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Pie33000
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pi0_grab_object

Safetensors
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Files changed (4) hide show
  1. pretrained_model/config.json +62 -0
  2. pretrained_model/model.safetensors +3 -0
  3. pretrained_model/train_config.json +186 -0
  4. training_state.pth +3 -0
pretrained_model/config.json ADDED
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+ },
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+ "input_features": {
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+ "empty_cameras": 0,
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+ "adapt_to_pi_aloha": false,
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+ "use_delta_joint_actions_aloha": false,
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+ "tokenizer_max_length": 48,
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+ "proj_width": 1024,
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+ "num_steps": 10,
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+ "use_cache": true,
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+ "attention_implementation": "eager",
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+ "scheduler_warmup_steps": 1000,
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+ "scheduler_decay_steps": 30000,
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+ "scheduler_decay_lr": 2.5e-06
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pretrained_model/train_config.json ADDED
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+ "proj_width": 1024,
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+ "num_steps": 10,
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+ "use_cache": true,
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+ "attention_implementation": "eager",
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+ "optimizer_weight_decay": 1e-10,
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+ "scheduler_warmup_steps": 1000,
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+ "scheduler_decay_steps": 30000,
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+ "scheduler_decay_lr": 2.5e-06
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+ },
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+ "output_dir": "outputs/train/pi0_so100",
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+ "job_name": "pi0_so100",
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+ "resume": false,
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+ "device": "cuda",
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+ "use_amp": false,
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+ "seed": 1000,
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+ "batch_size": 16,
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+ "eval_freq": 20000,
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+ "log_freq": 200,
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+ "save_checkpoint": true,
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+ "use_policy_training_preset": true,
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+ "optimizer": {
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+ "wandb": {
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+ "disable_artifact": false,
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+ "project": "lerobot",
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+ "notes": null
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training_state.pth ADDED
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