Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: pi05
 pipeline_tag: robotics
 tags:
-- robotics
 - pi05
 - lerobot
+- robotics
 ---
 
 # Model Card for pi05

config.json

@@ -41,7 +41,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "lerobot/pi05_base",
+    "pretrained_path": "lerobot_output/pi05/pi05_movetobowl_quantile/checkpoints/last/pretrained_model",
     "paligemma_variant": "gemma_2b",
     "action_expert_variant": "gemma_300m",
     "dtype": "bfloat16",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:242eee2f779c9ccfae00540060348253c689d30fb73d2413d0a67239e6407b26
+oid sha256:278c2f049729f2f2f459cce71af525bc68eaae7479f35a084129011100778f2b
 size 9354050752

train_config.json

@@ -123,7 +123,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "lerobot/pi05_base",
+        "pretrained_path": "lerobot_output/pi05/pi05_movetobowl_quantile/checkpoints/last/pretrained_model",
         "paligemma_variant": "gemma_2b",
         "action_expert_variant": "gemma_300m",
         "dtype": "bfloat16",
@@ -181,17 +181,17 @@
     },
     "output_dir": "lerobot_output/pi05/pi05_movetobowl_quantile",
     "job_name": "pi05_movetobowl_quantile",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 32,
-    "steps": 10000,
+    "steps": 30000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 1000,
+    "save_freq": 3000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -233,5 +233,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "lerobot_output/pi05/pi05_movetobowl_quantile/checkpoints/last"
 }