remove unecessary files

2025-03-31 17:22:09 +02:00 · 2025-03-31 17:22:09 +02:00 · 3122ecbbfb
parent f1cd0d83d2
commit 3122ecbbfb
2 changed files with 0 additions and 106 deletions
--- a/lerobot/common/policies/pi0fast/config.json
+++ b/lerobot/common/policies/pi0fast/config.json
@ -1,79 +0,0 @@
-{
-    "type": "pi0fast",
-    "n_obs_steps": 1,
-    "normalization_mapping": {
-        "VISUAL": "IDENTITY",
-        "STATE": "MEAN_STD",
-        "ACTION": "MEAN_STD"
-    },
-    "input_features": {
-        "observation.image": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                256,
-                256
-            ]
-        },
-        "observation.image2": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                256,
-                256
-            ]
-        },
-        "observation.image3": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                256,
-                256
-            ]
-        },
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                8
-            ]
-        }
-    },
-    "output_features": {
-        "action": {
-            "type": "ACTION",
-            "shape": [
-                7
-            ]
-        }
-    },
-    "chunk_size": 10,
-    "n_action_steps": 5,
-    "max_state_dim": 32,
-    "max_action_dim": 32,
-    "resize_imgs_with_padding": [
-        224,
-        224
-    ],
-    "interpolate_like_pi": false,
-    "empty_cameras": 0,
-    "adapt_to_pi_aloha": false,
-    "use_delta_joint_actions_aloha": false,
-    "tokenizer_max_length": 48,
-    "proj_width": 1024,
-    "max_decoding_steps": 256,
-    "fast_skip_tokens": 128,
-    "max_input_seq_len": 256,
-    "use_cache": true,
-    "freeze_vision_encoder": true,
-    "freeze_lm_head": true,
-    "optimizer_lr": 0.0001,
-    "optimizer_betas": [
-        0.9,
-        0.95
-    ],
-    "optimizer_eps": 1e-08,
-    "optimizer_weight_decay": 1e-5,
-    "scheduler_warmup_steps": 1000,
-    "scheduler_decay_steps": 30000,
-    "scheduler_decay_lr": 2.5e-06
-}
--- a/lerobot/common/policies/pi0fast/test_pi0fast.sh
+++ b/lerobot/common/policies/pi0fast/test_pi0fast.sh
@ -1,27 +0,0 @@
-cd ~/lerobot
-source ~/miniconda3/bin/activate
-conda activate lerobot
-
-export MUJOCO_GL=egl
-
-ENV=aloha
-TASK=AlohaTransferCube-v0
-REPO_ID=lerobot/aloha_sim_transfer_cube_human
-OUT_DIR=~/logs/lerobot/tmp/act_aloha_transfer
-
-EVAL_FREQ=5000
-OFFLINE_STEP=30000
-SAVE_FREQ=100000
-
-POLICY_PATH=~/.cache/openpi/openpi-assets/checkpoints/pi0_fast_base_pytorch/
-POLICY=pi0fast
-
-python lerobot/scripts/train.py \
-    --policy.path=$POLICY_PATH \
-    --dataset.repo_id=$REPO_ID \
-    --env.type=$ENV \
-    --env.task=$TASK \
-    --output_dir=$OUT_DIR \
-    --eval_freq=$EVAL_FREQ \
-    --steps=$OFFLINE_STEP \
-    --save_freq=$SAVE_FREQ