Upload policy weights, train config and readme
Browse files- README.md +0 -0
- config.json +134 -0
- model.safetensors +3 -0
- train_config.json +290 -0
README.md
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config.json
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{
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"type": "pi052",
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| 3 |
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"n_obs_steps": 1,
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"input_features": {
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"observation.images.robot0_agentview_left": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"observation.images.robot0_agentview_right": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"observation.images.robot0_eye_in_hand": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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16
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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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12
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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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| 47 |
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"push_to_hub": true,
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"repo_id": "pepijn223/pi052_robocasa_joint_flow1_30k_32gpu",
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| 49 |
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"private": null,
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| 50 |
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"tags": null,
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| 51 |
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"license": null,
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"pretrained_path": "lerobot/pi05_base",
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| 53 |
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"pretrained_revision": null,
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"paligemma_variant": "gemma_2b",
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"action_expert_variant": "gemma_300m",
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"dtype": "bfloat16",
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"chunk_size": 20,
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| 58 |
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"n_action_steps": 20,
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"max_state_dim": 32,
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"max_action_dim": 32,
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| 61 |
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"num_inference_steps": 10,
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| 62 |
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"time_sampling_beta_alpha": 1.5,
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| 63 |
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"time_sampling_beta_beta": 1.0,
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"time_sampling_scale": 0.999,
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| 65 |
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"time_sampling_offset": 0.001,
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| 66 |
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"min_period": 0.004,
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| 67 |
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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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| 72 |
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"action_feature_names": null,
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| 73 |
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"rtc_config": null,
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| 74 |
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"image_resolution": [
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224,
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224
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],
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| 78 |
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"empty_cameras": 0,
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| 79 |
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"tokenizer_max_length": 128,
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| 80 |
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"normalization_mapping": {
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| 81 |
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"VISUAL": "IDENTITY",
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| 82 |
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"STATE": "QUANTILES",
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| 83 |
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"ACTION": "QUANTILES"
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| 84 |
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},
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| 85 |
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"gradient_checkpointing": true,
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| 86 |
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"compile_model": true,
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| 87 |
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"compile_mode": "default",
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| 88 |
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"freeze_vision_encoder": false,
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| 89 |
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"train_expert_only": false,
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| 90 |
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"optimizer_lr": 2.5e-05,
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| 91 |
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-10,
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"optimizer_grad_clip_norm": 1.0,
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| 98 |
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"scheduler_warmup_steps": 1000,
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| 99 |
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"scheduler_decay_steps": 30000,
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| 100 |
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"scheduler_decay_lr": 2.5e-06,
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"recipe_path": "recipes/subtask_joint.yaml",
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"apply_chat_template": false,
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| 103 |
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"text_loss_weight": 1.0,
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| 104 |
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"flow_loss_weight": 1.0,
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"unfreeze_lm_head": true,
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| 106 |
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"plan_dropout_prob": 0.0,
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| 107 |
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"memory_dropout_prob": 0.0,
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| 108 |
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"subtask_dropout_prob": 0.0,
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| 109 |
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"enable_fast_action_loss": true,
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| 110 |
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"action_tokenizer_name": "lerobot/fast-action-tokenizer",
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| 111 |
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"max_action_tokens": 384,
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| 112 |
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"fast_skip_tokens": 1152,
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| 113 |
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"fast_action_loss_weight": 1.0,
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| 114 |
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"subtask_replan_steps": 0,
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| 115 |
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"joint_subtask_conditioning": true,
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| 116 |
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"auto_fit_fast_tokenizer": true,
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| 117 |
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"fast_tokenizer_cache_dir": "~/.cache/lerobot/fast_tokenizers",
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| 118 |
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"fast_tokenizer_fit_samples": 8192,
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| 119 |
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"knowledge_insulation": true,
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| 120 |
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"use_flashrt_adarms": false,
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| 121 |
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"use_compiled_text_ce": true,
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| 122 |
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"use_compiled_vision": false,
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| 123 |
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"use_flex_attention": false,
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| 124 |
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"use_manual_attention": false,
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| 125 |
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"manual_attention_scope": "all",
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| 126 |
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"lm_head_lr_scale": 1.0,
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| 127 |
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"backbone_lr_scale": 1.0,
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| 128 |
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"action_expert_lr_scale": 1.0,
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| 129 |
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"flow_num_repeats": 5,
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| 130 |
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"text_ce_z_loss_weight": 0.0001,
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| 131 |
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"use_flashrt_fp8_mlp": false,
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| 132 |
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"optimizer_foreach": false,
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| 133 |
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"optimizer_fused": true
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| 134 |
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}
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model.safetensors
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:9e3f2008cedd476ace53b11aa561071667ee9ce01dc66970368c904637794c1f
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size 9354050752
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train_config.json
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@@ -0,0 +1,290 @@
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| 1 |
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{
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| 2 |
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"dataset": {
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| 3 |
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"repo_id": "pepijn223/robocasa_pretrain_human300_v4_annotated5",
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| 4 |
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"root": null,
|
| 5 |
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"episodes": null,
|
| 6 |
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"exclude_episodes": null,
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| 7 |
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"image_transforms": {
|
| 8 |
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"enable": false,
|
| 9 |
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"max_num_transforms": 3,
|
| 10 |
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"random_order": false,
|
| 11 |
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"tfs": {
|
| 12 |
+
"brightness": {
|
| 13 |
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"weight": 1.0,
|
| 14 |
+
"type": "ColorJitter",
|
| 15 |
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"kwargs": {
|
| 16 |
+
"brightness": [
|
| 17 |
+
0.8,
|
| 18 |
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1.2
|
| 19 |
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]
|
| 20 |
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}
|
| 21 |
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},
|
| 22 |
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"contrast": {
|
| 23 |
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"weight": 1.0,
|
| 24 |
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"type": "ColorJitter",
|
| 25 |
+
"kwargs": {
|
| 26 |
+
"contrast": [
|
| 27 |
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0.8,
|
| 28 |
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1.2
|
| 29 |
+
]
|
| 30 |
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}
|
| 31 |
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},
|
| 32 |
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"saturation": {
|
| 33 |
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"weight": 1.0,
|
| 34 |
+
"type": "ColorJitter",
|
| 35 |
+
"kwargs": {
|
| 36 |
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"saturation": [
|
| 37 |
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0.5,
|
| 38 |
+
1.5
|
| 39 |
+
]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"hue": {
|
| 43 |
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"weight": 1.0,
|
| 44 |
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"type": "ColorJitter",
|
| 45 |
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"kwargs": {
|
| 46 |
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"hue": [
|
| 47 |
+
-0.05,
|
| 48 |
+
0.05
|
| 49 |
+
]
|
| 50 |
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}
|
| 51 |
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},
|
| 52 |
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"sharpness": {
|
| 53 |
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"weight": 1.0,
|
| 54 |
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"type": "SharpnessJitter",
|
| 55 |
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"kwargs": {
|
| 56 |
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"sharpness": [
|
| 57 |
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0.5,
|
| 58 |
+
1.5
|
| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"affine": {
|
| 63 |
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"weight": 1.0,
|
| 64 |
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"type": "RandomAffine",
|
| 65 |
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"kwargs": {
|
| 66 |
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"degrees": [
|
| 67 |
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-5.0,
|
| 68 |
+
5.0
|
| 69 |
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],
|
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