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  1. baseline/10000/_CHECKPOINT_METADATA +1 -0
  2. baseline/10000/assets/ur10e/norm_stats.json +303 -0
  3. baseline/10000/params/_METADATA +1 -0
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  12. baseline/15000/_CHECKPOINT_METADATA +1 -0
  13. baseline/15000/assets/ur10e/norm_stats.json +303 -0
  14. baseline/15000/params/_METADATA +1 -0
  15. baseline/15000/params/_sharding +1 -0
  16. baseline/15000/params/array_metadatas/process_0 +1 -0
  17. baseline/15000/params/d/e9fe4560fa784fe01cf8aa7c19f58764 +0 -0
  18. baseline/15000/params/manifest.ocdbt +0 -0
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  22. baseline/15000/params/ocdbt.process_0/d/eae1a67ba193037b45e91901baf4d09e +0 -0
  23. baseline/15000/params/ocdbt.process_0/manifest.ocdbt +0 -0
  24. baseline/20000/_CHECKPOINT_METADATA +1 -0
  25. baseline/20000/assets/ur10e/norm_stats.json +303 -0
  26. baseline/20000/params/_METADATA +1 -0
  27. baseline/20000/params/_sharding +1 -0
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  30. baseline/20000/params/manifest.ocdbt +0 -0
  31. baseline/20000/params/ocdbt.process_0/d/0704c00edf569d8b865f3d0f68621987 +0 -0
  32. baseline/20000/params/ocdbt.process_0/d/1e61c20451221d15b8539a9d40710834 +0 -0
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  34. baseline/20000/params/ocdbt.process_0/manifest.ocdbt +0 -0
  35. baseline/25000/_CHECKPOINT_METADATA +1 -0
  36. baseline/30000/_CHECKPOINT_METADATA +1 -0
  37. baseline/5000/_CHECKPOINT_METADATA +1 -0
  38. baseline/5000/assets/ur10e/norm_stats.json +303 -0
  39. baseline/5000/params/_METADATA +1 -0
  40. baseline/5000/params/_sharding +1 -0
  41. baseline/5000/params/array_metadatas/process_0 +1 -0
  42. baseline/5000/params/d/63606bca5d8e3a8be3efce80d6bb68a9 +0 -0
  43. baseline/5000/params/manifest.ocdbt +0 -0
  44. baseline/5000/params/ocdbt.process_0/d/4013ee144550f4fdc86009caacf8ee31 +0 -0
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  48. baseline/5000/params/ocdbt.process_0/manifest.ocdbt +0 -0
  49. baseline/config.yaml +88 -0
  50. baseline/wandb_id.txt +1 -0
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+ name: baseline
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+ project_name: openpi
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+ exp_name: baseline
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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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+ weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
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+ 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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+ lr_schedule: !!python/object:openpi.training.optimizer.CosineDecaySchedule
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+ warmup_steps: 1000
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+ optimizer: !!python/object:openpi.training.optimizer.AdamW
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+ clip_gradient_norm: 1.0
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+ ema_decay: 0.99
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+ data: !!python/object:openpi.training.config.LeRobotNomagicURXDataConfig
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+ repo_ids: !!python/tuple
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+ assets: !!python/object:openpi.training.config.AssetsConfig
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+ assets_dir: null
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+ outputs: !!python/tuple []
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+ - actions
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+ fourier_config: null
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+ filter_dict_path: null
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+ default_prompt: null
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+ end_effector_frame: false
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+ fourier_config: null
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+ 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
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+ 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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