Upload policy weights, train config and readme

README.md

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

config.json

@@ -56,7 +56,7 @@
     "time_sampling_offset": 0.001,
     "min_period": 0.004,
     "max_period": 4.0,
-    "use_relative_actions": false,
+    "use_relative_actions": true,
     "relative_exclude_joints": [
         "gripper"
     ],

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cc56546e857c9bac09674590e8d2ae584f4f0fd1ed627327b115a9b246a19560
+oid sha256:4f4ae006f8b9ae21156f1ab49adea59aea054a69537bc0248714da95ce07e3e5
 size 8892502944

train_config.json

@@ -138,7 +138,7 @@
         "time_sampling_offset": 0.001,
         "min_period": 0.004,
         "max_period": 4.0,
-        "use_relative_actions": false,
+        "use_relative_actions": true,
         "relative_exclude_joints": [
             "gripper"
         ],
@@ -179,14 +179,14 @@
         "scheduler_decay_lr": 2.5e-06,
         "tokenizer_max_length": 48
     },
-    "output_dir": "outputs/train/train_behavior_pi0",
+    "output_dir": "outputs/train/train_behavior_pi0_relative",
     "job_name": "pi0_behavior",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 12,
     "batch_size": 8,
-    "steps": 3000,
+    "steps": 10000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,