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README.md +70 -0
adapter_config.json +51 -0
adapter_model.safetensors +3 -0
config.json +107 -0
train_config.json +259 -0

README.md ADDED Viewed

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+---
+datasets: HBOrtiz/so101_eval3_track3_v3_pi05
+library_name: lerobot
+license: apache-2.0
+model_name: pi05
+pipeline_tag: robotics
+tags:
+- robotics
+- pi05
+- lerobot
+---
+# Model Card for pi05
+<!-- Provide a quick summary of what the model is/does. -->
+**π₀.₅ (Pi05) Policy**
+π₀.₅ is a Vision-Language-Action model with open-world generalization, from Physical Intelligence. The LeRobot implementation is adapted from their open source OpenPI repository.
+**Model Overview**
+π₀.₅ represents a significant evolution from π₀, developed by Physical Intelligence to address a big challenge in robotics: open-world generalization. While robots can perform impressive tasks in controlled environments, π₀.₅ is designed to generalize to entirely new environments and situations that were never seen during training.
+For more details, see the [Physical Intelligence π₀.₅ blog post](https://www.physicalintelligence.company/blog/pi05).
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+---
+## How to Get Started with the Model
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+### Train from scratch
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+### Evaluate the policy/run inference
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+---
+## Model Details
+- **License:** apache-2.0

adapter_config.json ADDED Viewed

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+{
+  "alora_invocation_tokens": null,
+  "alpha_pattern": {},
+  "arrow_config": null,
+  "auto_mapping": {
+    "base_model_class": "PI05Policy",
+    "parent_library": "lerobot.policies.pi05.modeling_pi05"
+  },
+  "base_model_name_or_path": "lerobot/pi05_base",
+  "bias": "none",
+  "corda_config": null,
+  "ensure_weight_tying": false,
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": true,
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 8,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "lora_ga_config": null,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "peft_type": "LORA",
+  "peft_version": "0.19.1",
+  "qalora_group_size": 16,
+  "r": 32,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": [
+    "up_proj",
+    "v_proj",
+    "o_proj",
+    "k_proj",
+    "gate_proj",
+    "q_proj",
+    "down_proj"
+  ],
+  "target_parameters": null,
+  "task_type": null,
+  "trainable_token_indices": null,
+  "use_bdlora": null,
+  "use_dora": false,
+  "use_qalora": false,
+  "use_rslora": false
+}

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config.json ADDED Viewed

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+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.right_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.empty_camera_0": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.empty_camera_1": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": true,
+    "push_to_hub": true,
+    "repo_id": "HBOrtiz/pi05_eval3_track_B",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "lerobot/pi05_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,
+    "num_inference_steps": 10,
+    "time_sampling_beta_alpha": 1.5,
+    "time_sampling_beta_beta": 1.0,
+    "time_sampling_scale": 0.999,
+    "time_sampling_offset": 0.001,
+    "min_period": 0.004,
+    "max_period": 4.0,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [
+        "gripper"
+    ],
+    "action_feature_names": [
+        "shoulder_pan.pos",
+        "shoulder_lift.pos",
+        "elbow_flex.pos",
+        "wrist_flex.pos",
+        "wrist_roll.pos",
+        "gripper.pos"
+    ],
+    "rtc_config": null,
+    "image_resolution": [
+        224,
+        224
+    ],
+    "empty_cameras": 2,
+    "tokenizer_max_length": 200,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "QUANTILES",
+        "ACTION": "QUANTILES"
+    },
+    "gradient_checkpointing": true,
+    "compile_model": true,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": true,
+    "train_expert_only": false,
+    "optimizer_lr": 1e-05,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "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
+}

train_config.json ADDED Viewed

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+{
+    "dataset": {
+        "repo_id": "HBOrtiz/so101_eval3_track3_v3_pi05",
+        "root": "/home/shadeform/datasets/eval3_track3_v3_pi05",
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
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+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
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+    "env": null,
+    "policy": {
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+        "n_obs_steps": 1,
+        "input_features": {
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+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.right_wrist_0_rgb": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.empty_camera_0": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            },
+            "observation.images.empty_camera_1": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": true,
+        "push_to_hub": true,
+        "repo_id": "HBOrtiz/pi05_eval3_track_B",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": "lerobot/pi05_base",
+        "paligemma_variant": "gemma_2b",
+        "action_expert_variant": "gemma_300m",
+        "dtype": "bfloat16",
+        "chunk_size": 50,
+        "n_action_steps": 50,
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+            "gripper"
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+            "gripper.pos"
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+            "STATE": "QUANTILES",
+            "ACTION": "QUANTILES"
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+        "compile_model": true,
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+        "freeze_vision_encoder": true,
+        "train_expert_only": false,
+        "optimizer_lr": 1e-05,
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+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06
+    },
+    "output_dir": "outputs/pi05_track_B",
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+    "tolerance_s": 0.0001,
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+    "optimizer": {
+        "type": "adamw",
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+        "betas": [
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+        "num_decay_steps": 30000,
+        "peak_lr": 1e-05,
+        "decay_lr": 2.5e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
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+        "disable_artifact": false,
+        "project": "lerobot",
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+        "mode": null,
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+            "up_proj",
+            "down_proj"
+        ],
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+        "method_type": "LORA",
+        "init_type": null,
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+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
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+    "checkpoint_path": null
+}