Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: pi05
 pipeline_tag: robotics
 tags:
 - pi05
-- robotics
 - lerobot
+- robotics
 ---
 
 # Model Card for pi05

config.json

@@ -67,7 +67,7 @@
         "VISUAL": "IDENTITY"
     },
     "gradient_checkpointing": true,
-    "compile_model": true,
+    "compile_model": false,
     "compile_mode": "max-autotune",
     "optimizer_lr": 2.5e-05,
     "optimizer_betas": [

train_config.json

@@ -57,6 +57,20 @@
                             1.5
                         ]
                     }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
                 }
             }
         },
@@ -135,7 +149,7 @@
             "VISUAL": "IDENTITY"
         },
         "gradient_checkpointing": true,
-        "compile_model": true,
+        "compile_model": false,
         "compile_mode": "max-autotune",
         "optimizer_lr": 2.5e-05,
         "optimizer_betas": [
@@ -150,7 +164,7 @@
         "scheduler_decay_lr": 2.5e-06
     },
     "output_dir": "outputs/train/pi05_so101_winnie_us7_nvi",
-    "job_name": "pi05_so101_winnie_us7_nvi",
+    "job_name": "pi05_so101_winnie_us7_nvi32",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -190,7 +204,9 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "z8afkhk1",
+        "run_id": "sl3bt4v1",
         "mode": null
-    }
+    },
+    "checkpoint_path": null,
+    "rename_map": {}
 }