Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: pi0
 pipeline_tag: robotics
 tags:
+- pi0
 - lerobot
 - robotics
-- pi0
 ---
 
 # Model Card for pi0

config.json

@@ -70,7 +70,7 @@
     "gradient_checkpointing": true,
     "compile_model": true,
     "compile_mode": "max-autotune",
-    "freeze_vision_encoder": true,
+    "freeze_vision_encoder": false,
     "train_expert_only": false,
     "optimizer_lr": 0.0001,
     "optimizer_betas": [

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:11d7a0bcc859c8fdb48c3d2c2f002dbc619fc4f51c95c57836b0d88ac5a9c7bb
+oid sha256:f089ad177b88e811df5913a8c45a3ccb2a1ba538f86bb58b08eb600c04be0189
 size 7011548640

train_config.json

@@ -152,7 +152,7 @@
         "gradient_checkpointing": true,
         "compile_model": true,
         "compile_mode": "max-autotune",
-        "freeze_vision_encoder": true,
+        "freeze_vision_encoder": false,
         "train_expert_only": false,
         "optimizer_lr": 0.0001,
         "optimizer_betas": [
@@ -167,8 +167,8 @@
         "scheduler_decay_lr": 2.5e-06,
         "tokenizer_max_length": 48
     },
-    "output_dir": "outputs/pi0_training/Pick_Red_Cap_20260319_104155",
-    "job_name": "Pick_Red_Cap_20260319_104155",
+    "output_dir": "outputs/pi0_training/nfv_Pick_Red_Cap_0322_03",
+    "job_name": "Pick_Red_Cap_0322_03",
     "resume": false,
     "seed": 1000,
     "num_workers": 8,
@@ -209,7 +209,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "fe2xtxqk",
+        "run_id": "qe9fk040",
         "mode": null
     },
     "peft": null,