| !!python/object:openpi.training.config.TrainConfig |
| name: cs_basic |
| project_name: openpi |
| exp_name: cs_basic_2 |
| 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/cs__basic_1 |
| 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: false |
| fourier_config: null |
| tolerance_s: 0.001 |
| 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 |
|
|
