!!python/object:openpi.training.config.TrainConfig
name: v2_equidistant
project_name: openpi
exp_name: v2_equidistant
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.LeRobotNomagicURXDataConfig
    repo_ids: !!python/tuple
    - robotgeneralist/pp__1__train__equidistant
    - robotgeneralist/pp__1__adversarial__equidistant
    - robotgeneralist/pp__2__equidistant
    - robotgeneralist/pp__2__rotations__equidistant
    - robotgeneralist/pp__3__with_ft__equidistant
    - robotgeneralist/pp__3__with_ft__rotations__equidistant
    - robotgeneralist/pp__3__with_ft__adversarial_start__equidistant
    - robotgeneralist/pp__4__with_ft__equidistant
    - robotgeneralist/pp__5__with_ft__adversarial_target__equidistant
    assets: !!python/object:openpi.training.config.AssetsConfig
        assets_dir: null
        asset_id: ur10e
    norm_stats_sample_ratio: 1.0
    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: null
    use_poses: true
    end_effector_frame: false
    fourier_config: null
assets_base_dir: ./assets
checkpoint_base_dir: /storage_nvme_1/pzal/checkpoints
seed: 42
batch_size: 32
num_workers: 2
num_train_steps: 30001
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: 0.0
test_eval_interval: null
test_eval_use_train_mode: false