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b/new_ee_norm_stats_verification/6000/params/ocdbt.process_0/manifest.ocdbt differ diff --git a/new_ee_norm_stats_verification/config.yaml b/new_ee_norm_stats_verification/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a98d06cbb481288144e37ab196aa3270a2e9856a --- /dev/null +++ b/new_ee_norm_stats_verification/config.yaml @@ -0,0 +1,100 @@ +!!python/object:openpi.training.config.TrainConfig +name: new_ee_norm_stats_verification +project_name: openpi +exp_name: new_ee_norm_stats_verification +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: 0.0 + jerk_max: 0.0786 + jerk_limit_loss_scaling: 0.001 + jerk_tv_loss_scaling: 1.0e-07 + num_previous_actions: 2 +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: true + 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 diff --git a/new_ee_norm_stats_verification/wandb_id.txt b/new_ee_norm_stats_verification/wandb_id.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5a78e240b06a8333be9ab2c08aad841d6c9e3a8 --- /dev/null +++ b/new_ee_norm_stats_verification/wandb_id.txt @@ -0,0 +1 @@ +7upac2g7 \ No newline at end of file