| actor: |
| model: |
| model_type: openpi_pytorch |
| precision: fp32 |
| is_lora: false |
| lora_rank: 32 |
| num_action_chunks: 20 |
| action_dim: 10 |
| use_proprio: true |
| num_steps: 5 |
| add_value_head: false |
| openpi: |
| task: sft |
| config_name: pi05_singlefranka_tcp_rot6d |
| num_images_in_input: 3 |
| action_chunk: 20 |
| action_env_dim: 10 |
| model_action_dim: 32 |
| paligemma_variant: gemma_2b |
| action_expert_variant: gemma_300m |
| max_token_len: 200 |
| discrete_state_input: false |
| assets_dir: /mnt/workspace/embody-h2/users/zhaozihao/DAgger/assets/pi05_singlefranka_tcp_rot6d/umi_left_franka_tcp_rot6d |
| asset_id: fold_towel_umi-50plusEgodagger-franka_post_train_80_20 |
| model_path: /mnt/workspace/embody-h2/users/zhaozihao/checkpoint_archive/fold_towel_umi50plusEgodagger_sft4000_weights_only |
| fsdp_config: |
| strategy: fsdp |
| sharding_strategy: full_shard |
| gradient_checkpointing: true |
| cpu_offload: false |
| offload_pin_memory: false |
| reshard_after_forward: true |
| enable_gradient_accumulation: true |
| forward_prefetch: false |
| limit_all_gathers: false |
| backward_prefetch: null |
| use_orig_params: true |
| use_liger_kernel: false |
| mixed_precision: |
| param_dtype: bf16 |
| reduce_dtype: fp32 |
| buffer_dtype: fp32 |
| amp_autocast: |
| enabled: false |
| precision: bf16 |
| grad_scaler: |
| enabled: false |
| init_scale: null |
| growth_interval: null |
| gradient_checkpointing_use_reentrant: false |
| group_name: ActorGroup |
| training_backend: fsdp |
| micro_batch_size: 16 |
| eval_batch_size: 1 |
| global_batch_size: 128 |
| seed: 0 |
| optim: |
| lr: 2.5e-06 |
| adam_beta1: 0.9 |
| adam_beta2: 0.95 |
| adam_eps: 1.0e-08 |
| weight_decay: 1.0e-10 |
| clip_grad: 1.0 |
| total_training_steps: 20000 |
| lr_warmup_steps: 500 |
| lr_scheduler: openpi_cosine |
| num_cycles: 0.5 |
| min_lr: 2.5e-07 |
| cluster: |
| num_nodes: 1 |
| component_placement: |
| actor: 0-3 |
| runner: |
| task_type: sft |
| logger: |
| log_path: /mnt/workspace/embody-h2/users/zhaozihao/DAgger/logs/fold_towel_umi-50plusEgodagger-franka-1 |
| project_name: rlinf |
| experiment_name: umi_left_franka_tcp_rot6d_openpi_pytorch_post-train-weights-only8-2 |
| logger_backends: |
| - tensorboard |
| max_epochs: -1 |
| max_steps: 20000 |
| val_check_interval: -1 |
| save_interval: 2000 |
| resume_dir: null |
| checkpoint_offload_dir: /mnt/workspace/embody-h2/users/zhaozihao/checkpoint_archive |
| per_worker_log: false |
| per_worker_log_path: null |
| data: |
| train_data_paths: dataset/fold_towel_umi-50plusEgodagger-franka |
| post_train: true |
| post_train_data_path: /mnt/workspace/embody-h2/users/zhaozihao/DAgger/egodagger_dataset/fold_towel_umi-egodagger2-franka |
| post_train_demo_ratio: 0.8 |
| post_train_correction_ratio: 0.2 |
| repo_id: '' |
| num_workers: 4 |
| algorithm: |
| adv_type: gae |
| reward: |
| use_reward_model: false |
| critic: |
| use_critic_model: false |
|
|
