Upload latest LeRobot model: pi05_g1d_stack_block_ActionExpert checkpoint 010000
Browse files- config.json +125 -0
- model.safetensors +3 -0
- policy_postprocessor.json +38 -0
- policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- policy_preprocessor.json +122 -0
- policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
- train_config.json +263 -0
config.json
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{
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"type": "pi05",
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"n_obs_steps": 1,
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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]
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},
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"observation.images.cam_left_high": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.cam_right_high": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.cam_left_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.cam_right_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"use_peft": false,
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"push_to_hub": false,
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"repo_id": null,
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": null,
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"paligemma_variant": "gemma_2b",
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"action_expert_variant": "gemma_300m",
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"dtype": "bfloat16",
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"chunk_size": 10,
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"n_action_steps": 10,
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"max_state_dim": 32,
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"max_action_dim": 32,
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"num_inference_steps": 10,
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"time_sampling_beta_alpha": 1.5,
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"time_sampling_beta_beta": 1.0,
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"time_sampling_scale": 0.999,
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"time_sampling_offset": 0.001,
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"min_period": 0.004,
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"max_period": 4.0,
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"use_relative_actions": true,
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"relative_exclude_joints": [
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"gripper"
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],
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"action_feature_names": [
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"kLeftShoulderPitch",
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"kLeftShoulderRoll",
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"kLeftShoulderYaw",
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"kLeftElbow",
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"kLeftWristRoll",
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"kLeftWristPitch",
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"kLeftWristYaw",
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"kRightShoulderPitch",
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"kRightShoulderRoll",
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"kRightShoulderYaw",
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"kRightElbow",
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"kRightWristRoll",
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"kRightWristPitch",
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"kRightWristYaw",
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"kLeftGripper",
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"kRightGripper"
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],
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"rtc_config": null,
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"image_resolution": [
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224,
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224
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],
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"empty_cameras": 0,
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"tokenizer_max_length": 200,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "QUANTILES",
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"ACTION": "QUANTILES"
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},
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"gradient_checkpointing": false,
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"compile_model": false,
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"compile_mode": "max-autotune",
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"freeze_vision_encoder": false,
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"train_expert_only": true,
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"optimizer_lr": 2.5e-05,
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 0.01,
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"optimizer_grad_clip_norm": 1.0,
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"scheduler_warmup_steps": 1000,
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"scheduler_decay_steps": 30000,
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"scheduler_decay_lr": 2.5e-06
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}
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model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:abd64b7339172e50389d86c074664fc769d0667cecca98d7cf64fee8622f7355
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size 9354050752
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policy_postprocessor.json
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{
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"name": "policy_postprocessor",
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"steps": [
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{
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"registry_name": "unnormalizer_processor",
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"config": {
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"eps": 1e-08,
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"features": {
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"action": {
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"type": "ACTION",
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"shape": [
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]
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}
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},
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"norm_map": {
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"VISUAL": "IDENTITY",
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"STATE": "QUANTILES",
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"ACTION": "QUANTILES"
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}
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},
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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},
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{
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"registry_name": "absolute_actions_processor",
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"config": {
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"enabled": true
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}
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},
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{
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"registry_name": "device_processor",
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"config": {
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"device": "cpu",
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"float_dtype": null
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}
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}
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]
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}
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policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:fb77cf840b8a740c6a00413a6c8fdfa2161a1d8a005933103331d5c083ae3837
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size 6652
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policy_preprocessor.json
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{
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"name": "policy_preprocessor",
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| 3 |
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"steps": [
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| 4 |
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{
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| 5 |
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"registry_name": "rename_observations_processor",
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| 6 |
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"config": {
|
| 7 |
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"rename_map": {}
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| 8 |
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}
|
| 9 |
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},
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| 10 |
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{
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| 11 |
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"registry_name": "to_batch_processor",
|
| 12 |
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"config": {}
|
| 13 |
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},
|
| 14 |
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{
|
| 15 |
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"registry_name": "relative_actions_processor",
|
| 16 |
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"config": {
