Migrate policy to PolicyProcessorPipeline system (#2)

- Migrate policy to PolicyProcessorPipeline system (ea7d63be42d73921b37502662c18650b01b81756)

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: pi0
 pipeline_tag: robotics
 tags:
-- robotics
 - pi0
 - lerobot
+- robotics
 ---
 
 # Model Card for pi0

config.json

@@ -1,85 +1,47 @@
 {
-  "type": "pi0",
-  "n_obs_steps": 1,
-  "input_features": {
-    "observation.state": {
-      "type": "STATE",
-      "shape": [
-        6
-      ]
+    "type": "pi0",
+    "n_obs_steps": 1,
+    "input_features": {},
+    "output_features": {},
+    "device": "cuda",
+    "use_amp": false,
+    "push_to_hub": true,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
     },
-    "observation.images.camera1": {
-      "type": "VISUAL",
-      "shape": [
-        3,
-        256,
-        256
-      ]
-    },
-    "observation.images.camera2": {
-      "type": "VISUAL",
-      "shape": [
-        3,
-        256,
-        256
-      ]
-    },
-    "observation.images.camera3": {
-      "type": "VISUAL",
-      "shape": [
-        3,
-        256,
-        256
-      ]
-    }
-  },
-  "output_features": {
-    "action": {
-      "type": "ACTION",
-      "shape": [
-        6
-      ]
-    }
-  },
-  "device": "cuda",
-  "use_amp": false,
-  "push_to_hub": true,
-  "repo_id": null,
-  "private": null,
-  "tags": null,
-  "license": null,
-  "chunk_size": 50,
-  "n_action_steps": 50,
-  "normalization_mapping": {
-    "VISUAL": "IDENTITY",
-    "STATE": "MEAN_STD",
-    "ACTION": "MEAN_STD"
-  },
-  "max_state_dim": 32,
-  "max_action_dim": 32,
-  "resize_imgs_with_padding": [
-    224,
-    224
-  ],
-  "empty_cameras": 0,
-  "adapt_to_pi_aloha": false,
-  "use_delta_joint_actions_aloha": false,
-  "tokenizer_max_length": 48,
-  "proj_width": 1024,
-  "num_steps": 10,
-  "use_cache": true,
-  "attention_implementation": "eager",
-  "freeze_vision_encoder": true,
-  "train_expert_only": false,
-  "train_state_proj": true,
-  "optimizer_lr": 0.000025,
-  "optimizer_betas": [
-    0.9,
-    0.95
-  ],
-  "optimizer_eps": 1e-8,
-  "optimizer_weight_decay": 1e-10,
-  "scheduler_warmup_steps": 1000,
-  "scheduler_decay_steps": 30000,
-  "scheduler_decay_lr": 0.0000025
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "resize_imgs_with_padding": [
+        224,
+        224
+    ],
+    "empty_cameras": 0,
+    "adapt_to_pi_aloha": false,
+    "use_delta_joint_actions_aloha": false,
+    "tokenizer_max_length": 48,
+    "proj_width": 1024,
+    "num_steps": 10,
+    "use_cache": true,
+    "attention_implementation": "eager",
+    "freeze_vision_encoder": true,
+    "train_expert_only": false,
+    "train_state_proj": true,
+    "optimizer_lr": 2.5e-05,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-10,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:57023fcfbc03d75f878294e574e090b8f117dda73507c45d50486fbfe62ccbfc
-size 7536024344
+oid sha256:e1bbcefd55bab3ddff07ead42f4773505f07c68c9694ae44d636d86733dfebc1
+size 14005623256