Instructions to use csjmacmi/pi0_fast-pick-and-place-v1_4-modal with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use csjmacmi/pi0_fast-pick-and-place-v1_4-modal with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "dataset": { | |
| "repo_id": "csjmacmi/piperx_pick_and_place_v1_4", | |
| "root": null, | |
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| "image_transforms": { | |
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| "random_order": false, | |
| "tfs": { | |
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| "hue": { | |
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| "affine": { | |
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| "type": "RandomAffine", | |
| "kwargs": { | |
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| "translate": [ | |
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| }, | |
| "revision": "main", | |
| "use_imagenet_stats": true, | |
| "video_backend": "torchcodec", | |
| "streaming": false | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "pi0_fast", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
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| "observation.images.left_wrist_0_rgb": { | |
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| "observation.images.right_wrist_0_rgb": { | |
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| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": true, | |
| "repo_id": "csjmacmi/pi0_fast-pick-and-place-v1_4-modal", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": "lerobot/pi0fast-base", | |
| "paligemma_variant": "gemma_2b", | |
| "action_expert_variant": "gemma_300m", | |
| "dtype": "bfloat16", | |
| "chunk_size": 50, | |
| "n_action_steps": 50, | |
| "max_state_dim": 32, | |
| "max_action_dim": 32, | |
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| "rtc_config": null, | |
| "image_resolution": [ | |
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| "empty_cameras": 0, | |
| "tokenizer_max_length": 200, | |
| "text_tokenizer_name": "google/paligemma-3b-pt-224", | |
| "action_tokenizer_name": "lerobot/fast-action-tokenizer", | |
| "temperature": 0.0, | |
| "max_decoding_steps": 256, | |
| "fast_skip_tokens": 128, | |
| "validate_action_token_prefix": true, | |
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| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "gradient_checkpointing": true, | |
| "compile_model": false, | |
| "compile_mode": "max-autotune", | |
| "optimizer_lr": 2.5e-05, | |
| "optimizer_betas": [ | |
| 0.9, | |
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| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 0.01, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 30000, | |
| "scheduler_decay_lr": 2.5e-06 | |
| }, | |
| "output_dir": "/root/outputs/modal_pi0_fast_piperx_v1_4", | |
| "job_name": "pi0_fast_piperx_modal_v1_4_ep0-300_skip51_242_247_60k", | |
| "resume": false, | |
| "seed": 1000, | |
| "num_workers": 4, | |
| "batch_size": 3, | |
| "steps": 60000, | |
| "eval_freq": 20000, | |
| "log_freq": 200, | |
| "tolerance_s": 0.04, | |
| "save_checkpoint": true, | |
| "save_freq": 10000, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 2.5e-05, | |
| "weight_decay": 0.01, | |
| "grad_clip_norm": 1.0, | |
| "betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": { | |
| "type": "cosine_decay_with_warmup", | |
| "num_warmup_steps": 1000, | |
| "num_decay_steps": 30000, | |
| "peak_lr": 2.5e-05, | |
| "decay_lr": 2.5e-06 | |
| }, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 50, | |
| "use_async_envs": false | |
| }, | |
| "wandb": { | |
| "enable": false, | |
| "disable_artifact": false, | |
| "project": "lerobot", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": null, | |
| "mode": null | |
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| "peft": null, | |
| "acp": { | |
| "enable": false, | |
| "indicator_field": "complementary_info.acp_indicator", | |
| "indicator_dropout_prob": 0.0 | |
| }, | |
| "use_rabc": false, | |
| "rabc_progress_path": null, | |
| "rabc_kappa": 0.01, | |
| "rabc_epsilon": 1e-06, | |
| "rabc_head_mode": "sparse", | |
| "rename_map": { | |
| "observation.images.right_front": "observation.images.base_0_rgb", | |
| "observation.images.left_wrist": "observation.images.left_wrist_0_rgb", | |
| "observation.images.right_wrist": "observation.images.right_wrist_0_rgb" | |
| }, | |
| "checkpoint_path": null | |
| } |