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- .gitattributes +9 -0
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precise_packing_baseline/29999/params/ocdbt.process_0/d/4f3c78dd7f2f5549dc0d5cd1b559a53b filter=lfs diff=lfs merge=lfs -text
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precise_packing_baseline_2025_10_22_data_added/10000/params/manifest.ocdbt
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precise_packing_baseline_2025_10_22_data_added/10000/params/ocdbt.process_0/d/d5efe4e66de8cf3cd284c54c3631671e
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precise_packing_baseline_2025_10_22_data_added/10000/params/ocdbt.process_0/manifest.ocdbt
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precise_packing_baseline_2025_10_22_data_added/15000/_CHECKPOINT_METADATA
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{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1762168434526335203, "commit_timestamp_nsecs": 1762168478754425483, "custom": {}}
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precise_packing_baseline_2025_10_22_data_added/15000/assets/ur10e/norm_stats.json
ADDED
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precise_packing_baseline_2025_10_22_data_added/15000/params/_sharding
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precise_packing_baseline_2025_10_22_data_added/15000/params/ocdbt.process_0/d/0665885f3d8c8dd7ae4ac9c056d953c4
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precise_packing_baseline_2025_10_22_data_added/20000/_CHECKPOINT_METADATA
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{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1762174830295176336, "commit_timestamp_nsecs": 1762174877904305591, "custom": {}}
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precise_packing_baseline_2025_10_22_data_added/20000/assets/ur10e/norm_stats.json
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version https://git-lfs.github.com/spec/v1
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size 1957433344
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precise_packing_baseline_2025_10_22_data_added/20000/params/ocdbt.process_0/manifest.ocdbt
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Binary file (492 Bytes). View file
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precise_packing_baseline_2025_10_22_data_added/5000/_CHECKPOINT_METADATA
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{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1762155655994431924, "commit_timestamp_nsecs": 1762155702386349977, "custom": {}}
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!!python/object:openpi.training.config.TrainConfig
|
| 2 |
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name: precise_packing_baseline
|
| 3 |
+
project_name: openpi
|
| 4 |
+
exp_name: precise_packing_baseline_2025_10_22_data_added
|
| 5 |
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model: !!python/object:openpi.models.pi0.Pi0Config
|
| 6 |
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action_dim: 32
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action_horizon: 50
|
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max_token_len: 48
|
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dtype: bfloat16
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paligemma_variant: gemma_2b
|
| 11 |
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action_expert_variant: gemma_300m
|
| 12 |
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img_variant: So400m/14
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| 13 |
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weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
|
| 14 |
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params_path: s3://openpi-assets/checkpoints/pi0_base/params
|
| 15 |
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lr_schedule: !!python/object:openpi.training.optimizer.CosineDecaySchedule
|
| 16 |
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warmup_steps: 1000
|
| 17 |
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peak_lr: 2.5e-05
|
| 18 |
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decay_steps: 30000
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| 19 |
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decay_lr: 2.5e-06
|
| 20 |
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optimizer: !!python/object:openpi.training.optimizer.AdamW
|
| 21 |
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b1: 0.9
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| 22 |
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b2: 0.95
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| 23 |
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eps: 1.0e-08
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| 24 |
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weight_decay: 1.0e-10
|
| 25 |
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clip_gradient_norm: 1.0
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| 26 |
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ema_decay: 0.99
|
| 27 |
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freeze_filter: !!python/name:flax.nnx.filterlib.Nothing ''
|
| 28 |
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data: !!python/object:openpi.training.config.LeRobotNomagicURXDataConfig
|
| 29 |
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repo_ids: !!python/tuple
|
| 30 |
+
- robotgeneralist/pp__1
|
| 31 |
+
- robotgeneralist/pp__1__adversarial
|
| 32 |
+
- robotgeneralist/pp__2
|
| 33 |
+
- robotgeneralist/pp__2__rotations
|
| 34 |
+
- robotgeneralist/pp__3__with_ft
|
| 35 |
+
- robotgeneralist/pp__3__with_ft__rotations
|
| 36 |
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- robotgeneralist/pp__3__with_ft__adversarial_start
|
| 37 |
+
- robotgeneralist/pp__4__with_ft
|
| 38 |
+
- robotgeneralist/pp__5__with_ft__adversarial_target
|
| 39 |
+
- robotgeneralist/pp__6__with_ft
|
| 40 |
+
- robotgeneralist/precise-packing-2025-10-22-part-1
|
| 41 |
+
- robotgeneralist/precise-packing-2025-10-22-part-2
|
| 42 |
+
- robotgeneralist/precise-packing-2025-10-22-part-3
|
| 43 |
+
- robotgeneralist/precise-packing-2025-10-22-part-4
|
| 44 |
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assets: !!python/object:openpi.training.config.AssetsConfig
|
| 45 |
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assets_dir: null
|
| 46 |
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asset_id: ur10e
|
| 47 |
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norm_stats_sample_ratio: 1.0
|
| 48 |
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base_config: !!python/object:openpi.training.config.DataConfig
|
| 49 |
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repo_ids: null
|
| 50 |
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asset_id: null
|
| 51 |
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norm_stats_data: null
|
| 52 |
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norm_stats_sample_ratio: 1.0
|
| 53 |
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norm_stats_dir: null
|
| 54 |
+
repack_transforms: !!python/object:openpi.transforms.Group
|
| 55 |
+
inputs: !!python/tuple []
|
| 56 |
+
outputs: !!python/tuple []
|
| 57 |
+
data_transforms: !!python/object:openpi.transforms.Group
|
| 58 |
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inputs: !!python/tuple []
|
| 59 |
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outputs: !!python/tuple []
|
| 60 |
+
model_transforms: !!python/object:openpi.transforms.Group
|
| 61 |
+
inputs: !!python/tuple []
|
| 62 |
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outputs: !!python/tuple []
|
| 63 |
+
use_quantile_norm: false
|
| 64 |
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action_sequence_keys: !!python/tuple
|
| 65 |
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- actions
|
| 66 |
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fourier_config: null
|
| 67 |
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prompt_from_task: true
|
| 68 |
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default_prompt: null
|
| 69 |
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use_poses: true
|
| 70 |
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end_effector_frame: false
|
| 71 |
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fourier_config: null
|
| 72 |
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assets_base_dir: ./assets
|
| 73 |
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checkpoint_base_dir: /storage_nvme_1/robotgeneralist/checkpoints
|
| 74 |
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seed: 42
|
| 75 |
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batch_size: 32
|
| 76 |
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num_workers: 2
|
| 77 |
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num_train_steps: 30000
|
| 78 |
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log_interval: 100
|
| 79 |
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save_interval: 1000
|
| 80 |
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keep_period: 5000
|
| 81 |
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overwrite: false
|
| 82 |
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resume: true
|
| 83 |
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wandb_enabled: true
|
| 84 |
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policy_metadata: null
|
| 85 |
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fsdp_devices: 1
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