|
| 17 |
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"enabled": true,
|
| 18 |
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"exclude_joints": [
|
| 19 |
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"gripper"
|
| 20 |
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],
|
| 21 |
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"action_names": [
|
| 22 |
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"kLeftShoulderPitch",
|
| 23 |
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"kLeftShoulderRoll",
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| 24 |
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"kLeftShoulderYaw",
|
| 25 |
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"kLeftElbow",
|
| 26 |
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"kLeftWristRoll",
|
| 27 |
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"kLeftWristPitch",
|
| 28 |
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"kLeftWristYaw",
|
| 29 |
+
"kRightShoulderPitch",
|
| 30 |
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"kRightShoulderRoll",
|
| 31 |
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"kRightShoulderYaw",
|
| 32 |
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"kRightElbow",
|
| 33 |
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"kRightWristRoll",
|
| 34 |
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"kRightWristPitch",
|
| 35 |
+
"kRightWristYaw",
|
| 36 |
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"kLeftGripper",
|
| 37 |
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"kRightGripper"
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
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},
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| 41 |
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{
|
| 42 |
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"registry_name": "normalizer_processor",
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| 43 |
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"config": {
|
| 44 |
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"eps": 1e-08,
|
| 45 |
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"features": {
|
| 46 |
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"observation.state": {
|
| 47 |
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"type": "STATE",
|
| 48 |
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"shape": [
|
| 49 |
+
16
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| 50 |
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]
|
| 51 |
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},
|
| 52 |
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"observation.images.cam_left_high": {
|
| 53 |
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"type": "VISUAL",
|
| 54 |
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"shape": [
|
| 55 |
+
3,
|
| 56 |
+
480,
|
| 57 |
+
640
|
| 58 |
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]
|
| 59 |
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},
|
| 60 |
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"observation.images.cam_right_high": {
|
| 61 |
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"type": "VISUAL",
|
| 62 |
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"shape": [
|
| 63 |
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3,
|
| 64 |
+
480,
|
| 65 |
+
640
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| 66 |
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]
|
| 67 |
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},
|
| 68 |
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"observation.images.cam_left_wrist": {
|
| 69 |
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"type": "VISUAL",
|
| 70 |
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"shape": [
|
| 71 |
+
3,
|
| 72 |
+
480,
|
| 73 |
+
640
|
| 74 |
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]
|
| 75 |
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},
|
| 76 |
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"observation.images.cam_right_wrist": {
|
| 77 |
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"type": "VISUAL",
|
| 78 |
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"shape": [
|
| 79 |
+
3,
|
| 80 |
+
480,
|
| 81 |
+
640
|
| 82 |
+
]
|
| 83 |
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},
|
| 84 |
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"action": {
|
| 85 |
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"type": "ACTION",
|
| 86 |
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"shape": [
|
| 87 |
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16
|
| 88 |
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]
|
| 89 |
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}
|
| 90 |
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},
|
| 91 |
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"norm_map": {
|
| 92 |
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"VISUAL": "IDENTITY",
|
| 93 |
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"STATE": "QUANTILES",
|
| 94 |
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"ACTION": "QUANTILES"
|
| 95 |
+
}
|
| 96 |
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},
|
| 97 |
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"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
|
| 98 |
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},
|
| 99 |
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{
|
| 100 |
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"registry_name": "pi05_prepare_state_tokenizer_processor_step",
|
| 101 |
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"config": {}
|
| 102 |
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},
|
| 103 |
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{
|
| 104 |
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"registry_name": "tokenizer_processor",
|
| 105 |
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"config": {
|
| 106 |
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"max_length": 200,
|
| 107 |
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"task_key": "task",
|
| 108 |
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"padding_side": "right",
|
| 109 |
+
"padding": "max_length",
|
| 110 |
+
"truncation": true,
|
| 111 |
+
"tokenizer_name": "google/paligemma-3b-pt-224"
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"registry_name": "device_processor",
|
| 116 |
+
"config": {
|
| 117 |
+
"device": "cuda",
|
| 118 |
+
"float_dtype": null
|
| 119 |
+
}
|
| 120 |
+
}
|
| 121 |
+
]
|
| 122 |
+
}
|
policy_preprocessor_step_3_normalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:686d8cd6d2af4a5b249f385956233d848d3abc7dbf0deb6ef42a23fa281b1cf9
|
| 3 |
+
size 6668
|
train_config.json
ADDED
|
@@ -0,0 +1,263 @@
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|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "local/G1_Dex1_Stack_Block_ActionExpert",
|
| 4 |
+
"root": "/mnt/cpfs/myx/unitree_data/lerobot_ppu_outputs/G1_Dex1_Stack_Block_regrouped",
|
| 5 |
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"episodes": null,
|
| 6 |
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"image_transforms": {
|
| 7 |
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"enable": false,
|
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|
| 9 |
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| 10 |
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|
| 11 |
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|
| 12 |
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|
| 14 |
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| 15 |
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|
| 16 |
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| 18 |
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|
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| 20 |
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| 21 |
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"contrast": {
|
| 22 |
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|
| 23 |
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|
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| 58 |
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| 60 |
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|
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|
| 81 |
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| 82 |
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| 83 |
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| 85 |
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| 86 |
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| 87 |
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| 89 |
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| 90 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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],
|
| 162 |
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"action_feature_names": [
|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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"kLeftElbow",
|
| 167 |
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"kLeftWristRoll",
|
| 168 |
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"kLeftWristPitch",
|
| 169 |
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|
| 170 |
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"kRightShoulderPitch",
|
| 171 |
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"kRightShoulderRoll",
|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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| 179 |
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|
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|
| 189 |
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| 190 |
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|
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|
| 195 |
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|
| 196 |
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