Create README.md

README.md

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+---
+language:
+- en
+---
+
+## 🛠 Training Details (RoboTwin 2.0 Simulation)
+
+This model is a pi0.5 checkpoint fine-tuned on the **RoboTwin 2.0** simulation environment.
+
+### Model Pedigree
+
+* **Base Model:** Official released pi0.5 base model.
+* **Framework Conversion:** The weights were converted from the original **JAX** implementation to **PyTorch** for this training pipeline.
+
+### Training Data & Setting
+
+The model was trained under a **multi-task** setting involving **50 distinct tasks**, blending both "Clean" and "Randomized" simulation environments:
+
+| Data Setting | Episodes per Task | Total Episodes |
+| --- | --- | --- |
+| **Clean Setting** | 50 | 2,500 |
+| **Randomized Setting** | 500 | 25,000 |
+| **Total** | **550** | **27,500** |
+
+### Training Configuration
+
+```
+    TrainConfig(
+        name="pi05_base_finetune_on_robotwin_clean_randomized_joint_training",
+        project_name="pi05_finetune",
+        exp_name="robotwin_clean_randomized_joint_training",
+        model=pi0_config.Pi0Config(
+            pi05=True, 
+            action_horizon=32,
+        ),
+        weight_loader=weight_loaders.CheckpointWeightLoader("./pi05_base/params"),
+        pytorch_weight_path="./pi05_base_torch",
+        lr_schedule=_optimizer.ConstantScheduleWithWarmup, # we defined this scheduler ourselves
+        #optimizer=_optimizer.AdamW,
+        data=LeRobotAlohaDataConfig(
+            repo_id= "clean_randomized_joint_training",
+            data_dir= HF_LEROBOT_HOME / "robotwin" ,
+            multi_task=True, # we use the MultiLeRobotDataset and therefore modified the official repo slightly to better start the train
+            base_config=DataConfig(
+                prompt_from_task=True,
+                random_prompt_from_task=True, # we add this option for the training setting of RoboTwin(every episode of the same task randomly selects instruction for training from the same bunch of instructions)
+            ),
+            assets=AssetsConfig(
+                assets_dir="./assets/pi05_base_finetune_on_robotwin_clean_randomized_joint_training",
+                asset_id="robotwin_clean_randomized_joint_training",
+            ),
+            adapt_to_pi=True,
+            default_prompt=DEFAULT_PROMPT,
+            use_delta_joint_actions=True,
+            repack_transforms=_transforms.Group(
+                inputs=[
+                    _transforms.RepackTransform(
+                        {
+                            "images": {
+                                "cam_high": "high_image",
+                                "cam_left_wrist": "left_wrist_image",
+                                "cam_right_wrist": "right_wrist_image",
+                            },
+                            "state": "state",
+                            "actions": "actions",
+                            "prompt": "prompt",
+                        }
+                    ),
+                ]
+            ),
+            action_sequence_keys=("actions",)
+        ),
+        seed=42,
+        batch_size=128,
+        num_workers=16,
+        num_train_steps=1000000,
+        log_interval=100,
+        val_interval=1000,
+        save_interval=5000,
+        keep_period=5000,
+        resume=True,
+        wandb_enabled=True,
+    ),
+```