mwrochna commited on Mar 25

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68691e2

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+!!python/object:openpi.training.config.TrainConfig
+name: cs_shelf_and_basic
+project_name: openpi
+exp_name: cs_shelf_and_basic_3no2
+model: !!python/object:openpi.models.pi0_config.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
+    action_loss_horizon: null
+    pi05: false
+    discrete_state_input: false
+weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
+    local_dir: null
+    repo_id: robotgeneralist/openpi_checkpoint_mirrors
+    revision: main
+    checkpoint_path: pi0_base
+pytorch_weight_path: null
+pytorch_training_precision: bfloat16
+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/cs__shelf_1
+    - robotgeneralist/cs__shelf_down_a
+    - robotgeneralist/cs__shelf_down_b
+    - robotgeneralist/cs__shelf_up_a
+    - robotgeneralist/cs__shelf_up_b
+    - robotgeneralist/cs__shelf_3a
+    - robotgeneralist/cs__shelf_down_3
+    - mwrochna/cs__shelf_down_3b
+    - mwrochna/cs__shelf_up_3a
+    - mwrochna/cs__shelf_up_3b
+    - mwrochna/cs__shelf_up_3c
+    - mwrochna/cs__shelf_up_3d
+    - mwrochna/cs__shelf_up_3e_high
+    - mwrochna/cs__shelf_up_3e_low
+    - robotgeneralist/cs__basic_1
+    - robotgeneralist/cs__basic_3
+    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
+        tolerance_s: 0.0001
+        per_action_index_norm_stats: false
+        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
+        rlds_data_dir: null
+        action_space: null
+        filter_dict_path: null
+    default_prompt: null
+    use_poses: true
+    end_effector_frame: false
+    per_action_index_norm_stats: false
+    fourier_config: null
+    binary_action_keys: !!python/tuple []
+    tolerance_s: 0.001
+assets_base_dir: ./assets
+checkpoint_base_dir: /storage_nvme_1/robotgeneralist/checkpoints
+seed: 42
+batch_size: 32
+num_workers: 2
+num_train_steps: 25001
+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: 1000
+test_eval_use_train_mode: false
+binary_action_keys: !!python/tuple []