training_config_summary.json

{
  "repo_name": "GeoPi0-new",
  "source_slurm_job_id": 9555584,
  "train_config_name": "pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_gt_stage2_hard",
  "exp_name": "pi0_ur5_real_robot_cross_attn_fg_distill_gt_hard_stage2_a100_2gpu_b16",
  "stage1_train_config_name": "pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_gt_stage1_hard",
  "stage1_exp_name": "pi0_ur5_real_robot_cross_attn_fg_distill_gt_hard_stage1_a100_2gpu_b16",
  "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",
  "gt_point_targets_root": "/scratch/yz11445/gt_point_targets_grid224/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_gt_stage2_hard/pi0_ur5_real_robot_cross_attn_fg_distill_gt_hard_stage2_a100_2gpu_b16",
  "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_gt_stage1_hard/pi0_ur5_real_robot_cross_attn_fg_distill_gt_hard_stage1_a100_2gpu_b16/5000",
  "num_gpus": 2,
  "batch_size": 16,
  "num_train_steps": 30000,
  "save_interval": 5000,
  "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,
  "pose_enc_type": "prope",
  "ray_enc_type": true,
  "view_enc_type": false,
  "cross_view_type": "standard",
  "cross_view_order": "fg",
  "prope_layer_idx": [
    0
  ],
  "uses_gt_point_targets": true,
  "point_target_gt_ratio": 1.0,
  "point_target_cams": [
    [
      "base",
      "base"
    ],
    [
      "left_wrist",
      "left_wrist"
    ]
  ],
  "aux_point_head_loss_type": "legacy_conf_mse",
  "aux_point_head_loss_weight": 0.05,
  "aux_point_head_conf_threshold": 0.1,
  "point_target_resolution": 224,
  "wandb_project": "openpi_cam_real_robot",
  "wandb_entity": "NYU-robotics",
  "serve_command_example": "uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_gt_stage2_hard --policy.dir=/path/to/GeoPi0-new/checkpoints/30000",
  "train_command_reference": "uv run python scripts/train_pytorch.py pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_gt_stage2_hard --exp_name pi0_ur5_real_robot_cross_attn_fg_distill_gt_hard_stage2_a100_2gpu_b16",
  "norm_stats_command_reference": "uv run scripts/compute_norm_stats.py --config-name pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_gt_stage2_hard",
  "run_status": "completed"
}