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maskjp
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pi0_piper

Robotics
LeRobot
Safetensors
pi0
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maskjp commited on
Commit
254ceb1
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verified ·
1 Parent(s): e62c9e9

Upload policy weights, train config and readme

Browse files
Files changed (4) hide show
  1. README.md +1 -1
  2. config.json +9 -1
  3. model.safetensors +1 -1
  4. train_config.json +12 -4
README.md CHANGED
@@ -1,5 +1,5 @@
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  ---
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- datasets: maskjp/piper_pick_saltbottle3
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  library_name: lerobot
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  license: apache-2.0
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  model_name: pi0
 
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  ---
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+ datasets: maskjp/piper_pick_new
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  library_name: lerobot
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  license: apache-2.0
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  model_name: pi0
config.json CHANGED
@@ -16,7 +16,15 @@
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  640
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  ]
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  },
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- "observation.images.side": {
 
 
 
 
 
 
 
 
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  "type": "VISUAL",
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  "shape": [
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  3,
 
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  640
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  ]
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  },
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+ "observation.images.left": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ ]
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+ },
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+ "observation.images.right": {
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  "type": "VISUAL",
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  "shape": [
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  3,
model.safetensors CHANGED
@@ -1,3 +1,3 @@
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  version https://git-lfs.github.com/spec/v1
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- oid sha256:260cca3216c5fadea807141391994a6200f9f4ad2426da31b8d5d8beb8880a14
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  size 8892502944
 
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  version https://git-lfs.github.com/spec/v1
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+ oid sha256:9bbe7e873c89231acc0d8f5e63ad44babee74411aa8df8c4dbc6b28418132a26
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  size 8892502944
train_config.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "dataset": {
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- "repo_id": "maskjp/piper_pick_saltbottle3",
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  "root": null,
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  "episodes": null,
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  "image_transforms": {
@@ -98,7 +98,15 @@
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  640
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  ]
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  },
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- "observation.images.side": {
 
 
 
 
 
 
 
 
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  "type": "VISUAL",
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  "shape": [
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  3,
@@ -180,8 +188,8 @@
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  "scheduler_decay_lr": 2.5e-06,
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  "tokenizer_max_length": 48
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  },
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- "output_dir": "outputs/pi0_training",
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- "job_name": "pi0_training",
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  "resume": false,
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  "seed": 1000,
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  "cudnn_deterministic": false,
 
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  {
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  "dataset": {
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+ "repo_id": "maskjp/piper_pick_new",
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  "root": null,
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  "episodes": null,
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  "image_transforms": {
 
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  640
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  ]
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  },
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+ "observation.images.left": {
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+ "type": "VISUAL",
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+ "shape": [
104
+ 3,
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+ 480,
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+ 640
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+ ]
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+ },
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+ "observation.images.right": {
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  "type": "VISUAL",
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  "shape": [
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  3,
 
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  "scheduler_decay_lr": 2.5e-06,
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  "tokenizer_max_length": 48
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  },
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+ "output_dir": "outputs/piper_pick_new_pi0",
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+ "job_name": "piper_pick_new_pi0",
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  "resume": false,
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  "seed": 1000,
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  "cudnn_deterministic": false,