Upload policy weights, train config and readme

config.json

@@ -28,6 +28,30 @@
             "shape": [
                 8
             ]
+        },
+        "observation.images.base_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.left_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.right_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
         }
     },
     "output_features": {
@@ -47,7 +71,7 @@
     "license": null,
     "paligemma_variant": "gemma_2b",
     "action_expert_variant": "gemma_300m",
-    "dtype": "float32",
+    "dtype": "bfloat16",
     "chunk_size": 50,
     "n_action_steps": 50,
     "action_dim": 32,
@@ -62,11 +86,12 @@
         224
     ],
     "image_keys": [
-        "observation.images.image",
-        "observation.images.image2"
+        "observation.images.base_0_rgb",
+        "observation.images.left_wrist_0_rgb",
+        "observation.images.right_wrist_0_rgb"
     ],
     "gradient_checkpointing": false,
-    "compile_model": false,
+    "compile_model": true,
     "compile_mode": "max-autotune",
     "optimizer_lr": 2.5e-05,
     "optimizer_betas": [

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:463f6ce0a4a1644b9bc8c459b857db372be0ec6ffabcdb81c9834d30b46cbac5
-size 14005624104
+oid sha256:b78433b33b7d9f9da964852e5b88987f43a0ee52552cbb6ab83aeeabd8c27e75
+size 7011549448

train_config.json

@@ -138,7 +138,7 @@
         "license": null,
         "paligemma_variant": "gemma_2b",
         "action_expert_variant": "gemma_300m",
-        "dtype": "float32",
+        "dtype": "bfloat16",
         "chunk_size": 50,
         "n_action_steps": 50,
         "action_dim": 32,
@@ -158,7 +158,7 @@
             "observation.images.right_wrist_0_rgb"
         ],
         "gradient_checkpointing": false,
-        "compile_model": false,
+        "compile_model": true,
         "compile_mode": "max-autotune",
         "optimizer_lr": 2.5e-05,
         "optimizer_betas": [
@@ -173,13 +173,13 @@
         "scheduler_decay_lr": 2.5e-06,
         "tokenizer_max_length": 48
     },
-    "output_dir": "/fsx/pepijn/outputs/train/pi0_openpi",
+    "output_dir": "/fsx/pepijn/train/openpi0_b4",
     "job_name": "pi0_openpi",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 8,
-    "steps": 100000,
+    "batch_size": 4,
+    "steps": 20000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -214,7 +214,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "6go2g18k",
+        "run_id": "ye6i38b8",
         "mode": null
     }
 }