{
  "name": "pi0_libero",
  "project_name": "openpi",
  "exp_name": "pi0_wu_libero_g23",
  "model": {
    "action_dim": 32,
    "action_horizon": 50,
    "max_token_len": 48,
    "dtype": "bfloat16",
    "paligemma_variant": "gemma_2b",
    "action_expert_variant": "gemma_300m",
    "pi05": false,
    "discrete_state_input": false,
    "pytorch_compile_mode": "max-autotune"
  },
  "weight_loader": {
    "params_path": "gs://openpi-assets/checkpoints/pi0_base/params"
  },
  "pytorch_weight_path": null,
  "pytorch_training_precision": "bfloat16",
  "lr_schedule": {
    "warmup_steps": 1000,
    "peak_lr": 2.5e-05,
    "decay_steps": 30000,
    "decay_lr": 2.5e-06
  },
  "optimizer": {
    "b1": 0.9,
    "b2": 0.95,
    "eps": 1e-08,
    "weight_decay": 1e-10,
    "clip_gradient_norm": 1.0
  },
  "ema_decay": null,
  "freeze_filter": "Nothing()",
  "data": {
    "repo_id": "physical-intelligence/libero",
    "assets": {
      "assets_dir": null,
      "asset_id": null
    },
    "base_config": {
      "repo_id": null,
      "asset_id": null,
      "norm_stats": null,
      "repack_transforms": {
        "inputs": [],
        "outputs": []
      },
      "data_transforms": {
        "inputs": [],
        "outputs": []
      },
      "model_transforms": {
        "inputs": [],
        "outputs": []
      },
      "use_quantile_norm": false,
      "action_sequence_keys": [
        "actions"
      ],
      "prompt_from_task": true,
      "rlds_data_dir": null,
      "action_space": null,
      "datasets": []
    },
    "extra_delta_transform": true
  },
  "assets_base_dir": "./assets",
  "checkpoint_base_dir": "checkpoints",
  "seed": 42,
  "batch_size": 128,
  "num_workers": 2,
  "num_train_steps": 50000,
  "log_interval": 100,
  "save_interval": 2500,
  "keep_period": 5000,
  "overwrite": false,
  "resume": false,
  "wandb_enabled": false,
  "policy_metadata": null,
  "fsdp_devices": 1
}