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  1. pusht_standard/10000/_CHECKPOINT_METADATA +1 -0
  2. pusht_standard/10000/assets/ur10e/norm_stats.json +288 -0
  3. pusht_standard/10000/params/_METADATA +1 -0
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  8. pusht_standard/10000/params/ocdbt.process_0/d/587a2cd140183389a04029c638a25a1a +0 -0
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  12. pusht_standard/15000/_CHECKPOINT_METADATA +1 -0
  13. pusht_standard/15000/assets/ur10e/norm_stats.json +288 -0
  14. pusht_standard/15000/params/_METADATA +1 -0
  15. pusht_standard/15000/params/_sharding +1 -0
  16. pusht_standard/15000/params/d/7dc118e78d01655c35ff478f21ea7b4b +0 -0
  17. pusht_standard/15000/params/manifest.ocdbt +0 -0
  18. pusht_standard/15000/params/ocdbt.process_0/d/16c8d63fefb56fecac53257d99251236 +0 -0
  19. pusht_standard/15000/params/ocdbt.process_0/d/28da11a9b33dee0afba8e2494da950a2 +0 -0
  20. pusht_standard/15000/params/ocdbt.process_0/d/4e83b0a5aea16f6c4c72e2f3d16b7db3 +0 -0
  21. pusht_standard/15000/params/ocdbt.process_0/d/e7dc61ef60444676e33283741e483d2c +0 -0
  22. pusht_standard/15000/params/ocdbt.process_0/manifest.ocdbt +0 -0
  23. pusht_standard/20000/_CHECKPOINT_METADATA +1 -0
  24. pusht_standard/20000/assets/ur10e/norm_stats.json +288 -0
  25. pusht_standard/20000/params/_METADATA +1 -0
  26. pusht_standard/20000/params/_sharding +1 -0
  27. pusht_standard/20000/params/d/4ae0bd1ff8fe857960cd0db4ad280aa8 +0 -0
  28. pusht_standard/20000/params/manifest.ocdbt +0 -0
  29. pusht_standard/20000/params/ocdbt.process_0/d/a60b050fc51d2e3371a191616bb8b59d +0 -0
  30. pusht_standard/20000/params/ocdbt.process_0/d/b9ab8c760ce806fba5ffecc97c5a1264 +0 -0
  31. pusht_standard/20000/params/ocdbt.process_0/manifest.ocdbt +0 -0
  32. pusht_standard/25000/_CHECKPOINT_METADATA +1 -0
  33. pusht_standard/25000/assets/ur10e/norm_stats.json +288 -0
  34. pusht_standard/25000/params/_METADATA +1 -0
  35. pusht_standard/25000/params/_sharding +1 -0
  36. pusht_standard/25000/params/manifest.ocdbt +0 -0
  37. pusht_standard/29999/_CHECKPOINT_METADATA +1 -0
  38. pusht_standard/5000/_CHECKPOINT_METADATA +1 -0
  39. pusht_standard/5000/assets/ur10e/norm_stats.json +288 -0
  40. pusht_standard/5000/params/_METADATA +1 -0
  41. pusht_standard/5000/params/_sharding +1 -0
  42. pusht_standard/5000/params/d/2e40b4fd9eeebca860e7da9ddc3d8adb +0 -0
  43. pusht_standard/5000/params/manifest.ocdbt +0 -0
  44. pusht_standard/5000/params/ocdbt.process_0/d/03379a9f9bcdd1fccac1aea5b917b9d1 +0 -0
  45. pusht_standard/5000/params/ocdbt.process_0/d/06b040a2684d6ef431c92ffcb21a4287 +0 -0
  46. pusht_standard/5000/params/ocdbt.process_0/d/0a9f914b95ba33437a7df3e775706dec +0 -0
  47. pusht_standard/5000/params/ocdbt.process_0/d/0dab7995915e8a6e1084144d70821676 +0 -0
  48. pusht_standard/5000/params/ocdbt.process_0/manifest.ocdbt +0 -0
  49. pusht_standard/config.yaml +70 -0
  50. pusht_standard/wandb_id.txt +1 -0
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pusht_standard/5000/params/_sharding ADDED
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1
+ !!python/object:openpi.training.config.TrainConfig
2
+ name: pusht_standard
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+ project_name: openpi
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+ exp_name: pusht_standard
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+ model: !!python/object:openpi.models.pi0.Pi0Config
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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
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+ 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
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+ params_path: s3://openpi-assets/checkpoints/pi0_base/params
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+ lr_schedule: !!python/object:openpi.training.optimizer.CosineDecaySchedule
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+ warmup_steps: 1000
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+ peak_lr: 2.5e-05
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+ decay_steps: 30000
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+ decay_lr: 2.5e-06
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+ optimizer: !!python/object:openpi.training.optimizer.AdamW
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+ b1: 0.9
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+ b2: 0.95
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+ eps: 1.0e-08
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+ weight_decay: 1.0e-10
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+ clip_gradient_norm: 1.0
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+ ema_decay: 0.99
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+ freeze_filter: !!python/name:flax.nnx.filterlib.Nothing ''
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+ data: !!python/object:openpi.training.config.LeRobotPushTDataConfig
29
+ repo_ids: !!python/tuple
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+ - robotgeneralist/pusht
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+ assets: !!python/object:openpi.training.config.AssetsConfig
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+ assets_dir: null
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+ asset_id: ur10e
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+ norm_stats_sample_ratio: 1.0
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+ base_config: !!python/object:openpi.training.config.DataConfig
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+ repo_ids: null
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+ 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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+ repack_transforms: !!python/object:openpi.transforms.Group
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+ inputs: !!python/tuple []
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+ outputs: !!python/tuple []
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+ data_transforms: !!python/object:openpi.transforms.Group
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+ inputs: !!python/tuple []
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+ outputs: !!python/tuple []
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+ model_transforms: !!python/object:openpi.transforms.Group
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+ inputs: !!python/tuple []
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+ outputs: !!python/tuple []
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+ use_quantile_norm: false
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+ action_sequence_keys: !!python/tuple
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+ - actions
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+ fourier_config: null
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+ prompt_from_task: true
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+ default_prompt: null
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+ fourier_config: null
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+ assets_base_dir: ./assets
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+ checkpoint_base_dir: /storage_nvme_1/robotgeneralist/checkpoints
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+ seed: 42
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+ batch_size: 32
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+ num_workers: 16
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+ num_train_steps: 30000
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+ log_interval: 100
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+ save_interval: 1000
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+ keep_period: 5000
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+ overwrite: false
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+ resume: true
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+ wandb_enabled: true
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+ policy_metadata: null
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+ fsdp_devices: 1
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