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| train_config = {'name': 'pi05_robopro_top_cam_pt', |
| 'project_name': 'openpi', |
| 'exp_name': 'robopro_top_cam_pi05_pt', |
| 'model': {'action_dim': 32, |
| 'action_horizon': 50, |
| 'max_token_len': 200, |
| 'dtype': 'bfloat16', |
| 'paligemma_variant': 'gemma_2b', |
| 'action_expert_variant': 'gemma_300m', |
| 'pi05': True, |
| 'discrete_state_input': True}, |
| 'weight_loader': {}, |
| 'pytorch_weight_path': '/work/xuan/openpi_assets/pi05_base_pytorch', |
| 'pytorch_training_precision': 'bfloat16', |
| 'lr_schedule': {'warmup_steps': 1000, 'peak_lr': 2.5e-05, 'decay_steps': 30000, 'decay_lr': 2.5e-06}, |
| 'optimizer': {'b1': 0.9, 'b2': 0.95, 'eps': 1e-08, 'weight_decay': 1e-10, 'clip_gradient_norm': 1.0}, |
| 'ema_decay': 0.99, |
| 'freeze_filter': "'Nothing'", |
| 'data': {'repo_id': 'roboreal_lerobot', |
| 'assets': {'assets_dir': None, 'asset_id': None}, |
| 'base_config': {'repo_id': None, |
| 'asset_id': None, |
| 'norm_stats': None, |
| 'repack_transforms': {'inputs': (), 'outputs': ()}, |
| 'data_transforms': {'inputs': (), 'outputs': ()}, |
| 'model_transforms': {'inputs': (), 'outputs': ()}, |
| 'use_quantile_norm': False, |
| 'action_sequence_keys': ('actions',), |
| 'prompt_from_task': True, |
| 'rlds_data_dir': None, |
| 'action_space': None, |
| 'filter_dict_path': None}, |
| 'use_delta_joint_actions': True, |
| 'default_prompt': None, |
| 'adapt_to_pi': True, |
| 'repack_transforms': {'inputs': [{'structure': {'images': {'cam_high': 'observation.images.countertop', |
| 'cam_left_wrist': 'observation.images.left', |
| 'cam_right_wrist': 'observation.images.right'}, |
| 'state': 'observation.state', |
| 'actions': 'action', |
| 'prompt': 'prompt'}}], |
| 'outputs': ()}, |
| 'action_sequence_keys': ('action',)}, |
| 'assets_base_dir': './assets', |
| 'checkpoint_base_dir': './checkpoints', |
| 'seed': 42, |
| 'batch_size': 256, |
| 'num_workers': 16, |
| 'num_train_steps': 30000, |
| 'log_interval': 100, |
| 'save_interval': 1000, |
| 'keep_period': 5000, |
| 'overwrite': False, |
| 'resume': False, |
| 'wandb_enabled': True, |
| 'fsdp_devices': 1} |
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