Upload policy weights, train config and readme
Browse files- README.md +70 -0
- config.json +371 -0
- model.safetensors +3 -0
- train_config.json +507 -0
README.md
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---
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datasets: eunjuri/baseball
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library_name: lerobot
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license: apache-2.0
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model_name: pi0
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pipeline_tag: robotics
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tags:
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- robotics
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- lerobot
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- pi0
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---
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# Model Card for pi0
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<!-- Provide a quick summary of what the model is/does. -->
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**π₀ (Pi0)**
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π₀ is a Vision-Language-Action model for general robot control, from Physical Intelligence. The LeRobot implementation is adapted from their open source OpenPI repository.
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**Model Overview**
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π₀ represents a breakthrough in robotics as the first general-purpose robot foundation model developed by Physical Intelligence. Unlike traditional robots that are narrow specialists programmed for repetitive motions, π₀ is designed to be a generalist policy that can understand visual inputs, interpret natural language instructions, and control a variety of different robots across diverse tasks.
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For more details, see the [Physical Intelligence π₀ blog post](https://www.physicalintelligence.company/blog/pi0).
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This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
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See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
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---
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## How to Get Started with the Model
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For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
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Below is the short version on how to train and run inference/eval:
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### Train from scratch
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```bash
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lerobot-train \
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--dataset.repo_id=${HF_USER}/<dataset> \
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--policy.type=act \
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--output_dir=outputs/train/<desired_policy_repo_id> \
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--job_name=lerobot_training \
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--policy.device=cuda \
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--policy.repo_id=${HF_USER}/<desired_policy_repo_id>
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--wandb.enable=true
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```
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_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
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### Evaluate the policy/run inference
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```bash
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lerobot-record \
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--robot.type=so100_follower \
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--dataset.repo_id=<hf_user>/eval_<dataset> \
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--policy.path=<hf_user>/<desired_policy_repo_id> \
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--episodes=10
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```
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Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
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---
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## Model Details
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- **License:** apache-2.0
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config.json
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| 1 |
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{
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| 2 |
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"type": "pi0",
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| 3 |
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"n_obs_steps": 1,
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| 4 |
