Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: pi0
 pipeline_tag: robotics
 tags:
-- robotics
 - pi0
 - lerobot
+- robotics
 ---
 
 # Model Card for pi0

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7acb0c935b316b73e447e03cca00e9e90ef63d122ffc81737a7618d7041be7d1
+oid sha256:6680707b3bf5e9b694d6bfccb2e222706b40e8ba851fc609f8b7516b22fdbc67
 size 7011548640

train_config.json

@@ -159,18 +159,18 @@
         "scheduler_decay_lr": 2.5e-06,
         "tokenizer_max_length": 48
     },
-    "output_dir": "outputs/pi0_finetune",
+    "output_dir": "outputs/pi0_finetune_100k",
     "job_name": "pi0_finetune",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 32,
-    "steps": 20000,
+    "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 5000,
+    "save_freq": 20000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -201,7 +201,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "6g9osl6d",
+        "run_id": "b7rm84tf",
         "mode": null
     },
     "peft": null,