mateuszwyszynski commited on Dec 17, 2025

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c705356

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1 Parent(s): 2fdf39b

Add files using upload-large-folder tool

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pp_minor_upstream_fixes/10000/_CHECKPOINT_METADATA +1 -0
pp_minor_upstream_fixes/10000/assets/ur10e/norm_stats.json +153 -0
pp_minor_upstream_fixes/10000/params/_METADATA +1 -0
pp_minor_upstream_fixes/10000/params/_sharding +1 -0
pp_minor_upstream_fixes/10000/params/array_metadatas/process_0 +1 -0
pp_minor_upstream_fixes/10000/params/d/54170aff0f0f02ed09593f8fcf48ecbf +0 -0
pp_minor_upstream_fixes/10000/params/manifest.ocdbt +0 -0
pp_minor_upstream_fixes/10000/params/ocdbt.process_0/d/3799845c3dca4ebba3cd93d3376d4d98 +0 -0
pp_minor_upstream_fixes/10000/params/ocdbt.process_0/d/77f416311d5f1f3825b4d056defe2c38 +0 -0
pp_minor_upstream_fixes/10000/params/ocdbt.process_0/d/8ba8ba0096dfbafbe49c7ca5110fe259 +0 -0
pp_minor_upstream_fixes/10000/params/ocdbt.process_0/d/92264bcf6f02757d05d7070ce8e437fe +0 -0
pp_minor_upstream_fixes/10000/params/ocdbt.process_0/manifest.ocdbt +0 -0
pp_minor_upstream_fixes/15000/_CHECKPOINT_METADATA +1 -0
pp_minor_upstream_fixes/15000/assets/ur10e/norm_stats.json +153 -0
pp_minor_upstream_fixes/15000/params/_METADATA +1 -0
pp_minor_upstream_fixes/15000/params/_sharding +1 -0
pp_minor_upstream_fixes/15000/params/array_metadatas/process_0 +1 -0
pp_minor_upstream_fixes/15000/params/d/f5e8d3533f72340b076311b9bce0350f +0 -0
pp_minor_upstream_fixes/15000/params/manifest.ocdbt +0 -0
pp_minor_upstream_fixes/15000/params/ocdbt.process_0/d/09eae036ddbf3eb186fc9cd80f66d552 +0 -0
pp_minor_upstream_fixes/15000/params/ocdbt.process_0/d/4009dc0308dd418626b792e878889e9f +0 -0
pp_minor_upstream_fixes/15000/params/ocdbt.process_0/d/5b57ebee95b658c7b94f4cd6de44c6b4 +0 -0
pp_minor_upstream_fixes/15000/params/ocdbt.process_0/d/7e615fde76bfeb5a6ab7097727f70ee2 +0 -0
pp_minor_upstream_fixes/15000/params/ocdbt.process_0/d/dc9f5fe7401eaaff23edd8d09a6f3031 +0 -0
pp_minor_upstream_fixes/15000/params/ocdbt.process_0/manifest.ocdbt +0 -0
pp_minor_upstream_fixes/20000/_CHECKPOINT_METADATA +1 -0
pp_minor_upstream_fixes/20000/assets/ur10e/norm_stats.json +153 -0
pp_minor_upstream_fixes/20000/params/_METADATA +1 -0
pp_minor_upstream_fixes/20000/params/_sharding +1 -0
pp_minor_upstream_fixes/20000/params/array_metadatas/process_0 +1 -0
pp_minor_upstream_fixes/20000/params/d/58bf3ba0be42ebc388d45ea1de46a975 +0 -0
pp_minor_upstream_fixes/20000/params/manifest.ocdbt +0 -0
pp_minor_upstream_fixes/20000/params/ocdbt.process_0/d/17225cd2254ebb36acea6932d1ea1f2a +0 -0
pp_minor_upstream_fixes/20000/params/ocdbt.process_0/d/1ffbdd7db61a6d8428283331a4a128be +0 -0
pp_minor_upstream_fixes/20000/params/ocdbt.process_0/d/c5132332352ed837820fac0fdf387eb8 +0 -0
pp_minor_upstream_fixes/20000/params/ocdbt.process_0/manifest.ocdbt +0 -0
pp_minor_upstream_fixes/25000/_CHECKPOINT_METADATA +1 -0
pp_minor_upstream_fixes/5000/_CHECKPOINT_METADATA +1 -0
pp_minor_upstream_fixes/5000/assets/ur10e/norm_stats.json +153 -0
pp_minor_upstream_fixes/5000/params/_METADATA +1 -0
pp_minor_upstream_fixes/5000/params/_sharding +1 -0
pp_minor_upstream_fixes/5000/params/array_metadatas/process_0 +1 -0
pp_minor_upstream_fixes/5000/params/d/f3b38ea2dffedb2c8385e2b8fd749801 +0 -0
pp_minor_upstream_fixes/5000/params/manifest.ocdbt +0 -0
pp_minor_upstream_fixes/5000/params/ocdbt.process_0/d/4af48fa9793603e295182d254abbce78 +0 -0
pp_minor_upstream_fixes/5000/params/ocdbt.process_0/d/7a79362f63fe91a9039cbddf84f06ade +0 -0
pp_minor_upstream_fixes/5000/params/ocdbt.process_0/d/f297ae085821071b9e20a902ce92375a +0 -0
pp_minor_upstream_fixes/5000/params/ocdbt.process_0/manifest.ocdbt +0 -0
pp_minor_upstream_fixes/config.yaml +100 -0
pp_minor_upstream_fixes/wandb_id.txt +1 -0

