma_with_expert.paligemma.model.vision_tower"
+  ],
+  "adapter_name": "default"
+}