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pp__ee_fourier/5000/params/array_metadatas/process_0 ADDED
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1
+ !!python/object:openpi.training.config.TrainConfig
2
+ name: precise_packing_FFM_k20
3
+ project_name: openpi
4
+ exp_name: pp__ee_fourier
5
+ model: !!python/object:openpi.models.pi0_config.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
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+ action_loss_horizon: 20
14
+ pi05: false
15
+ discrete_state_input: false
16
+ weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
17
+ local_dir: null
18
+ repo_id: robotgeneralist/openpi_checkpoint_mirrors
19
+ revision: main
20
+ checkpoint_path: pi0_base
21
+ pytorch_weight_path: null
22
+ pytorch_training_precision: bfloat16
23
+ lr_schedule: !!python/object:openpi.training.optimizer.CosineDecaySchedule
24
+ warmup_steps: 1000
25
+ peak_lr: 2.5e-05
26
+ decay_steps: 30000
27
+ decay_lr: 2.5e-06
28
+ optimizer: !!python/object:openpi.training.optimizer.AdamW
29
+ b1: 0.9
30
+ b2: 0.95
31
+ eps: 1.0e-08
32
+ weight_decay: 1.0e-10
33
+ clip_gradient_norm: 1.0
34
+ ema_decay: 0.99
35
+ freeze_filter: !!python/name:flax.nnx.filterlib.Nothing ''
36
+ data: !!python/object:openpi.training.config.LeRobotNomagicURXDataConfig
37
+ repo_ids: !!python/tuple
38
+ - robotgeneralist/pp__1
39
+ - robotgeneralist/pp__1__adversarial
40
+ - robotgeneralist/pp__2
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+ - robotgeneralist/pp__2__rotations
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+ - robotgeneralist/pp__3__with_ft
43
+ - robotgeneralist/pp__3__with_ft__rotations
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+ - robotgeneralist/pp__3__with_ft__adversarial_start
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+ - robotgeneralist/pp__4__with_ft
46
+ - robotgeneralist/pp__5__with_ft__adversarial_target
47
+ - robotgeneralist/pp__6__with_ft
48
+ - robotgeneralist/precise-packing-2025-10-22-part-1
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+ - robotgeneralist/precise-packing-2025-10-22-part-2
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+ - robotgeneralist/precise-packing-2025-10-22-part-3
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+ - robotgeneralist/precise-packing-2025-10-22-part-4
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+ assets: !!python/object:openpi.training.config.AssetsConfig
53
+ assets_dir: null
54
+ asset_id: ur10e
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+ norm_stats_sample_ratio: 0.05
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+ base_config: !!python/object:openpi.training.config.DataConfig
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+ repo_ids: null
58
+ asset_id: null
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+ norm_stats_data: null
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+ norm_stats_sample_ratio: 1.0
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+ norm_stats_dir: null
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+ tolerance_s: 0.0001
63
+ per_action_index_norm_stats: false
64
+ repack_transforms: !!python/object:openpi.transforms.Group
65
+ inputs: !!python/tuple []
66
+ outputs: !!python/tuple []
67
+ data_transforms: !!python/object:openpi.transforms.Group
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+ inputs: !!python/tuple []
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+ outputs: !!python/tuple []
70
+ model_transforms: !!python/object:openpi.transforms.Group
71
+ inputs: !!python/tuple []
72
+ outputs: !!python/tuple []
73
+ use_quantile_norm: false
74
+ action_sequence_keys: !!python/tuple
75
+ - actions
76
+ fourier_config: null
77
+ prompt_from_task: true
78
+ rlds_data_dir: null
79
+ action_space: null
80
+ filter_dict_path: null
81
+ default_prompt: null
82
+ use_poses: true
83
+ end_effector_frame: true
84
+ per_action_index_norm_stats: true
85
+ fourier_config: !!python/object:openpi.fourier.FourierConfig
86
+ binary_action_keys: !!python/tuple
87
+ - tool
88
+ action_horizon: 50
89
+ num_modes: 20
90
+ norm: forward
91
+ tolerance_s: 0.0001
92
+ assets_base_dir: ./assets
93
+ checkpoint_base_dir: /storage_nvme_1/robotgeneralist/checkpoints
94
+ seed: 42
95
+ batch_size: 32
96
+ num_workers: 2
97
+ num_train_steps: 25001
98
+ log_interval: 100
99
+ save_interval: 1000
100
+ keep_period: 5000
101
+ overwrite: false
102
+ resume: true
103
+ wandb_enabled: true
104
+ policy_metadata: null
105
+ fsdp_devices: 1
106
+ test_split_ratio: 0.05
107
+ test_eval_interval: 1000
108
+ test_eval_use_train_mode: false
pp__ee_fourier/wandb_id.txt ADDED
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1
+ 4jk3k33k