eyefly2 commited on Dec 10, 2025

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fb702f3

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1 Parent(s): f890ead

Add files using upload-large-folder tool

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.gitattributes +14 -0
iso_abb_test_run/10000/_CHECKPOINT_METADATA +1 -0
iso_abb_test_run/10000/assets/abb/norm_stats.json +168 -0
iso_abb_test_run/10000/params/_METADATA +1 -0
iso_abb_test_run/10000/params/_sharding +1 -0
iso_abb_test_run/10000/params/array_metadatas/process_0 +1 -0
iso_abb_test_run/10000/params/d/04cd0ecd203c4dd699e6821b44c44cc7 +0 -0
iso_abb_test_run/10000/params/manifest.ocdbt +0 -0
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iso_abb_test_run/15000/_CHECKPOINT_METADATA +1 -0
iso_abb_test_run/15000/assets/abb/norm_stats.json +168 -0
iso_abb_test_run/15000/params/_METADATA +1 -0
iso_abb_test_run/15000/params/_sharding +1 -0
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iso_abb_test_run/5000/_CHECKPOINT_METADATA +1 -0
iso_abb_test_run/5000/assets/abb/norm_stats.json +168 -0
iso_abb_test_run/5000/params/_METADATA +1 -0
iso_abb_test_run/5000/params/_sharding +1 -0
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iso_abb_test_run/5000/params/manifest.ocdbt +0 -0
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.gitattributes CHANGED Viewed

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iso_abb_test_run/10000/_CHECKPOINT_METADATA ADDED Viewed

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+!!python/object:openpi.training.config.TrainConfig
+name: iso_abb_test
+project_name: openpi
+exp_name: iso_abb_test_run
+model: !!python/object:openpi.models.pi0_config.Pi0Config
+    action_dim: 32
+    action_horizon: 50
+    max_token_len: 48
+    dtype: bfloat16
+    paligemma_variant: gemma_2b
+    action_expert_variant: gemma_300m
+    img_variant: So400m/14
+    pi05: false
+    discrete_state_input: false
+weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
+    local_dir: null
+    repo_id: robotgeneralist/openpi_checkpoint_mirrors
+    revision: main
+    checkpoint_path: pi0_base
+pytorch_weight_path: null
+pytorch_training_precision: bfloat16
+lr_schedule: !!python/object:openpi.training.optimizer.CosineDecaySchedule
+    warmup_steps: 1000
+    peak_lr: 2.5e-05
+    decay_steps: 30000
+    decay_lr: 2.5e-06
+optimizer: !!python/object:openpi.training.optimizer.AdamW
+    b1: 0.9
+    b2: 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-10
+    clip_gradient_norm: 1.0
+ema_decay: 0.99
+freeze_filter: !!python/name:flax.nnx.filterlib.Nothing ''
+data: !!python/object:openpi.training.config.LeRobotNomagicAbbDataConfig
+    repo_ids: !!python/tuple
+    - nomagic/dc_wen_pt3
+    - nomagic/dc_wen_pt4
+    - nomagic/dc_wen_pt6
+    - nomagic/dc_wen_pt9
+    - nomagic/dc_wen_pt11
+    - nomagic/dc_wen_ses2_pt2
+    - nomagic/dc_wen_ses2_pt3
+    - nomagic/dc_wen_ses2_pt4
+    - nomagic/dc_wen_ses2_pt5
+    - nomagic/dc_wen_ses2_pt7
+    - nomagic/dc_wen_ses2_pt8
+    - nomagic/dc_wen_ses2_pt9
+    - nomagic/dc_wen_ses2_pt10
+    - nomagic/dc_wen_ses2_pt11
+    - nomagic/dc_wen_ses2_pt12
+    - nomagic/dc_wen_ses2_pt13
+    - nomagic/dc_wen_ses2_pt14
+    assets: !!python/object:openpi.training.config.AssetsConfig
+        assets_dir: null
+        asset_id: abb
+    norm_stats_sample_ratio: 0.5
+    base_config: !!python/object:openpi.training.config.DataConfig
+        repo_ids: null
+        asset_id: null
+        norm_stats_data: null
+        norm_stats_sample_ratio: 1.0
+        norm_stats_dir: null
+        repack_transforms: !!python/object:openpi.transforms.Group
+            inputs: !!python/tuple []
+            outputs: !!python/tuple []
+        data_transforms: !!python/object:openpi.transforms.Group
+            inputs: !!python/tuple []
+            outputs: !!python/tuple []
+        model_transforms: !!python/object:openpi.transforms.Group
+            inputs: !!python/tuple []
+            outputs: !!python/tuple []
+        use_quantile_norm: false
+        action_sequence_keys: !!python/tuple
+        - actions
+        fourier_config: null
+        prompt_from_task: true
+        rlds_data_dir: null
+        action_space: null
+        filter_dict_path: null
+    default_prompt: topple the item which is sticking out, so that it fits fully within
+        the container
+    end_effector_frame: true
+    fourier_config: null
+assets_base_dir: ./assets
+checkpoint_base_dir: /storage_nvme_1/jm/checkpoints
+seed: 42
+batch_size: 32
+num_workers: 2
+num_train_steps: 15001
+log_interval: 100
+save_interval: 1000
+keep_period: 5000
+overwrite: false
+resume: true
+wandb_enabled: true
+policy_metadata: null
+fsdp_devices: 1
+test_split_ratio: 0.05
+test_eval_interval: 1000
+test_eval_use_train_mode: false