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- .gitattributes +14 -0
- dyn_5/10000/_CHECKPOINT_METADATA +1 -0
- dyn_5/10000/assets/ur10e/norm_stats.json +491 -0
- dyn_5/10000/params/_METADATA +1 -0
- dyn_5/10000/params/_sharding +1 -0
- dyn_5/10000/params/d/9671aaa6e43031804d1196f654e0a1a2 +0 -0
- dyn_5/10000/params/manifest.ocdbt +0 -0
- dyn_5/10000/params/ocdbt.process_0/d/0516b86294bde4b782eb14d40b95cab7 +0 -0
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- dyn_5/10000/params/ocdbt.process_0/d/fe54fada1357bc646d8c540373303594 +0 -0
- dyn_5/10000/params/ocdbt.process_0/manifest.ocdbt +0 -0
- dyn_5/15000/_CHECKPOINT_METADATA +1 -0
- dyn_5/15000/assets/ur10e/norm_stats.json +491 -0
- dyn_5/15000/params/_METADATA +1 -0
- dyn_5/15000/params/_sharding +1 -0
- dyn_5/15000/params/d/a490f494e28a1cf60743b2f7421d6df5 +0 -0
- dyn_5/15000/params/manifest.ocdbt +0 -0
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- dyn_5/15000/params/ocdbt.process_0/manifest.ocdbt +0 -0
- dyn_5/5000/_CHECKPOINT_METADATA +1 -0
- dyn_5/5000/assets/ur10e/norm_stats.json +491 -0
- dyn_5/5000/params/_METADATA +1 -0
- dyn_5/5000/params/_sharding +1 -0
- dyn_5/5000/params/d/04bf4801d06800b223b113c6ce34b873 +0 -0
- dyn_5/5000/params/manifest.ocdbt +0 -0
- dyn_5/5000/params/ocdbt.process_0/d/1acbbabc5e28308a23f07b6a61a19966 +3 -0
- dyn_5/5000/params/ocdbt.process_0/d/23461dce455d874f4a3f40d83b01313f +3 -0
- dyn_5/5000/params/ocdbt.process_0/d/35dc5bbae381dfa574840f3ff9f20f78 +0 -0
- dyn_5/5000/params/ocdbt.process_0/d/4a8e1d56a08e600f8ed7b205f29a995f +0 -0
- dyn_5/5000/params/ocdbt.process_0/d/60496719af8e5767526f063be75dfb3a +3 -0
- dyn_5/5000/params/ocdbt.process_0/d/61bc8bc9d8638e84a041c992004bb74b +3 -0
- dyn_5/5000/params/ocdbt.process_0/d/66be4bfcdd77525d58721bb010d26325 +3 -0
- dyn_5/5000/params/ocdbt.process_0/d/6d7469031d0892fb7a3750418894fa48 +3 -0
- dyn_5/5000/params/ocdbt.process_0/d/6e9bc3c47df57150d2ae6d8f7d3005e4 +3 -0
- dyn_5/5000/params/ocdbt.process_0/d/7611d5211ace5a856997392b50d80c93 +0 -0
- dyn_5/5000/params/ocdbt.process_0/d/78ef7f694862e7e9c04f9e3d9707a0f8 +3 -0
- dyn_5/5000/params/ocdbt.process_0/d/96a1870dfe0f20ce79b8d7c9d8976ff8 +0 -0
- dyn_5/5000/params/ocdbt.process_0/d/9c01dc27cf3884284e56b6e2992e8464 +0 -0
- dyn_5/5000/params/ocdbt.process_0/d/9ef6f1119d29cfda52306166c5e931d8 +3 -0
- dyn_5/5000/params/ocdbt.process_0/d/a3bebb40ce830a039bb88737e677c038 +3 -0
- dyn_5/5000/params/ocdbt.process_0/d/ba36c7cedae527b1d0ea9188e9cefadd +3 -0
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- dyn_5/5000/params/ocdbt.process_0/d/ca82df128a198d863ae88ed9224d269f +3 -0
- dyn_5/5000/params/ocdbt.process_0/d/d27edf581a7dbad242404fd43a3e0ec8 +3 -0
- dyn_5/5000/params/ocdbt.process_0/manifest.ocdbt +0 -0
- dyn_5/config.yaml +100 -0
.gitattributes
CHANGED
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@@ -639,3 +639,17 @@ new_dropout/5000/params/ocdbt.process_0/d/bd87e7db9ab70250b62e457d53cf9bf0 filte
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| 639 |
new_dropout/5000/params/ocdbt.process_0/d/3232b6a491f37ca763405bb4950c2e05 filter=lfs diff=lfs merge=lfs -text
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| 640 |
new_dropout/5000/params/ocdbt.process_0/d/41912f60956fe0185b38c7750ec630cd filter=lfs diff=lfs merge=lfs -text
