Pi0.5 sugar-cube policy at 40K steps
Browse files- config.json +109 -0
- model.safetensors +3 -0
- policy_postprocessor.json +38 -0
- policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- policy_preprocessor.json +97 -0
- policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
- train_config.json +263 -0
config.json
ADDED
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@@ -0,0 +1,109 @@
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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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7
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]
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},
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"observation.images.scene": {
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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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| 19 |
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"observation.images.wrist": {
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"type": "VISUAL",
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| 21 |
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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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| 27 |
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"observation.images.empty_camera_0": {
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| 28 |
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"type": "VISUAL",
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"shape": [
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3,
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224,
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224
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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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7
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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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| 46 |
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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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| 51 |
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"license": null,
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| 52 |
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"pretrained_path": "lerobot/pi05_base",
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| 53 |
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"pretrained_revision": null,
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| 54 |
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"paligemma_variant": "gemma_2b",
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| 55 |
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"action_expert_variant": "gemma_300m",
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"dtype": "bfloat16",
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| 57 |
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"chunk_size": 50,
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| 58 |
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"n_action_steps": 20,
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| 59 |
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"max_state_dim": 32,
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| 60 |
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"max_action_dim": 32,
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| 61 |
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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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| 66 |
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"min_period": 0.004,
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| 67 |
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"max_period": 4.0,
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| 68 |
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"use_relative_actions": false,
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| 69 |
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"relative_exclude_joints": [
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"gripper"
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| 71 |
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],
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"action_feature_names": [
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"shoulder_pan.pos",
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| 74 |
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"shoulder_lift.pos",
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| 75 |
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"elbow_flex.pos",
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"wrist_flex.pos",
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| 77 |
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"wrist_yaw.pos",
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"wrist_roll.pos",
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| 79 |
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"gripper.pos"
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],
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| 81 |
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"rtc_config": null,
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| 82 |
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"image_resolution": [
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224,
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224
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],
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| 86 |
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"empty_cameras": 1,
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| 87 |
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"tokenizer_max_length": 200,
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| 88 |
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"normalization_mapping": {
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| 89 |
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"VISUAL": "IDENTITY",
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| 90 |
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"STATE": "QUANTILES",
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| 91 |
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"ACTION": "QUANTILES"
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| 92 |
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},
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| 93 |
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"gradient_checkpointing": true,
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| 94 |
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"compile_model": true,
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| 95 |
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"compile_mode": "max-autotune",
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| 96 |
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"freeze_vision_encoder": false,
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| 97 |
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"train_expert_only": false,
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| 98 |
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"optimizer_lr": 2.5e-05,
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| 99 |
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"optimizer_betas": [
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0.9,
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| 101 |
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0.95
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],
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"optimizer_eps": 1e-08,
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| 104 |
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"optimizer_weight_decay": 0.01,
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| 105 |
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"optimizer_grad_clip_norm": 1.0,
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| 106 |
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"scheduler_warmup_steps": 1000,
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| 107 |
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"scheduler_decay_steps": 50000,
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| 108 |
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"scheduler_decay_lr": 2.5e-06
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}
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model.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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+
oid sha256:7b9c804a73ad175dd32b640d992b1c39c11a70e124c5314be28db457ad7dd4fa
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size 9354050752
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policy_postprocessor.json
ADDED
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@@ -0,0 +1,38 @@
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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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7
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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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| 22 |
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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},
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| 24 |
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{
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| 25 |
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"registry_name": "absolute_actions_processor",
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"config": {
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"enabled": false
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}
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},
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{
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"registry_name": "device_processor",
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| 32 |
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"config": {
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| 33 |
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"device": "cpu",
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| 34 |
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"float_dtype": null
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| 35 |
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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 |
+
oid sha256:fec4f2593e147ff7ec905dd5ed22086952b8b1348886c5d186e347d825cdbd2c
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size 7624
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policy_preprocessor.json
ADDED
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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": {}
|
| 8 |
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}
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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",
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| 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": false,
|
| 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": null
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| 22 |
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}
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| 23 |
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},
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| 24 |
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{
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| 25 |
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"registry_name": "normalizer_processor",
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| 26 |
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"config": {
|
| 27 |
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"eps": 1e-08,
|
| 28 |
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"features": {
|
| 29 |
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"observation.state": {
|
| 30 |
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"type": "STATE",
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| 31 |
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"shape": [
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| 32 |
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7
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]
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| 34 |
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},
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| 35 |
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"observation.images.scene": {
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| 36 |
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"type": "VISUAL",
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| 37 |
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"shape": [
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| 38 |
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3,
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| 39 |
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480,
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| 40 |
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640
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| 41 |
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]
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| 42 |
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},
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| 43 |
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"observation.images.wrist": {
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| 44 |
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"type": "VISUAL",
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| 45 |
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"shape": [
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| 46 |
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3,
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480,
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| 48 |
+
640
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| 49 |
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]
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| 50 |
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},
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| 51 |
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"observation.images.empty_camera_0": {
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| 52 |
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"type": "VISUAL",
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| 53 |
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"shape": [
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| 54 |
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3,
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| 55 |
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224,
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| 56 |
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224
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| 57 |
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]
|
| 58 |
+
},
|
| 59 |
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"action": {
|
| 60 |
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"type": "ACTION",
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| 61 |
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"shape": [
|
| 62 |
+
7
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| 63 |
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]
|
| 64 |
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}
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| 65 |
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},
|
| 66 |
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"norm_map": {
|
| 67 |
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"VISUAL": "IDENTITY",
|
| 68 |
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"STATE": "QUANTILES",
|
| 69 |
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"ACTION": "QUANTILES"
|
| 70 |
+
}
|
| 71 |
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},
|
| 72 |
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"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"registry_name": "pi05_prepare_state_tokenizer_processor_step",
|
| 76 |
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"config": {}
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"registry_name": "tokenizer_processor",
|
| 80 |
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"config": {
|
| 81 |
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"max_length": 200,
|
| 82 |
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"task_key": "task",
|
| 83 |
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"padding_side": "right",
|
| 84 |
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"padding": "max_length",
|
| 85 |
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"truncation": true,
|
| 86 |
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"tokenizer_name": "google/paligemma-3b-pt-224"
|
| 87 |
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}
|
| 88 |
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},
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| 89 |
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{
|
| 90 |
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"registry_name": "device_processor",
|
| 91 |
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"config": {
|
| 92 |
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"device": "cuda",
|
| 93 |
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"float_dtype": null
|
| 94 |
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}
|
| 95 |
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}
|
| 96 |
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]
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| 97 |
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}
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policy_preprocessor_step_3_normalizer_processor.safetensors
ADDED
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:d16fb1bf1b44bc007a8dc124510b8f079973ba3e137c956bd35501f184db1f1b
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size 7632
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train_config.json
ADDED
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