Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: pi0
 pipeline_tag: robotics
 tags:
-- pi0
-- lerobot
 - robotics
+- lerobot
+- pi0
 ---
 
 # Model Card for pi0

config.json

@@ -92,7 +92,7 @@
     "gradient_checkpointing": true,
     "compile_model": false,
     "compile_mode": "max-autotune",
-    "freeze_vision_encoder": false,
+    "freeze_vision_encoder": true,
     "train_expert_only": false,
     "optimizer_lr": 2.5e-05,
     "optimizer_betas": [

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0e24a13dd001185feeca0f38ef16c244bdb121899aad09b7c0435d6779fd6088
+oid sha256:ba4990cb1be93e2bfddad8c5b531f7d2f2efaa081456cb0613ac6dfd1739eb79
 size 7011548640

train_config.json

@@ -174,7 +174,7 @@
         "gradient_checkpointing": true,
         "compile_model": false,
         "compile_mode": "max-autotune",
-        "freeze_vision_encoder": false,
+        "freeze_vision_encoder": true,
         "train_expert_only": false,
         "optimizer_lr": 2.5e-05,
         "optimizer_betas": [
@@ -190,7 +190,7 @@
         "tokenizer_max_length": 48
     },
     "output_dir": "ckpt/clr-experiment-pi0",
-    "job_name": "clr-experiment-pi02026-04-03_23-44-13",
+    "job_name": "clr-experiment-pi02026-04-09_00-04-54",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -231,7 +231,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "lbp3jx4d",
+        "run_id": "hpr7snz0",
         "mode": null
     },
     "peft": null,