vpraise00 commited on
Commit
f5df5bb
·
verified ·
1 Parent(s): 9c83b24

Upload Pi0.5 IsaacLab multi-task 1 epoch checkpoint

Browse files
config.json ADDED
@@ -0,0 +1,115 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "pi05",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.images.base_0_rgb": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 1
9
+ ]
10
+ },
11
+ "observation.images.left_wrist_0_rgb": {
12
+ "type": "STATE",
13
+ "shape": [
14
+ 1
15
+ ]
16
+ },
17
+ "observation.images.right_wrist_0_rgb": {
18
+ "type": "STATE",
19
+ "shape": [
20
+ 1
21
+ ]
22
+ },
23
+ "observation.state": {
24
+ "type": "STATE",
25
+ "shape": [
26
+ 32
27
+ ]
28
+ },
29
+ "observation.images.top": {
30
+ "type": "VISUAL",
31
+ "shape": [
32
+ 3,
33
+ 480,
34
+ 640
35
+ ]
36
+ },
37
+ "observation.images.left_wrist": {
38
+ "type": "VISUAL",
39
+ "shape": [
40
+ 3,
41
+ 480,
42
+ 640
43
+ ]
44
+ }
45
+ },
46
+ "output_features": {
47
+ "action": {
48
+ "type": "ACTION",
49
+ "shape": [
50
+ 6
51
+ ]
52
+ },
53
+ "action.radian_urdf0": {
54
+ "type": "ACTION",
55
+ "shape": [
56
+ 6
57
+ ]
58
+ }
59
+ },
60
+ "device": "cuda",
61
+ "use_amp": false,
62
+ "use_peft": false,
63
+ "push_to_hub": false,
64
+ "repo_id": null,
65
+ "private": null,
66
+ "tags": null,
67
+ "license": null,
68
+ "pretrained_path": "lerobot/pi05_base",
69
+ "paligemma_variant": "gemma_2b",
70
+ "action_expert_variant": "gemma_300m",
71
+ "dtype": "bfloat16",
72
+ "chunk_size": 16,
73
+ "n_action_steps": 16,
74
+ "max_state_dim": 32,
75
+ "max_action_dim": 32,
76
+ "num_inference_steps": 10,
77
+ "time_sampling_beta_alpha": 1.5,
78
+ "time_sampling_beta_beta": 1.0,
79
+ "time_sampling_scale": 0.999,
80
+ "time_sampling_offset": 0.001,
81
+ "min_period": 0.004,
82
+ "max_period": 4.0,
83
+ "rtc_config": null,
84
+ "use_relative_actions": false,
85
+ "relative_exclude_joints": [],
86
+ "action_feature_names": [],
87
+ "image_resolution": [
88
+ 224,
89
+ 224
90
+ ],
91
+ "empty_cameras": 0,
92
+ "tokenizer_max_length": 200,
93
+ "normalization_mapping": {
94
+ "VISUAL": "IDENTITY",
95
+ "STATE": "QUANTILES",
96
+ "ACTION": "QUANTILES"
97
+ },
98
+ "gradient_checkpointing": true,
99
+ "compile_model": false,
100
+ "compile_mode": "default",
101
+ "profile_forward_timing": false,
102
+ "freeze_vision_encoder": false,
103
+ "train_expert_only": false,
104
+ "optimizer_lr": 2.5e-05,
105
+ "optimizer_betas": [
106
+ 0.9,
107
+ 0.95
108
+ ],
109
+ "optimizer_eps": 1e-08,
110
+ "optimizer_weight_decay": 0.01,
111
+ "optimizer_grad_clip_norm": 1.0,
112
+ "scheduler_warmup_steps": 1000,
113
+ "scheduler_decay_steps": 30000,
114
+ "scheduler_decay_lr": 2.5e-06
115
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e4e60490fd7545d0ef2b3710aa3d9c8eb500075c35e6048d399af14c7974e551
3
+ size 9354045072
policy_postprocessor.json ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ },
15
+ "action.radian_urdf0": {
16
+ "type": "ACTION",
17
+ "shape": [
18
+ 6
19
+ ]
20
+ }
21
+ },
22
+ "norm_map": {
23
+ "VISUAL": "IDENTITY",
24
+ "STATE": "QUANTILES",
25
+ "ACTION": "QUANTILES"
26
+ }
27
+ },
28
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
29
+ },
30
+ {
31
+ "registry_name": "device_processor",
32
+ "config": {
33
+ "device": "cpu",
34
+ "float_dtype": null
35
+ }
36
+ }
37
+ ]
38
+ }
policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:50760dd1abd10ccea2b1f67d49db810037b37d52e68c045be0e676b1af738fd2
3
+ size 16796
policy_preprocessor.json ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "normalizer_processor",
16
+ "config": {
17
+ "eps": 1e-08,
18
+ "features": {
19
+ "observation.images.base_0_rgb": {
20
+ "type": "STATE",
21
+ "shape": [
22
+ 1
23
+ ]
24
+ },
25
+ "observation.images.left_wrist_0_rgb": {
26
+ "type": "STATE",
27
+ "shape": [
28
+ 1
29
+ ]
30
+ },
31
+ "observation.images.right_wrist_0_rgb": {
32
+ "type": "STATE",
33
+ "shape": [
34
+ 1
35
+ ]
36
+ },
37
+ "observation.state": {
38
+ "type": "STATE",
39
+ "shape": [
40
+ 32
41
+ ]
42
+ },
43
+ "observation.images.top": {
44
+ "type": "VISUAL",
45
+ "shape": [
46
+ 3,
47
+ 480,
48
+ 640
49
+ ]
50
+ },
51
+ "observation.images.left_wrist": {
52
+ "type": "VISUAL",
53
+ "shape": [
54
+ 3,
55
+ 480,
56
+ 640
57
+ ]
58
+ },
59
+ "action": {
60
+ "type": "ACTION",
61
+ "shape": [
62
+ 6
63
+ ]
64
+ },
65
+ "action.radian_urdf0": {
66
+ "type": "ACTION",
67
+ "shape": [
68
+ 6
69
+ ]
70
+ }
71
+ },
72
+ "norm_map": {
73
+ "VISUAL": "IDENTITY",
74
+ "STATE": "QUANTILES",
75
+ "ACTION": "QUANTILES"
76
+ }
77
+ },
78
+ "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
79
+ },
80
+ {
81
+ "registry_name": "pi05_prepare_state_tokenizer_processor_step",
82
+ "config": {}
83
+ },
84
+ {
85
+ "registry_name": "tokenizer_processor",
86
+ "config": {
87
+ "max_length": 200,
88
+ "task_key": "task",
89
+ "padding_side": "right",
90
+ "padding": "max_length",
91
+ "truncation": true,
92
+ "tokenizer_name": "google/paligemma-3b-pt-224"
93
+ }
94
+ },
95
+ {
96
+ "registry_name": "device_processor",
97
+ "config": {
98
+ "device": "cuda",
99
+ "float_dtype": null
100
+ }
101
+ }
102
+ ]
103
+ }
policy_preprocessor_step_2_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:50760dd1abd10ccea2b1f67d49db810037b37d52e68c045be0e676b1af738fd2
3
+ size 16796
train_config.json ADDED
@@ -0,0 +1,260 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "CoRL2026-CSI/Isaaclab-so101_11task_baseCaP_3300epi",
4
+ "root": null,
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": null,
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "torchcodec",
80
+ "streaming": false
81
+ },
82
+ "env": null,
83
+ "policy": {
84
+ "type": "pi05",
85
+ "n_obs_steps": 1,
86
+ "input_features": {
87
+ "observation.images.base_0_rgb": {
88
+ "type": "STATE",
89
+ "shape": [
90
+ 1
91
+ ]
92
+ },
93
+ "observation.images.left_wrist_0_rgb": {
94
+ "type": "STATE",
95
+ "shape": [
96
+ 1
97
+ ]
98
+ },
99
+ "observation.images.right_wrist_0_rgb": {
100
+ "type": "STATE",
101
+ "shape": [
102
+ 1
103
+ ]
104
+ },
105
+ "observation.state": {
106
+ "type": "STATE",
107
+ "shape": [
108
+ 32
109
+ ]
110
+ },
111
+ "observation.images.top": {
112
+ "type": "VISUAL",
113
+ "shape": [
114
+ 3,
115
+ 480,
116
+ 640
117
+ ]
118
+ },
119
+ "observation.images.left_wrist": {
120
+ "type": "VISUAL",
121
+ "shape": [
122
+ 3,
123
+ 480,
124
+ 640
125
+ ]
126
+ }
127
+ },
128
+ "output_features": {
129
+ "action": {
130
+ "type": "ACTION",
131
+ "shape": [
132
+ 6
133
+ ]
134
+ },
135
+ "action.radian_urdf0": {
136
+ "type": "ACTION",
137
+ "shape": [
138
+ 6
139
+ ]
140
+ }
141
+ },
142
+ "device": "cuda",
143
+ "use_amp": false,
144
+ "use_peft": false,
145
