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保定网站设计优势,高明专业网站建设报价,简单大方网站,趣快排seo是什么自定义aloha数据 代码训练参数配置TrainConfig(# 这里在pi0模型的基础上#xff0c;微调叠毛巾模型namepi0_aloha_towel2,# 采用pi0的结构#xff0c;如果是采用pi0.5#xff0c;则这行改成modelpi0_config.Pi0Config(pi05True),modelpi0_config.Pi0Config(),#…自定义aloha数据 代码训练参数配置TrainConfig(# 这里在pi0模型的基础上微调叠毛巾模型namepi0_aloha_towel2,# 采用pi0的结构如果是采用pi0.5则这行改成modelpi0_config.Pi0Config(pi05True),modelpi0_config.Pi0Config(),# 自定义数据集的位置dataLeRobotAlohaDataConfig(# 将自定义数据集放在本地的xxxx/.che/huggingface/repo_id目录下repo_idaloha_fold_towel_lerobot,assetsAssetsConfig(assets_dir/yonghu/openpi/assets,# 归一化文件的存放位置asset_idpi0_aloha_towel2/aloha_fold_towel_lerobot,),default_promptfold the towel,repack_transforms_transforms.Group(inputs[_transforms.RepackTransform({images:{cam_high:observation.images.cam_high,cam_left_wrist:observation.images.cam_left_wrist,cam_right_wrist:observation.images.cam_right_wrist,},state:observation.state,actions:action,})]),),weight_loaderweight_loaders.CheckpointWeightLoader(gs://openpi-assets/checkpoints/pi0_aloha_towel/params),num_train_steps20_000,batch_size64,),