Upload policy weights, train config and readme

README.md

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

config.json

@@ -40,7 +40,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "lerobot/pi05_base",
+    "pretrained_path": "outputs/train/pi05-grab-nerds-clusters/checkpoints/last/pretrained_model",
     "paligemma_variant": "gemma_2b",
     "action_expert_variant": "gemma_300m",
     "dtype": "bfloat16",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8c0e127a88e049a93c6ac4ef5ea7e57064f412aac5ebbc4f2b603a9268b485a4
+oid sha256:1f6de863ee032a29951e1c3f37a1e6d51004099aac074dd82ce6dd473494d0d0
 size 7473096344

train_config.json

@@ -108,7 +108,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "lerobot/pi05_base",
+        "pretrained_path": "outputs/train/pi05-grab-nerds-clusters/checkpoints/last/pretrained_model",
         "paligemma_variant": "gemma_2b",
         "action_expert_variant": "gemma_300m",
         "dtype": "bfloat16",
@@ -151,11 +151,11 @@
     },
     "output_dir": "outputs/train/pi05-grab-nerds-clusters",
     "job_name": "pi05-grab-clusters-gh200",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 32,
     "batch_size": 64,
-    "steps": 10000,
+    "steps": 20000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,