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"input_features": {
|
| 5 |
+
"observation.state": {
|
| 6 |
+
"type": "STATE",
|
| 7 |
+
"shape": [
|
| 8 |
+
26
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| 9 |
+
]
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| 10 |
+
},
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| 11 |
+
"observation.language.tokens": {
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| 12 |
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"type": "STATE",
|
| 13 |
+
"shape": [
|
| 14 |
+
48
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| 15 |
+
]
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| 16 |
+
},
|
| 17 |
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"observation.language.attention_mask": {
|
| 18 |
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"type": "STATE",
|
| 19 |
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"shape": [
|
| 20 |
+
48
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| 21 |
+
]
|
| 22 |
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},
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| 23 |
+
"observation.images.cam_left_high": {
|
| 24 |
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"type": "VISUAL",
|
| 25 |
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"shape": [
|
| 26 |
+
3,
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| 27 |
+
480,
|
| 28 |
+
848
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.images.cam_third": {
|
| 32 |
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"type": "VISUAL",
|
| 33 |
+
"shape": [
|
| 34 |
+
3,
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| 35 |
+
480,
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| 36 |
+
640
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| 37 |
+
]
|
| 38 |
+
},
|
| 39 |
+
"observation.tactiles.left_tactile_little_finger_tip": {
|
| 40 |
+
"type": "VISUAL",
|
| 41 |
+
"shape": [
|
| 42 |
+
3,
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| 43 |
+
3,
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| 44 |
+
3
|
| 45 |
+
]
|
| 46 |
+
},
|
| 47 |
+
"observation.tactiles.left_tactile_little_finger_nail": {
|
| 48 |
+
"type": "VISUAL",
|
| 49 |
+
"shape": [
|
| 50 |
+
3,
|
| 51 |
+
12,
|
| 52 |
+
8
|
| 53 |
+
]
|
| 54 |
+
},
|
| 55 |
+
"observation.tactiles.left_tactile_little_finger_pad": {
|
| 56 |
+
"type": "VISUAL",
|
| 57 |
+
"shape": [
|
| 58 |
+
3,
|
| 59 |
+
10,
|
| 60 |
+
8
|
| 61 |
+
]
|
| 62 |
+
},
|
| 63 |
+
"observation.tactiles.left_tactile_ring_finger_tip": {
|
| 64 |
+
"type": "VISUAL",
|
| 65 |
+
"shape": [
|
| 66 |
+
3,
|
| 67 |
+
3,
|
| 68 |
+
3
|
| 69 |
+
]
|
| 70 |
+
},
|
| 71 |
+
"observation.tactiles.left_tactile_ring_finger_nail": {
|
| 72 |
+
"type": "VISUAL",
|
| 73 |
+
"shape": [
|
| 74 |
+
3,
|
| 75 |
+
12,
|
| 76 |
+
8
|
| 77 |
+
]
|
| 78 |
+
},
|
| 79 |
+
"observation.tactiles.left_tactile_ring_finger_pad": {
|
| 80 |
+
"type": "VISUAL",
|
| 81 |
+
"shape": [
|
| 82 |
+
3,
|
| 83 |
+
10,
|
| 84 |
+
8
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"observation.tactiles.left_tactile_middle_finger_tip": {
|
| 88 |
+
"type": "VISUAL",
|
| 89 |
+
"shape": [
|
| 90 |
+
3,
|
| 91 |
+
3,
|
| 92 |
+
3
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"observation.tactiles.left_tactile_middle_finger_nail": {
|
| 96 |
+
"type": "VISUAL",
|
| 97 |
+
"shape": [
|
| 98 |
+
3,
|
| 99 |
+
12,
|
| 100 |
+
8
|
| 101 |
+
]
|
| 102 |
+
},
|
| 103 |
+
"observation.tactiles.left_tactile_middle_finger_pad": {
|
| 104 |
+
"type": "VISUAL",
|
| 105 |
+
"shape": [
|
| 106 |
+
3,
|
| 107 |
+
10,
|
| 108 |
+
8
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"observation.tactiles.left_tactile_index_finger_tip": {
|
| 112 |
+
"type": "VISUAL",
|
| 113 |
+
"shape": [
|
| 114 |
+
3,
|
| 115 |
+
3,
|
| 116 |
+
3
|
| 117 |
+
]
|
| 118 |
+
},
|
| 119 |
+
"observation.tactiles.left_tactile_index_finger_nail": {
|
| 120 |
+
"type": "VISUAL",
|
| 121 |
+
"shape": [
|
| 122 |
+
3,
|
| 123 |
+
12,
|
| 124 |
+
8
|
| 125 |
+
]
|
| 126 |
+
},
|
| 127 |
+
"observation.tactiles.left_tactile_index_finger_pad": {
|
| 128 |
+
"type": "VISUAL",
|
| 129 |
+
"shape": [
|
| 130 |
+
3,
|
| 131 |
+
10,
|
| 132 |
+
8
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
"observation.tactiles.left_tactile_thumb_tip": {
|
| 136 |
+
"type": "VISUAL",
|
| 137 |
+
"shape": [
|
| 138 |
+
3,
|
| 139 |
+
3,
|
| 140 |
+
3
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
"observation.tactiles.left_tactile_thumb_nail": {
|
| 144 |
+
"type": "VISUAL",
|
| 145 |
+
"shape": [
|
| 146 |
+
3,
|
| 147 |
+
12,
|
| 148 |
+
8
|
| 149 |
+
]
|
| 150 |
+
},
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version https://git-lfs.github.com/spec/v1
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size 7011548640
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train_config.json
ADDED
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@@ -0,0 +1,507 @@
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