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  2. v2_standard/10000/assets/ur10e/norm_stats.json +328 -0
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  36. v2_standard/5000/_CHECKPOINT_METADATA +1 -0
  37. v2_standard/5000/assets/ur10e/norm_stats.json +328 -0
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v2_standard/10000/params/array_metadatas/process_0 ADDED
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@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ !!python/object:openpi.training.config.TrainConfig
2
+ name: v2_standard
3
+ project_name: openpi
4
+ exp_name: v2_standard
5
+ model: !!python/object:openpi.models.pi0_config.Pi0Config
6
+ action_dim: 32
7
+ action_horizon: 50
8
+ max_token_len: 48
9
+ dtype: bfloat16
10
+ paligemma_variant: gemma_2b
11
+ action_expert_variant: gemma_300m
12
+ img_variant: So400m/14
13
+ pi05: false
14
+ discrete_state_input: false
15
+ weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
16
+ local_dir: null
17
+ repo_id: robotgeneralist/openpi_checkpoint_mirrors
18
+ revision: main
19
+ checkpoint_path: pi0_base
20
+ pytorch_weight_path: null
21
+ pytorch_training_precision: bfloat16
22
+ lr_schedule: !!python/object:openpi.training.optimizer.CosineDecaySchedule
23
+ warmup_steps: 1000
24
+ peak_lr: 2.5e-05
25
+ decay_steps: 30000
26
+ decay_lr: 2.5e-06
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+ optimizer: !!python/object:openpi.training.optimizer.AdamW
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+ b1: 0.9
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+ b2: 0.95
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+ eps: 1.0e-08
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+ weight_decay: 1.0e-10
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+ clip_gradient_norm: 1.0
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+ ema_decay: 0.99
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+ freeze_filter: !!python/name:flax.nnx.filterlib.Nothing ''
35
+ data: !!python/object:openpi.training.config.LeRobotNomagicURXDataConfig
36
+ repo_ids: !!python/tuple
37
+ - robotgeneralist/pp__1__train
38
+ - robotgeneralist/pp__1__adversarial
39
+ - robotgeneralist/pp__2
40
+ - robotgeneralist/pp__2__rotations
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+ - robotgeneralist/pp__3__with_ft
42
+ - robotgeneralist/pp__3__with_ft__rotations
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+ - robotgeneralist/pp__3__with_ft__adversarial_start
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+ - robotgeneralist/pp__4__with_ft
45
+ - robotgeneralist/pp__5__with_ft__adversarial_target
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+ assets: !!python/object:openpi.training.config.AssetsConfig
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+ assets_dir: null
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+ asset_id: ur10e
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+ norm_stats_sample_ratio: 1.0
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+ base_config: !!python/object:openpi.training.config.DataConfig
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+ repo_ids: null
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+ asset_id: null
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+ norm_stats_data: null
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+ norm_stats_sample_ratio: 1.0
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+ norm_stats_dir: null
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+ repack_transforms: !!python/object:openpi.transforms.Group
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+ inputs: !!python/tuple []
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+ outputs: !!python/tuple []
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+ data_transforms: !!python/object:openpi.transforms.Group
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+ inputs: !!python/tuple []
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+ outputs: !!python/tuple []
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+ model_transforms: !!python/object:openpi.transforms.Group
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+ inputs: !!python/tuple []
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+ outputs: !!python/tuple []
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+ use_quantile_norm: false
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+ action_sequence_keys: !!python/tuple
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+ - actions
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+ fourier_config: null
69
+ prompt_from_task: true
70
+ rlds_data_dir: null
71
+ action_space: null
72
+ filter_dict_path: null
73
+ default_prompt: null
74
+ use_poses: true
75
+ end_effector_frame: false
76
+ fourier_config: null
77
+ assets_base_dir: ./assets
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+ checkpoint_base_dir: /storage_nvme_1/pzal/checkpoints
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+ seed: 42
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+ batch_size: 32
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+ num_workers: 2
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+ num_train_steps: 30001
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+ log_interval: 100
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+ save_interval: 1000
85
+ keep_period: 5000
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+ overwrite: false
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+ resume: true
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+ wandb_enabled: true
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+ policy_metadata: null
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+ fsdp_devices: 1
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+ test_split_ratio: 0.0
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+ test_eval_interval: null
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+ test_eval_use_train_mode: false
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