| !!python/object:openpi.training.config.TrainConfig |
| name: cs_basic_sitters_continuous_shift15 |
| project_name: openpi |
| exp_name: cs_basic_sitters_continuous_shift15 |
| 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: null |
| 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.data_configs.lerobot_nomagic_urx.NomagicURXDataConfig |
| repo_ids: !!python/tuple |
| - robotgeneralist/cs__basic_4a |
| - robotgeneralist/cs__basic_4b |
| - robotgeneralist/cs__basic_4c |
| - robotgeneralist/cs__basic_4e |
| - robotgeneralist/cs__basic_4f |
| - robotgeneralist/cs__basic_4g |
| - robotgeneralist/cs__basic_4h |
| - robotgeneralist/cs__basic_4i |
| assets: !!python/object:openpi.training.config.AssetsConfig |
| assets_dir: null |
| asset_id: ur10e |
| norm_stats_sample_ratio: 0.05 |
| base_config: null |
| repack_format: robirosV2 |
| tool_mode: continuous |
| tool_shift: 15 |
| input_format: !!python/tuple |
| - absolute |
| - rotvec |
| model_format: !!python/tuple |
| - delta |
| - euler |
| output_format: null |
| binary_action_keys: !!python/tuple [] |
| fourier_config: null |
| per_action_index_norm_stats: false |
| default_prompt: null |
| assets_base_dir: ./assets |
| checkpoint_base_dir: /storage_nvme_3/mwrochna/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 |
| binary_action_keys: !!python/tuple [] |
|
|
