| INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_modulation', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=True, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|speed_mod|speed_condition).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='modulation'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1) |
