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b/pp__test_fourier_raw_actions/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..51dfa3e1da6dcee14c61ba2ca89e22f5021c9404 --- /dev/null +++ b/pp__test_fourier_raw_actions/config.yaml @@ -0,0 +1,108 @@ +!!python/object:openpi.training.config.TrainConfig +name: precise_packing_FFM_k20 +project_name: openpi +exp_name: pp__test_fourier_raw_actions +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: 20 + 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/pp__1 + - 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 + 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: true + fourier_config: !!python/object:openpi.fourier.FourierConfig + binary_action_keys: !!python/tuple + - tool + action_horizon: 50 + num_modes: 20 + norm: forward + tolerance_s: 0.0001 +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 diff --git a/pp__test_fourier_raw_actions/wandb_id.txt b/pp__test_fourier_raw_actions/wandb_id.txt new file mode 100644 index 0000000000000000000000000000000000000000..57f3aab396471a953660fca0b1066d8176cef38e --- /dev/null +++ b/pp__test_fourier_raw_actions/wandb_id.txt @@ -0,0 +1 @@ +s8u4d1sw 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