+ "push_to_hub": false,
146
+ "repo_id": null,
147
+ "private": null,
148
+ "tags": null,
149
+ "license": null,
150
+ "pretrained_path": "lerobot/pi05_base",
151
+ "paligemma_variant": "gemma_2b",
152
+ "action_expert_variant": "gemma_300m",
153
+ "dtype": "bfloat16",
154
+ "chunk_size": 16,
155
+ "n_action_steps": 16,
156
+ "max_state_dim": 32,
157
+ "max_action_dim": 32,
158
+ "num_inference_steps": 10,
159
+ "time_sampling_beta_alpha": 1.5,
160
+ "time_sampling_beta_beta": 1.0,
161
+ "time_sampling_scale": 0.999,
162
+ "time_sampling_offset": 0.001,
163
+ "min_period": 0.004,
164
+ "max_period": 4.0,
165
+ "rtc_config": null,
166
+ "use_relative_actions": false,
167
+ "relative_exclude_joints": [],
168
+ "action_feature_names": [],
169
+ "image_resolution": [
170
+ 224,
171
+ 224
172
+ ],
173
+ "empty_cameras": 0,
174
+ "tokenizer_max_length": 200,
175
+ "normalization_mapping": {
176
+ "VISUAL": "IDENTITY",
177
+ "STATE": "QUANTILES",
178
+ "ACTION": "QUANTILES"
179
+ },
180
+ "gradient_checkpointing": true,
181
+ "compile_model": false,
182
+ "compile_mode": "default",
183
+ "profile_forward_timing": false,
184
+ "freeze_vision_encoder": false,
185
+ "train_expert_only": false,
186
+ "optimizer_lr": 2.5e-05,
187
+ "optimizer_betas": [
188
+ 0.9,
189
+ 0.95
190
+ ],
191
+ "optimizer_eps": 1e-08,
192
+ "optimizer_weight_decay": 0.01,
193
+ "optimizer_grad_clip_norm": 1.0,
194
+ "scheduler_warmup_steps": 1000,
195
+ "scheduler_decay_steps": 30000,
196
+ "scheduler_decay_lr": 2.5e-06
197
+ },
198
+ "output_dir": "/home/work/hscho/corl_2026/AutoDataCollector/lerobot/outputs/train/pi05_isaaclab_so101_11task_basecap_3300epi_fft_bs16_acc8_ep1_20260511_124321",
199
+ "job_name": "pi05_isaaclab_so101_11task_basecap_3300epi_fft_bs16_acc8_ep1_20260511_124321",
200
+ "resume": false,
201
+ "seed": 1000,
202
+ "cudnn_deterministic": false,
203
+ "num_workers": 8,
204
+ "dataloader_prefetch_factor": 2,
205
+ "dataloader_persistent_workers": true,
206
+ "dataloader_pin_memory": true,
207
+ "batch_size": 16,
208
+ "gradient_accumulation_steps": 8,
209
+ "ddp_find_unused_parameters": true,
210
+ "profile_timing": false,
211
+ "preprocess_in_workers": true,
212
+ "groot_preprocess_in_workers": false,
213
+ "steps": 13761,
214
+ "eval_freq": 0,
215
+ "log_freq": 10,
216
+ "tolerance_s": 0.0001,
217
+ "save_checkpoint": true,
218
+ "save_freq": 13761,
219
+ "use_policy_training_preset": true,
220
+ "optimizer": {
221
+ "type": "adamw",
222
+ "lr": 2.5e-05,
223
+ "weight_decay": 0.01,
224
+ "grad_clip_norm": 1.0,
225
+ "betas": [
226
+ 0.9,
227
+ 0.95
228
+ ],
229
+ "eps": 1e-08
230
+ },
231
+ "scheduler": {
232
+ "type": "cosine_decay_with_warmup",
233
+ "num_warmup_steps": 1000,
234
+ "num_decay_steps": 30000,
235
+ "peak_lr": 2.5e-05,
236
+ "decay_lr": 2.5e-06
237
+ },
238
+ "eval": {
239
+ "n_episodes": 50,
240
+ "batch_size": 50,
241
+ "use_async_envs": false
242
+ },
243
+ "wandb": {
244
+ "enable": true,
245
+ "disable_artifact": false,
246
+ "project": "lerobot-pi05-isaaclab",
247
+ "entity": null,
248
+ "notes": null,
249
+ "run_id": "d1cv3hej",
250
+ "mode": null
251
+ },
252
+ "peft": null,
253
+ "use_rabc": false,
254
+ "rabc_progress_path": null,
255
+ "rabc_kappa": 0.01,
256
+ "rabc_epsilon": 1e-06,
257
+ "rabc_head_mode": "sparse",
258
+ "rename_map": {},
259
+ "checkpoint_path": null
260
+ }