Upload pi05 SO-101 stack checkpoint @ 80k steps

README.md

@@ -0,0 +1,31 @@
+---
+library_name: lerobot
+tags:
+- robotics
+- pi05
+- so101
+- lerobot
+- teleoperation
+- stacking
+license: apache-2.0
+pipeline_tag: robotics
+---
+
+# pi05_stack_white_blue_black
+
+Fine-tuned **π₀.₅ (pi05)** on [upna/stack_white_blue_black](https://huggingface.co/datasets/upna/stack_white_blue_black) — SO-101 single-arm 3-block stacking (bottom → top: white, blue, black).
+
+## Checkpoint
+
+- Base: [`lerobot/pi05_base`](https://huggingface.co/lerobot/pi05_base)
+- Steps: 80,000
+- Batch size: 16
+- dtype: bfloat16
+- Relative actions (gripper absolute)
+- Action chunk: 50
+
+## Load with LeRobot
+
+```bash
+# Use as --policy.path=upna/pi05_stack_white_blue_black
+```

config.json

@@ -0,0 +1,100 @@
+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "/home/july/lerobot_alohamini/outputs/train/pi05_stack_white_blue_black/checkpoints/last/pretrained_model",
+    "pretrained_revision": null,
+    "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": true,
+    "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": 0,
+    "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": false,
+    "train_expert_only": true,
+    "optimizer_lr": 2.5e-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
+}

model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79a06894945b7fc96f8bd620a7013b573b9e6d5f4a80b8864a2e6ab0c1025646
+size 9354050752

policy_postprocessor.json

@@ -0,0 +1,38 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "absolute_actions_processor",
+      "config": {
+        "enabled": true
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5648ca03cdc71682a31e5c8bc27444d08710a8b578cab11812802839f6139cc7
+size 7552

policy_preprocessor.json

@@ -0,0 +1,96 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "relative_actions_processor",
+      "config": {
+        "enabled": true,
+        "exclude_joints": [
+          "gripper"
+        ],
+        "action_names": [
+          "shoulder_pan.pos",
+          "shoulder_lift.pos",
+          "elbow_flex.pos",
+          "wrist_flex.pos",
+          "wrist_roll.pos",
+          "gripper.pos"
+        ]
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              6
+            ]
+          },
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 200,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "google/paligemma-3b-pt-224"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e46945cb2e4baab955665264b4ebc939c4b13e62212cda4c451fe785a6ed795d
+size 7560

train_config.json

@@ -0,0 +1,253 @@
+{
+    "dataset": {
+        "repo_id": "local/stack_3blocks_white_blue_black_train",
+        "root": "/home/july/datasets/stack_3blocks_white_blue_black_train",
+        "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
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "pyav",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": {
+        "type": "pi05",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": "/home/july/lerobot_alohamini/outputs/train/pi05_stack_white_blue_black/checkpoints/last/pretrained_model",
+        "pretrained_revision": null,
+        "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": true,
+        "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": 0,
+        "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": false,
+        "train_expert_only": true,
+        "optimizer_lr": 2.5e-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
+    },
+    "reward_model": null,
+    "output_dir": "/home/july/lerobot_alohamini/outputs/train/pi05_stack_white_blue_black",
+    "job_name": "pi05_stack_white_blue_black",
+    "resume": true,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 16,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "steps": 80000,
+    "env_eval_freq": 0,
+    "log_freq": 100,
+    "eval_steps": 0,
+    "max_eval_samples": 0,
+    "tolerance_s": 0.02,
+    "save_checkpoint": true,
+    "save_freq": 5000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 2.5e-05,
+        "weight_decay": 0.01,
+        "grad_clip_norm": 1.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 2.5e-05,
+        "decay_lr": 2.5e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null,
+        "add_tags": true
+    },
+    "peft": null,
+    "job": {
+        "target": null,
+        "image": "huggingface/lerobot-gpu:latest",
+        "timeout": "2d",
+        "detach": false,
+        "tags": []
+    },
+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": "/home/july/lerobot_alohamini/outputs/train/pi05_stack_white_blue_black/checkpoints/last"
+}