pp_minor_upstream_fixes/10000/_CHECKPOINT_METADATA ADDED Viewed

	@@ -0,0 +1 @@

+ {"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": 1765919397538294485, "commit_timestamp_nsecs": 1765919444316818734, "custom_metadata": {}}

pp_minor_upstream_fixes/10000/assets/ur10e/norm_stats.json ADDED Viewed

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pp_minor_upstream_fixes/10000/params/_METADATA ADDED Viewed

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+        0.02697891741991043,
+        0.043976008892059326,
+        0.2521141469478607,
+        0.4911520779132843
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+      "q01": [
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+        -0.0919250006914139,
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+        0.07677611165046694,
+        0.13338959372043613,
+        0.8480390548706054,
+        0.9998
+      ]
+    }
+  },
+  "sample_ratio": 0.05,
+  "dataset_infos": {
+    "robotgeneralist/pp__1": {
+      "commit_hash": "f1c11292bf450c33ec285da885c5ed1a4d0e4b9b",
+      "num_episodes": 237,
+      "num_frames": 99363
+    },
+    "robotgeneralist/pp__1__adversarial": {
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+      "num_episodes": 64,
+      "num_frames": 17906
+    },
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+      "num_episodes": 92,
+      "num_frames": 37458
+    },
+    "robotgeneralist/pp__2__rotations": {
+      "commit_hash": "9b8e02337fce6bccda7adcc4aae1edcbe5b3de41",
+      "num_episodes": 102,
+      "num_frames": 13935
+    },
+    "robotgeneralist/pp__3__with_ft": {
+      "commit_hash": "68023819f92217d1239bf1dc1229b73a32580513",
+      "num_episodes": 99,
+      "num_frames": 38424
+    },
+    "robotgeneralist/pp__3__with_ft__rotations": {
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+      "num_episodes": 49,
+      "num_frames": 7151
+    },
+    "robotgeneralist/pp__3__with_ft__adversarial_start": {
+      "commit_hash": "d0e27c579029e82f626c9ba8817ca43c610fa28e",
+      "num_episodes": 147,
+      "num_frames": 21313
+    },
+    "robotgeneralist/pp__4__with_ft": {
+      "commit_hash": "0d64bf5c9bac34d9cce59175a0becf822366bc53",
+      "num_episodes": 94,
+      "num_frames": 33046
+    },
+    "robotgeneralist/pp__5__with_ft__adversarial_target": {
+      "commit_hash": "8629d43a975c254367b84f491481fa8574416c6e",
+      "num_episodes": 48,
+      "num_frames": 10615
+    },
+    "robotgeneralist/pp__6__with_ft": {
+      "commit_hash": "e2a7c2ded8aed6663aa71fd9a1e6708d636071b1",
+      "num_episodes": 379,
+      "num_frames": 123611
+    },
+    "robotgeneralist/precise-packing-2025-10-22-part-1": {
+      "commit_hash": "defdc7ebf6871fc057ef30d21a2f71bfe3a40ce4",
+      "num_episodes": 98,
+      "num_frames": 41410
+    },
+    "robotgeneralist/precise-packing-2025-10-22-part-2": {
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+      "num_frames": 37859
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+      "commit_hash": "ae7abf3c61cb6d4f3096dc30b67731305c50d59c",
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+      "num_frames": 53341
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+      "num_episodes": 102,
+      "num_frames": 38263
+    }
+  }
+}

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+!!python/object:openpi.training.config.TrainConfig
+name: precise_packing_baseline
+project_name: openpi
+exp_name: pp_minor_upstream_fixes
+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
+    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
+        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: true
+    fourier_config: null
+    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

pp_minor_upstream_fixes/wandb_id.txt ADDED Viewed

	@@ -0,0 +1 @@


1	+ 10bkp49c