pzal commited on Sep 17, 2025

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+      "num_episodes": 97,
+      "num_frames": 39457
+    },
+    "pzal/pp__2__rotations": {
+      "commit_hash": "0bceb4fb360f349b2681c08414b890076f759b31",
+      "num_episodes": 108,
+      "num_frames": 14853
+    },
+    "pzal/pp__3": {
+      "commit_hash": "f9d3191cc0b36e6147e519bdf9bbd13f13a7e757",
+      "num_episodes": 105,
+      "num_frames": 40820
+    },
+    "pzal/pp__3__rotations": {
+      "commit_hash": "744d33f2e650531bb04de789a283c6931cd2f49e",
+      "num_episodes": 52,
+      "num_frames": 7564
+    },
+    "pzal/pp__3__adversarial_start": {
+      "commit_hash": "fbc5276fdef5aa493280b89d15a91ca30fb42afb",
+      "num_episodes": 155,
+      "num_frames": 22428
+    },
+    "pzal/pp__4": {
+      "commit_hash": "c59e1181db395aec59b33ee748c436e325e1a55f",
+      "num_episodes": 100,
+      "num_frames": 35117
+    },
+    "pzal/pp__5__adversarial_target": {
+      "commit_hash": "20590f18bee9526e13bbe0bb125d7cf47fe1e8f0",
+      "num_episodes": 51,
+      "num_frames": 11185
+    }
+  }
+}

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+!!python/object:openpi.training.config.TrainConfig
+name: pp__unified
+project_name: openpi
+exp_name: pp__unified
+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
+weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
+    params_path: s3://openpi-assets/checkpoints/pi0_base/params
+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
+    - pzal/pp__1
+    - pzal/pp__1__adversarial
+    - pzal/pp__2
+    - pzal/pp__2__rotations
+    - pzal/pp__3
+    - pzal/pp__3__rotations
+    - pzal/pp__3__adversarial_start
+    - pzal/pp__4
+    - pzal/pp__5__adversarial_target
+    assets: !!python/object:openpi.training.config.AssetsConfig
+        assets_dir: null
+        asset_id: ur10e
+    norm_stats_sample_ratio: 1.0
+    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
+        prompt_from_task: true
+    default_prompt: null
+    use_poses: true
+    end_effector_frame: true
+assets_base_dir: ./assets
+checkpoint_base_dir: /storage_nvme_1/pzal/checkpoints
+seed: 42
+batch_size: 32
+num_workers: 2
+num_train_steps: 30000
+log_interval: 100
+save_interval: 1000
+keep_period: 5000
+overwrite: false
+resume: true
+wandb_enabled: true
+policy_metadata: null
+fsdp_devices: 1

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1	+ 3os698jh