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pi05_box_cut

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kaiseong commited on
Commit
80afd4b
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verified ·
1 Parent(s): 6742fb0

Fix PI05 config compatibility

Browse files
Files changed (1) hide show
  1. config.json +95 -96
config.json CHANGED
@@ -1,98 +1,97 @@
1
  {
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- "type": "pi05",
3
- "n_obs_steps": 1,
4
- "input_features": {
5
- "observation.state": {
6
- "type": "STATE",
7
- "shape": [
8
- 26
9
- ]
10
- },
11
- "observation.images.front": {
12
- "type": "VISUAL",
13
- "shape": [
14
- 3,
15
- 480,
16
- 640
17
- ]
18
- }
19
  },
20
- "output_features": {
21
- "action": {
22
- "type": "ACTION",
23
- "shape": [
24
- 12
25
- ]
26
- }
27
- },
28
- "device": "cuda",
29
- "use_amp": false,
30
- "use_peft": false,
31
- "push_to_hub": true,
32
- "repo_id": "rainbowrobotics/pi05_box_260805",
33
- "private": null,
34
- "tags": null,
35
- "license": null,
36
- "pretrained_path": "lerobot/pi05_base",
37
- "pretrained_revision": null,
38
- "paligemma_variant": "gemma_2b",
39
- "action_expert_variant": "gemma_300m",
40
- "dtype": "bfloat16",
41
- "chunk_size": 50,
42
- "n_action_steps": 50,
43
- "max_state_dim": 32,
44
- "max_action_dim": 32,
45
- "num_inference_steps": 10,
46
- "time_sampling_beta_alpha": 1.5,
47
- "time_sampling_beta_beta": 1.0,
48
- "time_sampling_scale": 0.999,
49
- "time_sampling_offset": 0.001,
50
- "min_period": 0.004,
51
- "max_period": 4.0,
52
- "use_relative_actions": false,
53
- "relative_exclude_joints": [
54
- "gripper"
55
- ],
56
- "action_feature_names": [
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- "right_ee.x",
58
- "right_ee.y",
59
- "right_ee.z",
60
- "right_ee.wx",
61
- "right_ee.wy",
62
- "right_ee.wz",
63
- "left_ee.x",
64
- "left_ee.y",
65
- "left_ee.z",
66
- "left_ee.wx",
67
- "left_ee.wy",
68
- "left_ee.wz"
69
- ],
70
- "rtc_config": null,
71
- "image_resolution": [
72
- 224,
73
- 224
74
- ],
75
- "empty_cameras": 0,
76
- "tokenizer_max_length": 200,
77
- "normalization_mapping": {
78
- "ACTION": "MEAN_STD",
79
- "STATE": "MEAN_STD",
80
- "VISUAL": "IDENTITY"
81
- },
82
- "gradient_checkpointing": true,
83
- "compile_model": true,
84
- "compile_mode": "max-autotune",
85
- "freeze_vision_encoder": false,
86
- "train_expert_only": false,
87
- "optimizer_lr": 2.5e-05,
88
- "optimizer_betas": [
89
- 0.9,
90
- 0.95
91
- ],
92
- "optimizer_eps": 1e-08,
93
- "optimizer_weight_decay": 0.01,
94
- "optimizer_grad_clip_norm": 1.0,
95
- "scheduler_warmup_steps": 1000,
96
- "scheduler_decay_steps": 30000,
97
- "scheduler_decay_lr": 2.5e-06
98
- }
 
 
 
 
 
 
 
 
 
1
  {
2
+ "type": "pi05",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 26
9
+ ]
 
 
 
 
 
 
 
 
 
10
  },
11
+ "observation.images.front": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ }
19
+ },
20
+ "output_features": {
21
+ "action": {
22
+ "type": "ACTION",
23
+ "shape": [
24
+ 12
25
+ ]
26
+ }
27
+ },
28
+ "device": "cuda",
29
+ "use_amp": false,
30
+ "use_peft": false,
31
+ "push_to_hub": true,
32
+ "repo_id": "rainbowrobotics/pi05_box_260805",
33
+ "private": null,
34
+ "tags": null,
35
+ "license": null,
36
+ "pretrained_path": "lerobot/pi05_base",
37
+ "paligemma_variant": "gemma_2b",
38
+ "action_expert_variant": "gemma_300m",
39
+ "dtype": "bfloat16",
40
+ "chunk_size": 50,
41
+ "n_action_steps": 50,
42
+ "max_state_dim": 32,
43
+ "max_action_dim": 32,
44
+ "num_inference_steps": 10,
45
+ "time_sampling_beta_alpha": 1.5,
46
+ "time_sampling_beta_beta": 1.0,
47
+ "time_sampling_scale": 0.999,
48
+ "time_sampling_offset": 0.001,
49
+ "min_period": 0.004,
50
+ "max_period": 4.0,
51
+ "use_relative_actions": false,
52
+ "relative_exclude_joints": [
53
+ "gripper"
54
+ ],
55
+ "action_feature_names": [
56
+ "right_ee.x",
57
+ "right_ee.y",
58
+ "right_ee.z",
59
+ "right_ee.wx",
60
+ "right_ee.wy",
61
+ "right_ee.wz",
62
+ "left_ee.x",
63
+ "left_ee.y",
64
+ "left_ee.z",
65
+ "left_ee.wx",
66
+ "left_ee.wy",
67
+ "left_ee.wz"
68
+ ],
69
+ "rtc_config": null,
70
+ "image_resolution": [
71
+ 224,
72
+ 224
73
+ ],
74
+ "empty_cameras": 0,
75
+ "tokenizer_max_length": 200,
76
+ "normalization_mapping": {
77
+ "ACTION": "MEAN_STD",
78
+ "STATE": "MEAN_STD",
79
+ "VISUAL": "IDENTITY"
80
+ },
81
+ "gradient_checkpointing": true,
82
+ "compile_model": true,
83
+ "compile_mode": "max-autotune",
84
+ "freeze_vision_encoder": false,
85
+ "train_expert_only": false,
86
+ "optimizer_lr": 2.5e-05,
87
+ "optimizer_betas": [
88
+ 0.9,
89
+ 0.95
90
+ ],
91
+ "optimizer_eps": 1e-08,
92
+ "optimizer_weight_decay": 0.01,
93
+ "optimizer_grad_clip_norm": 1.0,
94
+ "scheduler_warmup_steps": 1000,
95
+ "scheduler_decay_steps": 30000,
96
+ "scheduler_decay_lr": 2.5e-06
97
+ }