Upload PI0 LoRA checkpoint at 10000 steps

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+tokenizer/tokenizer.json filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,204 @@
+---
+library_name: peft
+tags:
+- base_model:adapter:lerobot/pi0_base
+- lora
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]
+### Framework versions
+
+- PEFT 0.20.0

adapter_config.json

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+{
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+  "alpha_pattern": {},
+  "arrow_config": null,
+  "auto_mapping": {
+    "base_model_class": "PI0Policy",
+    "parent_library": "lerobot.policies.pi0.modeling_pi0"
+  },
+  "base_model_name_or_path": "lerobot/pi0_base",
+  "bias": "none",
+  "corda_config": null,
+  "ensure_weight_tying": false,
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": true,
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+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
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+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "lora_ga_config": null,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "monteclora_config": null,
+  "peft_type": "LORA",
+  "peft_version": "0.20.0",
+  "qalora_group_size": 16,
+  "r": 16,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": "(.*\\.gemma_expert\\..*\\.self_attn\\.(q|v)_proj|model\\.(state_proj|action_in_proj|action_out_proj|action_time_mlp_in|action_time_mlp_out))",
+  "target_parameters": null,
+  "task_type": null,
+  "trainable_token_indices": null,
+  "use_bdlora": null,
+  "use_dora": false,
+  "use_qalora": false,
+  "use_rslora": false,
+  "velora_config": null
+}

adapter_model.safetensors

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config.json

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+{
+    "type": "pi0",
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+    "input_features": {
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+            "type": "STATE",
+            "shape": [
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+    "use_peft": true,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "lerobot/pi0_base",
+    "pretrained_revision": null,
+    "paligemma_variant": "gemma_2b",
+    "action_expert_variant": "gemma_300m",
+    "dtype": "bfloat16",
+    "chunk_size": 50,
+    "n_action_steps": 10,
+    "max_state_dim": 32,
+    "max_action_dim": 32,
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+        "wrist_roll.pos",
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+    "compile_model": false,
+    "compile_mode": "max-autotune",
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+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06,
+    "tokenizer_max_length": 48
+}

policy_postprocessor.json

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+{
+  "name": "policy_postprocessor",
+  "steps": [
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policy_preprocessor.json

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+  "name": "policy_preprocessor",
+  "steps": [
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+      "config": {
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+      "registry_name": "to_batch_processor",
+      "config": {}
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tokenizer/tokenizer_config.json

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+  "eos_token": "<eos>",
+  "extra_special_tokens": [
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+  "unk_token": "<unk>",
+  "use_default_system_prompt": false
+}

train_config.json

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+{
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+        "root": "/home/bmil/TW/data/stack_cube_v4_lerobot_relative",
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+            "regional": true
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