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  1. v5_equidistant/10000/_CHECKPOINT_METADATA +1 -0
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  38. v5_equidistant/5000/_CHECKPOINT_METADATA +1 -0
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1
+ !!python/object:openpi.training.config.TrainConfig
2
+ name: v5_equidistant
3
+ project_name: openpi
4
+ exp_name: v5_equidistant
5
+ model: !!python/object:openpi.models.pi0.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
+ tv_loss_weight: 0.0
14
+ tv_loss_type: l2
15
+ tv_loss_include_prev_actions: true
16
+ weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
17
+ local_dir: null
18
+ repo_id: robotgeneralist/openpi_checkpoint_mirrors
19
+ revision: main
20
+ checkpoint_path: pi0_base
21
+ lr_schedule: !!python/object:openpi.training.optimizer.CosineDecaySchedule
22
+ warmup_steps: 1000
23
+ peak_lr: 2.5e-05
24
+ decay_steps: 30000
25
+ decay_lr: 2.5e-06
26
+ optimizer: !!python/object:openpi.training.optimizer.AdamW
27
+ b1: 0.9
28
+ b2: 0.95
29
+ eps: 1.0e-08
30
+ weight_decay: 1.0e-10
31
+ clip_gradient_norm: 1.0
32
+ ema_decay: 0.99
33
+ freeze_filter: !!python/name:flax.nnx.filterlib.Nothing ''
34
+ data: !!python/object:openpi.training.config.LeRobotNomagicURXDataConfig
35
+ repo_ids: !!python/tuple
36
+ - robotgeneralist/pp__1__train__equidistant
37
+ - robotgeneralist/pp__1__adversarial__equidistant
38
+ - robotgeneralist/pp__2__equidistant
39
+ - robotgeneralist/pp__2__rotations__equidistant
40
+ - robotgeneralist/pp__3__with_ft__equidistant
41
+ - robotgeneralist/pp__3__with_ft__rotations__equidistant
42
+ - robotgeneralist/pp__3__with_ft__adversarial_start__equidistant
43
+ - robotgeneralist/pp__4__with_ft__equidistant
44
+ - robotgeneralist/pp__5__with_ft__adversarial_target__equidistant
45
+ assets: !!python/object:openpi.training.config.AssetsConfig
46
+ assets_dir: null
47
+ asset_id: ur10e
48
+ norm_stats_sample_ratio: 0.05
49
+ base_config: !!python/object:openpi.training.config.DataConfig
50
+ repo_ids: null
51
+ asset_id: null
52
+ norm_stats_data: null
53
+ norm_stats_sample_ratio: 1.0
54
+ norm_stats_dir: null
55
+ repack_transforms: !!python/object:openpi.transforms.Group
56
+ inputs: !!python/tuple []
57
+ outputs: !!python/tuple []
58
+ data_transforms: !!python/object:openpi.transforms.Group
59
+ inputs: !!python/tuple []
60
+ outputs: !!python/tuple []
61
+ model_transforms: !!python/object:openpi.transforms.Group
62
+ inputs: !!python/tuple []
63
+ outputs: !!python/tuple []
64
+ use_quantile_norm: false
65
+ action_sequence_keys: !!python/tuple
66
+ - actions
67
+ fourier_config: null
68
+ prompt_from_task: true
69
+ default_prompt: null
70
+ use_poses: true
71
+ end_effector_frame: false
72
+ use_dynamic_state: false
73
+ fourier_config: null
74
+ assets_base_dir: ./assets
75
+ checkpoint_base_dir: /storage_nvme_1/pzal/checkpoints
76
+ seed: 42
77
+ batch_size: 32
78
+ num_workers: 2
79
+ num_train_steps: 30001
80
+ log_interval: 100
81
+ save_interval: 1000
82
+ keep_period: 5000
83
+ overwrite: false
84
+ resume: true
85
+ wandb_enabled: true
86
+ policy_metadata: null
87
+ fsdp_devices: 1
88
+ test_split_ratio: 0.05
89
+ test_eval_interval: 1000
90
+ test_eval_use_train_mode: true
v5_equidistant/wandb_id.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ j6vwwjvb