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config.json

@@ -43,13 +43,13 @@
     },
     "device": "cuda",
     "use_amp": false,
-    "use_peft": true,
+    "use_peft": false,
     "push_to_hub": true,
     "repo_id": "samithva/pi05_stack_cups_3cams",
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "/data/wanshan/workspace/VLA/lerobot/checkpoints/lerobot--pi05-base",
+    "pretrained_path": "/data4/wanshan/workspace/lerobot/checkpoints/lerobot--pi05-base",
     "pretrained_revision": null,
     "paligemma_variant": "gemma_2b",
     "action_expert_variant": "gemma_300m",
@@ -90,8 +90,8 @@
         "STATE": "QUANTILES",
         "ACTION": "QUANTILES"
     },
-    "gradient_checkpointing": false,
-    "compile_model": false,
+    "gradient_checkpointing": true,
+    "compile_model": true,
     "compile_mode": "max-autotune",
     "freeze_vision_encoder": false,
     "train_expert_only": false,

model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:312b26556f100d68fd57ae6bfd3b6da8203c6d43a4e6185ff7e007f58f0e4708
+size 9354050752

train_config.json

@@ -77,11 +77,11 @@
         },
         "revision": null,
         "use_imagenet_stats": true,
-        "video_backend": "torchcodec",
+        "video_backend": "pyav",
         "return_uint8": false,
         "depth_output_unit": "mm",
         "streaming": false,
-        "eval_split": 0.0
+        "eval_split": 0.05
     },
     "env": null,
     "policy": {
@@ -129,13 +129,13 @@
         },
         "device": "cuda",
         "use_amp": false,
-        "use_peft": true,
+        "use_peft": false,
         "push_to_hub": true,
         "repo_id": "samithva/pi05_stack_cups_3cams",
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "/data/wanshan/workspace/VLA/lerobot/checkpoints/lerobot--pi05-base",
+        "pretrained_path": "/data4/wanshan/workspace/lerobot/checkpoints/lerobot--pi05-base",
         "pretrained_revision": null,
         "paligemma_variant": "gemma_2b",
         "action_expert_variant": "gemma_300m",
@@ -176,8 +176,8 @@
             "STATE": "QUANTILES",
             "ACTION": "QUANTILES"
         },
-        "gradient_checkpointing": false,
-        "compile_model": false,
+        "gradient_checkpointing": true,
+        "compile_model": true,
         "compile_mode": "max-autotune",
         "freeze_vision_encoder": false,
         "train_expert_only": false,
@@ -194,24 +194,24 @@
         "scheduler_decay_lr": 2.5e-06
     },
     "reward_model": null,
-    "output_dir": "/data/wanshan/workspace/VLA/lerobot/outputs/train/pi05_stack_cups_3cams",
+    "output_dir": "/data4/wanshan/workspace/lerobot/outputs/train/pi05_stack_cups_3cams",
     "job_name": "pi05_stack_cups_3cams",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
-    "num_workers": 5,
+    "num_workers": 8,
     "batch_size": 8,
     "prefetch_factor": 4,
     "persistent_workers": true,
     "dataloader_multiprocessing_context": "spawn",
-    "steps": 30000,
+    "steps": 5000,
     "env_eval_freq": 20000,
-    "log_freq": 50,
-    "eval_steps": 0,
+    "log_freq": 10,
+    "eval_steps": 200,
     "max_eval_samples": 0,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 2000,
+    "save_freq": 200,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -245,18 +245,11 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "zozp7zg9",
+        "run_id": "ioc7s007",
         "mode": null,
         "add_tags": true
     },
-    "peft": {
-        "target_modules": null,
-        "full_training_modules": null,
-        "method_type": "LORA",
-        "init_type": null,
-        "r": 32,
-        "lora_alpha": 64
-    },
+    "peft": null,
     "job": {
         "target": null,
         "image": "huggingface/lerobot-gpu:latest",