!!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