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1
+ !!python/object:openpi.training.config.TrainConfig
2
+ name: v3__tvl__0_05__dyn
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+ project_name: openpi
4
+ exp_name: v3__tvl__0_05__dyn
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+ model: !!python/object:openpi.models.pi0_config.Pi0Config
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+ action_dim: 32
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+ action_horizon: 50
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+ max_token_len: 48
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+ dtype: bfloat16
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+ paligemma_variant: gemma_2b
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+ action_expert_variant: gemma_300m
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+ img_variant: So400m/14
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+ pi05: false
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+ discrete_state_input: false
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+ tv_loss_weight: 0.05
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+ tv_loss_type: l2
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+ tv_loss_include_prev_actions: true
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+ weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
19
+ local_dir: null
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+ repo_id: robotgeneralist/openpi_checkpoint_mirrors
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+ revision: main
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+ checkpoint_path: pi0_base
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+ pytorch_weight_path: null
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+ pytorch_training_precision: bfloat16
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+ lr_schedule: !!python/object:openpi.training.optimizer.CosineDecaySchedule
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+ warmup_steps: 1000
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+ peak_lr: 2.5e-05
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+ decay_steps: 30000
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+ 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 ''
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+ data: !!python/object:openpi.training.config.LeRobotNomagicURXDataConfig
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+ repo_ids: !!python/tuple
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+ - robotgeneralist/pp__1__train
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+ - robotgeneralist/pp__1__adversarial
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+ - robotgeneralist/pp__2
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+ - robotgeneralist/pp__2__rotations
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+ - robotgeneralist/pp__3__with_ft
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+ - 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
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+ - robotgeneralist/pp__5__with_ft__adversarial_target
49
+ - robotgeneralist/pp__6__with_ft
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+ - robotgeneralist/precise-packing-2025-10-22-part-1
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+ - robotgeneralist/precise-packing-2025-10-22-part-2
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+ - robotgeneralist/precise-packing-2025-10-22-part-3
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+ - robotgeneralist/precise-packing-2025-10-22-part-4
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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: 0.05
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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
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+ prompt_from_task: true
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+ rlds_data_dir: null
79
+ action_space: null
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+ filter_dict_path: null
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+ default_prompt: null
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+ use_poses: true
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+ end_effector_frame: false
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+ use_dynamic_state: true
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+ fourier_config: null
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+ assets_base_dir: ./assets
87
+ checkpoint_base_dir: /storage_nvme_1/pzal/checkpoints
88
+ seed: 42
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+ batch_size: 32
90
+ num_workers: 2
91
+ num_train_steps: 25001
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+ log_interval: 100
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+ save_interval: 1000
94
+ keep_period: 5000
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+ overwrite: false
96
+ resume: true
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+ wandb_enabled: true
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+ policy_metadata: null
99
+ fsdp_devices: 1
100
+ test_split_ratio: 0.05
101
+ test_eval_interval: 2000
102
+ test_eval_use_train_mode: true
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