Upload policy weights, train config and readme

README.md

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

config.json

@@ -8,7 +8,7 @@
                 7
             ]
         },
-        "observation.images.wrist": {
+        "observation.images.left": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -16,7 +16,7 @@
                 640
             ]
         },
-        "observation.images.left": {
+        "observation.images.wrist": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -92,8 +92,8 @@
     "gradient_checkpointing": true,
     "compile_model": true,
     "compile_mode": "max-autotune",
-    "freeze_vision_encoder": true,
-    "train_expert_only": true,
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
     "optimizer_lr": 2.5e-05,
     "optimizer_betas": [
         0.9,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:088cef8e480747a3a725e001c5ff5c782ea7360e5868ab6e70a9c7ecce83a790
+oid sha256:9324296a32f7eaef433d8acbae90b3c27da21241a31092a708d2173a3c4f141f
 size 9354050752

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
         "repo_id": "maskjp/piper_pick_new",
-        "root": null,
+        "root": "./piper_pick_new",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -90,7 +90,7 @@
                     7
                 ]
             },
-            "observation.images.wrist": {
+            "observation.images.left": {
                 "type": "VISUAL",
                 "shape": [
                     3,
@@ -98,7 +98,7 @@
                     640
                 ]
             },
-            "observation.images.left": {
+            "observation.images.wrist": {
                 "type": "VISUAL",
                 "shape": [
                     3,
@@ -174,8 +174,8 @@
         "gradient_checkpointing": true,
         "compile_model": true,
         "compile_mode": "max-autotune",
-        "freeze_vision_encoder": true,
-        "train_expert_only": true,
+        "freeze_vision_encoder": false,
+        "train_expert_only": false,
         "optimizer_lr": 2.5e-05,
         "optimizer_betas": [
             0.9,
@@ -188,13 +188,13 @@
         "scheduler_decay_steps": 30000,
         "scheduler_decay_lr": 2.5e-06
     },
-    "output_dir": "outputs/piper_pick_new_pi05",
-    "job_name": "piper_pick_new_pi05",
+    "output_dir": "outputs/piper_pick_new_pi052",
+    "job_name": "piper_pick_new_pi052",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
-    "batch_size": 32,
+    "batch_size": 24,
     "steps": 3000,
     "eval_freq": 20000,
     "log_freq": 200,
@@ -231,7 +231,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "zh7psizx",
+        "run_id": "oca0crrd",
         "mode": null,
         "add_tags": true
     },