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| 641 |
new_dropout/10000/params/ocdbt.process_0/d/bd41692d37e8ef75dd3480c79a6fd0df filter=lfs diff=lfs merge=lfs -text
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| 639 |
new_dropout/5000/params/ocdbt.process_0/d/3232b6a491f37ca763405bb4950c2e05 filter=lfs diff=lfs merge=lfs -text
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| 640 |
new_dropout/5000/params/ocdbt.process_0/d/41912f60956fe0185b38c7750ec630cd filter=lfs diff=lfs merge=lfs -text
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| 641 |
new_dropout/10000/params/ocdbt.process_0/d/bd41692d37e8ef75dd3480c79a6fd0df filter=lfs diff=lfs merge=lfs -text
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dyn_5/15000/params/ocdbt.process_0/d/dc11fe98ad6c15bf5c7150ba48d86c54 filter=lfs diff=lfs merge=lfs -text
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| 643 |
+
dyn_5/5000/params/ocdbt.process_0/d/23461dce455d874f4a3f40d83b01313f filter=lfs diff=lfs merge=lfs -text
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| 644 |
+
dyn_5/5000/params/ocdbt.process_0/d/60496719af8e5767526f063be75dfb3a filter=lfs diff=lfs merge=lfs -text
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| 645 |
+
dyn_5/5000/params/ocdbt.process_0/d/6d7469031d0892fb7a3750418894fa48 filter=lfs diff=lfs merge=lfs -text
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| 646 |
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dyn_5/5000/params/ocdbt.process_0/d/9ef6f1119d29cfda52306166c5e931d8 filter=lfs diff=lfs merge=lfs -text
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| 647 |
+
dyn_5/5000/params/ocdbt.process_0/d/78ef7f694862e7e9c04f9e3d9707a0f8 filter=lfs diff=lfs merge=lfs -text
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| 648 |
+
dyn_5/5000/params/ocdbt.process_0/d/d27edf581a7dbad242404fd43a3e0ec8 filter=lfs diff=lfs merge=lfs -text
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| 649 |
+
dyn_5/5000/params/ocdbt.process_0/d/ca82df128a198d863ae88ed9224d269f filter=lfs diff=lfs merge=lfs -text
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| 650 |
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dyn_5/5000/params/ocdbt.process_0/d/a3bebb40ce830a039bb88737e677c038 filter=lfs diff=lfs merge=lfs -text
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| 651 |
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dyn_5/5000/params/ocdbt.process_0/d/66be4bfcdd77525d58721bb010d26325 filter=lfs diff=lfs merge=lfs -text
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| 652 |
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dyn_5/5000/params/ocdbt.process_0/d/61bc8bc9d8638e84a041c992004bb74b filter=lfs diff=lfs merge=lfs -text
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| 653 |
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dyn_5/5000/params/ocdbt.process_0/d/ba36c7cedae527b1d0ea9188e9cefadd filter=lfs diff=lfs merge=lfs -text
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| 654 |
+
dyn_5/5000/params/ocdbt.process_0/d/6e9bc3c47df57150d2ae6d8f7d3005e4 filter=lfs diff=lfs merge=lfs -text
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| 655 |
+
