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!!python/object:openpi.training.config.TrainConfig
name: pp_21
project_name: openpi
exp_name: pp_21
model: !!python/object:openpi.models.pi0.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
tv_loss_weight: 30.0
tv_loss_type: jerk-limited
tv_loss_include_prev_actions: true
dynamic_state_dropout_rate: 0.5
jerk_max: 5
jerk_limit_loss_scaling: 0.001
jerk_tv_loss_scaling: 1.0e-07
num_previous_actions: 5
weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
local_dir: null
repo_id: robotgeneralist/openpi_checkpoint_mirrors
revision: main
checkpoint_path: pi0_base
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
- robotgeneralist/pp__1__adversarial
- robotgeneralist/pp__2
- robotgeneralist/pp__2__rotations
- robotgeneralist/pp__3__with_ft
- robotgeneralist/pp__3__with_ft__rotations
- robotgeneralist/pp__3__with_ft__adversarial_start
- robotgeneralist/pp__4__with_ft
- robotgeneralist/pp__5__with_ft__adversarial_target
- robotgeneralist/pp__6__with_ft
- robotgeneralist/precise-packing-2025-10-22-part-1
- robotgeneralist/precise-packing-2025-10-22-part-2
- robotgeneralist/precise-packing-2025-10-22-part-3
- robotgeneralist/precise-packing-2025-10-22-part-4
assets: !!python/object:openpi.training.config.AssetsConfig
assets_dir: null
asset_id: ur10e
norm_stats_sample_ratio: 0.05
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
default_prompt: null
use_poses: true
end_effector_frame: false
use_dynamic_state: true
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: 15001
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: 0.05
test_eval_interval: 2000
test_eval_use_train_mode: true
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