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  1. pusht_fourier/10000/_CHECKPOINT_METADATA +1 -0
  2. pusht_fourier/10000/assets/ur10e/norm_stats.json +288 -0
  3. pusht_fourier/10000/params/_METADATA +1 -0
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  10. pusht_fourier/15000/_CHECKPOINT_METADATA +1 -0
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  12. pusht_fourier/15000/params/_METADATA +1 -0
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  17. pusht_fourier/15000/params/ocdbt.process_0/d/9cfdf9eb8398e24ea69371cccb44c09b +0 -0
  18. pusht_fourier/15000/params/ocdbt.process_0/d/a3423b2083910eefeaa7829819aa159b +0 -0
  19. pusht_fourier/15000/params/ocdbt.process_0/d/f65b1cce39008d74895dd0db2dcb1700 +0 -0
  20. pusht_fourier/15000/params/ocdbt.process_0/manifest.ocdbt +0 -0
  21. pusht_fourier/20000/_CHECKPOINT_METADATA +1 -0
  22. pusht_fourier/20000/assets/ur10e/norm_stats.json +288 -0
  23. pusht_fourier/20000/params/_METADATA +1 -0
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  27. pusht_fourier/20000/params/ocdbt.process_0/d/2980ee0f04938b4b4a3878efe2d3e9e0 +0 -0
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  29. pusht_fourier/20000/params/ocdbt.process_0/d/da712a93fe27c0c77ddc099b887180fc +0 -0
  30. pusht_fourier/20000/params/ocdbt.process_0/manifest.ocdbt +0 -0
  31. pusht_fourier/25000/_CHECKPOINT_METADATA +1 -0
  32. pusht_fourier/25000/assets/ur10e/norm_stats.json +288 -0
  33. pusht_fourier/25000/params/_METADATA +1 -0
  34. pusht_fourier/25000/params/_sharding +1 -0
  35. pusht_fourier/25000/params/d/b3347d200cb62a6693ee959dbb300a5f +0 -0
  36. pusht_fourier/25000/params/manifest.ocdbt +0 -0
  37. pusht_fourier/25000/params/ocdbt.process_0/manifest.ocdbt +0 -0
  38. pusht_fourier/29999/_CHECKPOINT_METADATA +1 -0
  39. pusht_fourier/5000/_CHECKPOINT_METADATA +1 -0
  40. pusht_fourier/5000/assets/ur10e/norm_stats.json +288 -0
  41. pusht_fourier/5000/params/_METADATA +1 -0
  42. pusht_fourier/5000/params/_sharding +1 -0
  43. pusht_fourier/5000/params/d/f8b58155c1f7cea761443f3fe1720785 +0 -0
  44. pusht_fourier/5000/params/manifest.ocdbt +0 -0
  45. pusht_fourier/5000/params/ocdbt.process_0/d/05920fb289f92fa6f38719e91cbedda2 +0 -0
  46. pusht_fourier/5000/params/ocdbt.process_0/d/163dc5cc8099cd6319bf5a2424cfd3e9 +0 -0
  47. pusht_fourier/5000/params/ocdbt.process_0/d/1ac66c661b93219e0df5a017b60c0c5e +0 -0
  48. pusht_fourier/5000/params/ocdbt.process_0/manifest.ocdbt +0 -0
  49. pusht_fourier/config.yaml +75 -0
  50. pusht_fourier/wandb_id.txt +1 -0
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pusht_fourier/5000/params/_sharding ADDED
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@@ -0,0 +1,75 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ !!python/object:openpi.training.config.TrainConfig
2
+ name: pusht_fourier
3
+ project_name: openpi
4
+ exp_name: pusht_fourier
5
+ model: !!python/object:openpi.models.pi0.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
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+ img_variant: So400m/14
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+ weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
14
+ params_path: s3://openpi-assets/checkpoints/pi0_base/params
15
+ lr_schedule: !!python/object:openpi.training.optimizer.CosineDecaySchedule
16
+ warmup_steps: 1000
17
+ peak_lr: 2.5e-05
18
+ decay_steps: 30000
19
+ decay_lr: 2.5e-06
20
+ optimizer: !!python/object:openpi.training.optimizer.AdamW
21
+ b1: 0.9
22
+ b2: 0.95
23
+ eps: 1.0e-08
24
+ weight_decay: 1.0e-10
25
+ clip_gradient_norm: 1.0
26
+ ema_decay: 0.99
27
+ freeze_filter: !!python/name:flax.nnx.filterlib.Nothing ''
28
+ data: !!python/object:openpi.training.config.LeRobotPushTDataConfig
29
+ repo_ids: !!python/tuple
30
+ - robotgeneralist/pusht
31
+ assets: !!python/object:openpi.training.config.AssetsConfig
32
+ assets_dir: null
33
+ asset_id: ur10e
34
+ norm_stats_sample_ratio: 1.0
35
+ base_config: !!python/object:openpi.training.config.DataConfig
36
+ repo_ids: null
37
+ asset_id: null
38
+ norm_stats_data: null
39
+ norm_stats_sample_ratio: 1.0
40
+ norm_stats_dir: null
41
+ repack_transforms: !!python/object:openpi.transforms.Group
42
+ inputs: !!python/tuple []
43
+ outputs: !!python/tuple []
44
+ data_transforms: !!python/object:openpi.transforms.Group
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+ inputs: !!python/tuple []
46
+ outputs: !!python/tuple []
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+ model_transforms: !!python/object:openpi.transforms.Group
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+ inputs: !!python/tuple []
49
+ outputs: !!python/tuple []
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+ use_quantile_norm: false
51
+ action_sequence_keys: !!python/tuple
52
+ - actions
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+ fourier_config: null
54
+ prompt_from_task: true
55
+ default_prompt: null
56
+ fourier_config: !!python/object:openpi.training.fourier.FourierConfig
57
+ action_fourier_keys: !!python/tuple
58
+ - agent
59
+ action_horizon: 50
60
+ num_modes: 20
61
+ norm: backward
62
+ assets_base_dir: ./assets
63
+ checkpoint_base_dir: /storage_nvme_1/robotgeneralist/checkpoints
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+ seed: 42
65
+ batch_size: 32
66
+ num_workers: 16
67
+ num_train_steps: 30000
68
+ log_interval: 100
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+ save_interval: 1000
70
+ keep_period: 5000
71
+ overwrite: false
72
+ resume: true
73
+ wandb_enabled: true
74
+ policy_metadata: null
75
+ fsdp_devices: 1
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