dyn_5/5000/params/ocdbt.process_0/d/1acbbabc5e28308a23f07b6a61a19966 filter=lfs diff=lfs merge=lfs -text
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dyn_5/10000/_CHECKPOINT_METADATA
ADDED
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@@ -0,0 +1 @@
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{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1765068621738927822, "commit_timestamp_nsecs": 1765068651040532729, "custom": {}}
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dyn_5/10000/assets/ur10e/norm_stats.json
ADDED
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@@ -0,0 +1,491 @@
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| 1 |
+
{
|
| 2 |
+
"norm_stats": {
|
| 3 |
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"state": {
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| 4 |
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"mean": [
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dyn_5/10000/params/manifest.ocdbt
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Binary file (910 Bytes). View file
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Binary file (213 Bytes). View file
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ADDED
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Binary file (73.7 kB). View file
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dyn_5/10000/params/ocdbt.process_0/d/fe54fada1357bc646d8c540373303594
ADDED
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Binary file (1.58 kB). View file
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dyn_5/10000/params/ocdbt.process_0/manifest.ocdbt
ADDED
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dyn_5/15000/_CHECKPOINT_METADATA
ADDED
|
@@ -0,0 +1 @@
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| 1 |
+
{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1765075556749566209, "commit_timestamp_nsecs": 1765075579933179442, "custom": {}}
|
dyn_5/15000/assets/ur10e/norm_stats.json
ADDED
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@@ -0,0 +1,491 @@
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| 1 |
+
{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1765061393643322603, "commit_timestamp_nsecs": 1765061428484391773, "custom": {}}
|
dyn_5/5000/assets/ur10e/norm_stats.json
ADDED
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@@ -0,0 +1,491 @@
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| 1 |
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{
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| 2 |
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| 3 |
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ADDED
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dyn_5/config.yaml
ADDED
|
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| 1 |
+
!!python/object:openpi.training.config.TrainConfig
|
| 2 |
+
name: dyn_5
|
| 3 |
+
project_name: openpi
|
| 4 |
+
exp_name: dyn_5
|
| 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: 30.0
|
| 14 |
+
tv_loss_type: jerk-limited
|
| 15 |
+
tv_loss_include_prev_actions: true
|
| 16 |
+
dynamic_state_dropout_rate: 0.0
|
| 17 |
+
jerk_max: 0.0786
|
| 18 |
+
jerk_limit_loss_scaling: 0.001
|
| 19 |
+
jerk_tv_loss_scaling: 1.0e-07
|
| 20 |
+
num_previous_actions: 5
|
| 21 |
+
weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
|
| 22 |
+
local_dir: null
|
| 23 |
+
repo_id: robotgeneralist/openpi_checkpoint_mirrors
|
| 24 |
+
revision: main
|
| 25 |
+
checkpoint_path: pi0_base
|
| 26 |
+
lr_schedule: !!python/object:openpi.training.optimizer.CosineDecaySchedule
|
| 27 |
+
warmup_steps: 1000
|
| 28 |
+
peak_lr: 2.5e-05
|
| 29 |
+
decay_steps: 30000
|
| 30 |
+
decay_lr: 2.5e-06
|
| 31 |
+
optimizer: !!python/object:openpi.training.optimizer.AdamW
|
| 32 |
+
b1: 0.9
|
| 33 |
+
b2: 0.95
|
| 34 |
+
eps: 1.0e-08
|
| 35 |
+
weight_decay: 1.0e-10
|
| 36 |
+
clip_gradient_norm: 1.0
|
| 37 |
+
ema_decay: 0.99
|
| 38 |
+
freeze_filter: !!python/name:flax.nnx.filterlib.Nothing ''
|
| 39 |
+
data: !!python/object:openpi.training.config.LeRobotNomagicURXDataConfig
|
| 40 |
+
repo_ids: !!python/tuple
|
| 41 |
+
- robotgeneralist/pp__1__train
|
| 42 |
+
- robotgeneralist/pp__1__adversarial
|
| 43 |
+
- robotgeneralist/pp__2
|
| 44 |
+
- robotgeneralist/pp__2__rotations
|
| 45 |
+
- robotgeneralist/pp__3__with_ft
|
| 46 |
+
- robotgeneralist/pp__3__with_ft__rotations
|
| 47 |
+
- robotgeneralist/pp__3__with_ft__adversarial_start
|
| 48 |
+
- robotgeneralist/pp__4__with_ft
|
| 49 |
+
- robotgeneralist/pp__5__with_ft__adversarial_target
|
| 50 |
+
- robotgeneralist/pp__6__with_ft
|
| 51 |
+
- robotgeneralist/precise-packing-2025-10-22-part-1
|
| 52 |
+
- robotgeneralist/precise-packing-2025-10-22-part-2
|
| 53 |
+
- robotgeneralist/precise-packing-2025-10-22-part-3
|
| 54 |
+
- robotgeneralist/precise-packing-2025-10-22-part-4
|
| 55 |
+
assets: !!python/object:openpi.training.config.AssetsConfig
|
| 56 |
+
assets_dir: null
|
| 57 |
+
asset_id: ur10e
|
| 58 |
+
norm_stats_sample_ratio: 0.05
|
| 59 |
+
base_config: !!python/object:openpi.training.config.DataConfig
|
| 60 |
+
repo_ids: null
|
| 61 |
+
asset_id: null
|
| 62 |
+
norm_stats_data: null
|
| 63 |
+
norm_stats_sample_ratio: 1.0
|
| 64 |
+
norm_stats_dir: null
|
| 65 |
+
repack_transforms: !!python/object:openpi.transforms.Group
|
| 66 |
+
inputs: !!python/tuple []
|
| 67 |
+
outputs: !!python/tuple []
|
| 68 |
+
data_transforms: !!python/object:openpi.transforms.Group
|
| 69 |
+
inputs: !!python/tuple []
|
| 70 |
+
outputs: !!python/tuple []
|
| 71 |
+
model_transforms: !!python/object:openpi.transforms.Group
|
| 72 |
+
inputs: !!python/tuple []
|
| 73 |
+
outputs: !!python/tuple []
|
| 74 |
+
use_quantile_norm: false
|
| 75 |
+
action_sequence_keys: !!python/tuple
|
| 76 |
+
- actions
|
| 77 |
+
fourier_config: null
|
| 78 |
+
prompt_from_task: true
|
| 79 |
+
default_prompt: null
|
| 80 |
+
use_poses: true
|
| 81 |
+
end_effector_frame: false
|
| 82 |
+
use_dynamic_state: true
|
| 83 |
+
fourier_config: null
|
| 84 |
+
assets_base_dir: ./assets
|
| 85 |
+
checkpoint_base_dir: /storage_nvme_1/pzal/checkpoints
|
| 86 |
+
seed: 42
|
| 87 |
+
batch_size: 32
|
| 88 |
+
num_workers: 2
|
| 89 |
+
num_train_steps: 15001
|
| 90 |
+
log_interval: 100
|
| 91 |
+
save_interval: 1000
|
| 92 |
+
keep_period: 5000
|
| 93 |
+
overwrite: false
|
| 94 |
+
resume: true
|
| 95 |
+
wandb_enabled: true
|
| 96 |
+
policy_metadata: null
|
| 97 |
+
fsdp_devices: 1
|
| 98 |
+
test_split_ratio: 0.05
|
| 99 |
+
test_eval_interval: 2000
|
| 100 |
+
test_eval_use_train_mode: true
|