| { |
| "repo_name": "GeoPi0-real-robot", |
| "train_config_name": "pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_stage2_hard", |
| "exp_name": "pi0_ur5_real_robot_cross_attn_fg_distill_hard_stage2_2gpu", |
| "dataset_path": "/scratch/yz11445/real_robot_data/ur5_lab_test_tube_camera_shifts", |
| "dataset_repo_id": "ur5_lab_test_tube_camera_shifts", |
| "norm_stats_source": "/scratch/yz11445/pi0_ur5_real_robot/ur5_lab_test_tube_camera_shifts", |
| "checkpoint_base_dir": "/scratch/yz11445/tmp/openpi_cam/checkpoints", |
| "release_checkpoint_source_dir": "/scratch/yz11445/tmp/openpi_cam/checkpoints/pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_stage2_hard/pi0_ur5_real_robot_cross_attn_fg_distill_hard_stage2_2gpu", |
| "base_model_path": "/scratch/yz11445/pi0_base", |
| "init_weights_path": "/scratch/yz11445/tmp/openpi_cam/checkpoints/pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_stage1_hard/pi0_ur5_real_robot_cross_attn_fg_distill_hard_stage1/5000", |
| "num_gpus": 4, |
| "batch_size": 32, |
| "num_train_steps": 30000, |
| "save_interval": 1000, |
| "keep_period": 5000, |
| "completed_checkpoint_steps": [ |
| 20000, |
| 25000, |
| 30000 |
| ], |
| "available_source_checkpoint_steps_at_packaging_time": [ |
| 5000, |
| 10000, |
| 15000, |
| 20000, |
| 25000, |
| 30000 |
| ], |
| "base_camera_key": "observation.images.context_left_rgb", |
| "wrist_camera_key": "observation.images.wrist_right_rgb", |
| "prompt_from_task": true, |
| "delta_actions_first_6_joints_only": true, |
| "cross_view_type": "standard", |
| "cross_view_order": "fg", |
| "uses_pi3x_targets": true, |
| "pi3x_target_resolution": 224, |
| "wandb_project": "openpi_cam_real_robot", |
| "wandb_entity": "NYU-robotics", |
| "wandb_run_id": "ciu1syr1", |
| "serve_command_example": "uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_stage2_hard --policy.dir=/path/to/GeoPi0-real-robot/checkpoints/30000", |
| "train_command_reference": "uv run python scripts/train_pytorch.py pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_stage2_hard --exp_name pi0_ur5_real_robot_cross_attn_fg_distill_hard_stage2_2gpu", |
| "norm_stats_command_reference": "uv run scripts/compute_norm_stats.py --config-name pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_stage2_hard", |
| "run_status": "completed" |
| } |
|
|
