Upload policy weights, train config and readme
Browse files- README.md +70 -0
- config.json +139 -0
- model.safetensors +3 -0
- train_config.json +277 -0
README.md
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---
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datasets: unitreerobotics/G1_Dex3_ObjectPlacement_Dataset
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library_name: lerobot
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license: apache-2.0
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model_name: pi05
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pipeline_tag: robotics
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tags:
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- lerobot
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- robotics
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- pi05
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---
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# Model Card for pi05
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<!-- Provide a quick summary of what the model is/does. -->
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**π₀.₅ (Pi05) Policy**
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π₀.₅ is a Vision-Language-Action model with open-world generalization, from Physical Intelligence. The LeRobot implementation is adapted from their open source OpenPI repository.
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**Model Overview**
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π₀.₅ represents a significant evolution from π₀, developed by Physical Intelligence to address a big challenge in robotics: open-world generalization. While robots can perform impressive tasks in controlled environments, π₀.₅ is designed to generalize to entirely new environments and situations that were never seen during training.
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For more details, see the [Physical Intelligence π₀.₅ blog post](https://www.physicalintelligence.company/blog/pi05).
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This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
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See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
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---
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## How to Get Started with the Model
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For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
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Below is the short version on how to train and run inference/eval:
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### Train from scratch
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```bash
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lerobot-train \
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--dataset.repo_id=${HF_USER}/<dataset> \
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--policy.type=act \
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--output_dir=outputs/train/<desired_policy_repo_id> \
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--job_name=lerobot_training \
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--policy.device=cuda \
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--policy.repo_id=${HF_USER}/<desired_policy_repo_id>
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--wandb.enable=true
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```
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_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
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### Evaluate the policy/run inference
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```bash
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lerobot-record \
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--robot.type=so100_follower \
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--dataset.repo_id=<hf_user>/eval_<dataset> \
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--policy.path=<hf_user>/<desired_policy_repo_id> \
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--episodes=10
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```
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Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
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---
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## Model Details
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- **License:** apache-2.0
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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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28
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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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28
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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": true,
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"repo_id": "rrrfy/pi05",
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": "lerobot/pi05_base",
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| 61 |
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"paligemma_variant": "gemma_2b",
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| 62 |
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"action_expert_variant": "gemma_300m",
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"dtype": "bfloat16",
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"chunk_size": 50,
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| 65 |
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"n_action_steps": 50,
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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": false,
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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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[
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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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"kLeftHandThumb0",
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"kLeftHandThumb1",
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"kLeftHandThumb2",
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"kLeftHandMiddle0",
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"kLeftHandMiddle1",
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"kLeftHandIndex0",
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"kLeftHandIndex1",
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"kRightHandThumb0",
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| 103 |
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"kRightHandThumb1",
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| 104 |
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"kRightHandThumb2",
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| 105 |
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"kRightHandIndex0",
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| 106 |
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"kRightHandIndex1",
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| 107 |
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"kRightHandMiddle0",
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| 108 |
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"kRightHandMiddle1"
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| 109 |
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]
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| 110 |
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],
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| 111 |
+
"rtc_config": null,
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| 112 |
+
"image_resolution": [
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| 113 |
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224,
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| 114 |
+
224
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| 115 |
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],
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| 116 |
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"empty_cameras": 0,
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| 117 |
+
"tokenizer_max_length": 200,
|
| 118 |
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"normalization_mapping": {
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| 119 |
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"VISUAL": "IDENTITY",
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| 120 |
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"STATE": "QUANTILES",
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| 121 |
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"ACTION": "QUANTILES"
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| 122 |
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},
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| 123 |
+
"gradient_checkpointing": true,
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| 124 |
+
"compile_model": false,
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| 125 |
+
"compile_mode": "max-autotune",
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| 126 |
+
"freeze_vision_encoder": false,
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| 127 |
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"train_expert_only": true,
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| 128 |
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"optimizer_lr": 2.5e-05,
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| 129 |
+
"optimizer_betas": [
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| 130 |
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0.9,
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| 131 |
+
0.95
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| 132 |
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],
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| 133 |
+
"optimizer_eps": 1e-08,
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| 134 |
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"optimizer_weight_decay": 0.01,
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| 135 |
+
"optimizer_grad_clip_norm": 1.0,
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| 136 |
+
"scheduler_warmup_steps": 1000,
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| 137 |
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"scheduler_decay_steps": 30000,
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| 138 |
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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 sha256:4f4bcc3a56362f17217ba00b1847d727620eabe4b2ccd3747780089aeedaaba4
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size 9354050752
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train_config.json
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