Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: pi05
 pipeline_tag: robotics
 tags:
 - robotics
-- lerobot
 - pi05
+- lerobot
 ---
 
 # Model Card for pi05

config.json

@@ -49,7 +49,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "lerobot/pi05_base",
+    "pretrained_path": "outputs/pi05_training/checkpoints/last/pretrained_model",
     "paligemma_variant": "gemma_2b",
     "action_expert_variant": "gemma_300m",
     "dtype": "bfloat16",
@@ -64,7 +64,14 @@
     "time_sampling_offset": 0.001,
     "min_period": 0.004,
     "max_period": 4.0,
-    "rtc_config": null,
+    "rtc_config": {
+        "enabled": true,
+        "prefix_attention_schedule": "LINEAR",
+        "max_guidance_weight": 10.0,
+        "execution_horizon": 10,
+        "debug": false,
+        "debug_maxlen": 100
+    },
     "image_resolution": [
         224,
         224
@@ -81,7 +88,7 @@
     "compile_mode": "max-autotune",
     "freeze_vision_encoder": false,
     "train_expert_only": false,
-    "optimizer_lr": 2.5e-05,
+    "optimizer_lr": 5e-05,
     "optimizer_betas": [
         0.9,
         0.95
@@ -89,7 +96,7 @@
     "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
+    "scheduler_warmup_steps": 5000,
+    "scheduler_decay_steps": 25000,
+    "scheduler_decay_lr": 5e-05
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0fc2ace1799de79abe223e8c6b83125bcb8f975823ce8d09b0cbce2ec7d069e5
+oid sha256:cc0f99055c88a962604e1efae09e46e9392995ea7c4cbaa91f42bb02961fd541
 size 7473096344

train_config.json

@@ -131,7 +131,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "lerobot/pi05_base",
+        "pretrained_path": "outputs/pi05_training/checkpoints/last/pretrained_model",
         "paligemma_variant": "gemma_2b",
         "action_expert_variant": "gemma_300m",
         "dtype": "bfloat16",
@@ -146,7 +146,14 @@
         "time_sampling_offset": 0.001,
         "min_period": 0.004,
         "max_period": 4.0,
-        "rtc_config": null,
+        "rtc_config": {
+            "enabled": true,
+            "prefix_attention_schedule": "LINEAR",
+            "max_guidance_weight": 10.0,
+            "execution_horizon": 10,
+            "debug": false,
+            "debug_maxlen": 100
+        },
         "image_resolution": [
             224,
             224
@@ -163,7 +170,7 @@
         "compile_mode": "max-autotune",
         "freeze_vision_encoder": false,
         "train_expert_only": false,
-        "optimizer_lr": 2.5e-05,
+        "optimizer_lr": 5e-05,
         "optimizer_betas": [
             0.9,
             0.95
@@ -171,17 +178,17 @@
         "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
+        "scheduler_warmup_steps": 5000,
+        "scheduler_decay_steps": 25000,
+        "scheduler_decay_lr": 5e-05
     },
     "output_dir": "outputs/pi05_training",
     "job_name": "pi05_training",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 30000,
+    "steps": 300000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -232,5 +239,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/pi05_training/checkpoints/last"
 }