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+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 + - robotgeneralist/precise-packing-robiros-fixed-3 + - robotgeneralist/precise-packing-robiros-fixed-3-adversarial + - robotgeneralist/precise-packing-robiros-fixed-3-adversarial + - robotgeneralist/precise-packing-robiros-fixed-3-additional-1 + - robotgeneralist/precise-packing-robiros-fixed-3-additional-2 + - robotgeneralist/precise-packing-robiros-fixed-3-additional-3 + - robotgeneralist/precise-packing-robiros-fixed-3-additional-4 + - robotgeneralist/precise-packing-robiros-fixed-3-additional-dense + - robotgeneralist/pp__morning + - robotgeneralist/pp__morning__adversarial_start + - robotgeneralist/pp__morning__rotations + - robotgeneralist/pp__morning__shades + - robotgeneralist/pp__noon__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 diff --git a/pp__variable_lighting/wandb_id.txt b/pp__variable_lighting/wandb_id.txt new file mode 100644 index 0000000000000000000000000000000000000000..1e9122eda19f6802f25084768dc511b6c9455945 --- /dev/null +++ b/pp__variable_lighting/wandb_id.txt @@ -0,0 +1 @@ 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