Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: pi05
 pipeline_tag: robotics
 tags:
+- lerobot
 - robotics
 - pi05
-- lerobot
 ---
 
 # Model Card for pi05

config.json

@@ -79,8 +79,8 @@
     "gradient_checkpointing": true,
     "compile_model": false,
     "compile_mode": "max-autotune",
-    "freeze_vision_encoder": true,
-    "train_expert_only": true,
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
     "optimizer_lr": 2.5e-05,
     "optimizer_betas": [
         0.9,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0c44d857ad281f0479864d32a08c98efcd86b6b111d5f1376b878d2286d56701
+oid sha256:245ec21200b9a9a9fe57af296496d7b4d31024678ed480bb12e0d57905155581
 size 7473096344

train_config.json

@@ -161,8 +161,8 @@
         "gradient_checkpointing": true,
         "compile_model": false,
         "compile_mode": "max-autotune",
-        "freeze_vision_encoder": true,
-        "train_expert_only": true,
+        "freeze_vision_encoder": false,
+        "train_expert_only": false,
         "optimizer_lr": 2.5e-05,
         "optimizer_betas": [
             0.9,
@@ -175,8 +175,8 @@
         "scheduler_decay_steps": 30000,
         "scheduler_decay_lr": 2.5e-06
     },
-    "output_dir": "outputs/pi05_training",
-    "job_name": "pi05_training",
+    "output_dir": "outputs/pi05_training_full",
+    "job_name": "pi05_training_full",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -217,7 +217,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "xdg8fahb",
+        "run_id": "0tno3f7m",
         "mode": null
     },
     "peft": null,