blackRectHandoff_pi05_1

pi05 Training Run

Summary

• Model: pi05 (Pi0.5)
• Policy type: pi05
• Dataset: ["['black_rectangular_object_two_arm_handoff_1_384'", "'black_rectangular_object_two_arm_handoff_3_384']"]
• Steps: 20k, batch_size=16
• Optimizer: Adamw lr=2.5e-5, cosine_decay_with_warmup schedule w/ 1000 warmup steps, decay to 2.5e-6 over 20k steps
• Checkpoints: every 2k
• push_to_hub: false
• wandb: enabled (project=lerobot)

Full Config

{'batch_size': 16,
 'checkpoint_path': None,
 'cudnn_deterministic': False,
 'dataset': {'episodes': None,
             'image_transforms': {'enable': True,
                                  'max_num_transforms': 3,
                                  'random_order': False,
                                  'tfs': {'affine': {'kwargs': {'degrees': (-5.0,
                                                                            5.0),
                                                                'translate': (0.05,
                                                                              0.05)},
                                                     'type': 'RandomAffine',
                                                     'weight': 1.0},
                                          'brightness': {'kwargs': {'brightness': (0.8,
                                                                                   1.2)},
                                                         'type': 'ColorJitter',
                                                         'weight': 1.0},
                                          'contrast': {'kwargs': {'contrast': (0.8,
                                                                               1.2)},
                                                       'type': 'ColorJitter',
                                                       'weight': 1.0},
                                          'hue': {'kwargs': {'hue': (-0.05,
                                                                     0.05)},
                                                  'type': 'ColorJitter',
                                                  'weight': 1.0},
                                          'saturation': {'kwargs': {'saturation': (0.5,
                                                                                   1.5)},
                                                         'type': 'ColorJitter',
                                                         'weight': 1.0},
                                          'sharpness': {'kwargs': {'sharpness': (0.5,
                                                                                 1.5)},
                                                        'type': 'SharpnessJitter',
                                                        'weight': 1.0}}},
             'repo_id': ["['black_rectangular_object_two_arm_handoff_1_384'",
                         "'black_rectangular_object_two_arm_handoff_3_384']"],
             'return_uint8': False,
             'revision': None,
             'root': '/workspace/datasets/blackRectangularObjectTwoArmHandoff',
             'streaming': False,
             'use_imagenet_stats': True,
             'video_backend': 'pyav'},
 'env': None,
 'eval': {'batch_size': 50, 'n_episodes': 50, 'use_async_envs': True},
 'eval_freq': 0,
 'job_name': 'blackRectHandoff_pi05_1',
 'log_freq': 100,
 'num_workers': 6,
 'optimizer': {'betas': (0.9, 0.95),
               'eps': 1e-08,
               'grad_clip_norm': 1.0,
               'lr': 2.5e-05,
               'weight_decay': 0.01},
 'output_dir': PosixPath('/workspace/out/blackRectHandoff_pi05_1'),
 'peft': None,
 'persistent_workers': True,
 'policy': {'action_expert_variant': 'gemma_300m',
            'action_feature_names': None,
            'chunk_size': 50,
            'compile_mode': 'max-autotune',
            'compile_model': False,
            'device': 'cuda',
            'dtype': 'bfloat16',
            'empty_cameras': 0,
            'freeze_vision_encoder': False,
            'gradient_checkpointing': True,
            'image_resolution': (224, 224),
            'input_features': {},
            'license': None,
            'max_action_dim': 32,
            'max_period': 4.0,
            'max_state_dim': 32,
            'min_period': 0.004,
            'n_action_steps': 50,
            'n_obs_steps': 1,
            'normalization_mapping': {'ACTION': <NormalizationMode.QUANTILES: 'QUANTILES'>,
                                      'STATE': <NormalizationMode.QUANTILES: 'QUANTILES'>,
                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
            'num_inference_steps': 10,
            'optimizer_betas': (0.9, 0.95),
            'optimizer_eps': 1e-08,
            'optimizer_grad_clip_norm': 1.0,
            'optimizer_lr': 2.5e-05,
            'optimizer_weight_decay': 0.01,
            'output_features': {},
            'paligemma_variant': 'gemma_2b',
            'pretrained_path': PosixPath('lerobot/pi05_base'),
            'private': None,
            'push_to_hub': False,
            'relative_exclude_joints': ['gripper'],
            'repo_id': None,
            'rtc_config': None,
            'scheduler_decay_lr': 2.5e-06,
            'scheduler_decay_steps': 20000,
            'scheduler_warmup_steps': 1000,
            'tags': None,
            'time_sampling_beta_alpha': 1.5,
            'time_sampling_beta_beta': 1.0,
            'time_sampling_offset': 0.001,
            'time_sampling_scale': 0.999,
            'tokenizer_max_length': 200,
            'train_expert_only': False,
            'use_amp': False,
            'use_peft': False,
            'use_relative_actions': True},
 'prefetch_factor': 2,
 'rename_map': {},
 'resume': False,
 'reward_model': None,
 'sample_weighting': None,
 'save_after': 0,
 'save_checkpoint': True,
 'save_freq': 2000,
 'scheduler': {'decay_lr': 2.5e-06,
               'num_decay_steps': 20000,
               'num_warmup_steps': 1000,
               'peak_lr': 2.5e-05},
 'seed': 1000,
 'steps': 20000,
 'tolerance_s': 0.0001,
 'use_policy_training_preset': True,
 'wandb': {'add_tags': True,
           'disable_artifact': False,
           'enable': True,
           'entity': None,
           'mode': None,
           'notes': None,
           'project': 'lerobot',
           'run_id': None}}