| !!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 | |