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Browse files- ppsc_baseline/10000/_CHECKPOINT_METADATA +1 -0
- ppsc_baseline/10000/assets/ur10e/norm_stats.json +388 -0
- ppsc_baseline/10000/params/_METADATA +1 -0
- ppsc_baseline/10000/params/_sharding +1 -0
- ppsc_baseline/10000/params/d/0f0195bd6f515fb5c7d277075596ccbc +0 -0
- ppsc_baseline/10000/params/manifest.ocdbt +0 -0
- ppsc_baseline/10000/params/ocdbt.process_0/d/7f745a6776aa73c253eeb79e25f13f7e +0 -0
- ppsc_baseline/10000/params/ocdbt.process_0/d/b0a30222c8b5f0c23c49a3b59d94cf32 +0 -0
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- ppsc_baseline/15000/_CHECKPOINT_METADATA +1 -0
- ppsc_baseline/15000/assets/ur10e/norm_stats.json +388 -0
- ppsc_baseline/15000/params/_METADATA +1 -0
- ppsc_baseline/15000/params/_sharding +1 -0
- ppsc_baseline/15000/params/d/6cb57af5aa32b46f6bc91c48431ef7f0 +0 -0
- ppsc_baseline/15000/params/manifest.ocdbt +0 -0
- ppsc_baseline/15000/params/ocdbt.process_0/d/7043684b5e65ede07bdfcb5f1edeb54d +0 -0
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- ppsc_baseline/15000/params/ocdbt.process_0/manifest.ocdbt +0 -0
- ppsc_baseline/20000/_CHECKPOINT_METADATA +1 -0
- ppsc_baseline/20000/assets/ur10e/norm_stats.json +388 -0
- ppsc_baseline/20000/params/_METADATA +1 -0
- ppsc_baseline/20000/params/_sharding +1 -0
- ppsc_baseline/20000/params/d/8e2e1b5225262b8ba07018ed6fef905b +0 -0
- ppsc_baseline/20000/params/manifest.ocdbt +0 -0
- ppsc_baseline/20000/params/ocdbt.process_0/d/1768b9effdf4fc7c8567bf202737995b +0 -0
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- ppsc_baseline/20000/params/ocdbt.process_0/manifest.ocdbt +0 -0
- ppsc_baseline/25000/_CHECKPOINT_METADATA +1 -0
- ppsc_baseline/25000/params/_METADATA +1 -0
- ppsc_baseline/25000/params/_sharding +1 -0
- ppsc_baseline/25000/params/manifest.ocdbt +0 -0
- ppsc_baseline/29999/_CHECKPOINT_METADATA +1 -0
- ppsc_baseline/5000/_CHECKPOINT_METADATA +1 -0
- ppsc_baseline/5000/assets/ur10e/norm_stats.json +388 -0
- ppsc_baseline/5000/params/_METADATA +1 -0
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- ppsc_baseline/config.yaml +93 -0
- ppsc_baseline/wandb_id.txt +1 -0
ppsc_baseline/10000/_CHECKPOINT_METADATA
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{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1758670647881387093, "commit_timestamp_nsecs": 1758670683330273653, "custom": {}}
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ppsc_baseline/10000/assets/ur10e/norm_stats.json
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ppsc_baseline/10000/params/d/0f0195bd6f515fb5c7d277075596ccbc
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ppsc_baseline/10000/params/manifest.ocdbt
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ppsc_baseline/10000/params/ocdbt.process_0/d/7f745a6776aa73c253eeb79e25f13f7e
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ppsc_baseline/10000/params/ocdbt.process_0/d/b0a30222c8b5f0c23c49a3b59d94cf32
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ppsc_baseline/10000/params/ocdbt.process_0/manifest.ocdbt
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ppsc_baseline/15000/_CHECKPOINT_METADATA
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{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1758677177539103796, "commit_timestamp_nsecs": 1758677250004715110, "custom": {}}
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ppsc_baseline/15000/assets/ur10e/norm_stats.json
ADDED
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ppsc_baseline/15000/params/_METADATA
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ppsc_baseline/15000/params/manifest.ocdbt
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ppsc_baseline/20000/_CHECKPOINT_METADATA
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{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1758683528555990190, "commit_timestamp_nsecs": 1758683551090881198, "custom": {}}
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ppsc_baseline/20000/assets/ur10e/norm_stats.json
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@@ -0,0 +1,388 @@
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ppsc_baseline/20000/params/_sharding
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|
ppsc_baseline/25000/params/manifest.ocdbt
ADDED
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Binary file (117 Bytes). View file
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ppsc_baseline/29999/_CHECKPOINT_METADATA
ADDED
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{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1758696140442143442, "commit_timestamp_nsecs": 1758696164741936553, "custom": {}}
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ppsc_baseline/5000/_CHECKPOINT_METADATA
ADDED
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@@ -0,0 +1 @@
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+
{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1758663822646847470, "commit_timestamp_nsecs": 1758664149379289869, "custom": {}}
|
ppsc_baseline/5000/assets/ur10e/norm_stats.json
ADDED
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@@ -0,0 +1,388 @@
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| 1 |
+
{
|
| 2 |
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"norm_stats": {
|
| 3 |
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"state": {
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| 4 |
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"mean": [
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ppsc_baseline/5000/params/_sharding
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| 1 |
+
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ppsc_baseline/5000/params/ocdbt.process_0/manifest.ocdbt
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ppsc_baseline/config.yaml
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| 1 |
+
!!python/object:openpi.training.config.TrainConfig
|
| 2 |
+
name: ppsc_baseline
|
| 3 |
+
project_name: openpi
|
| 4 |
+
exp_name: ppsc_baseline
|
| 5 |
+
model: !!python/object:openpi.models.pi0.Pi0Config
|
| 6 |
+
action_dim: 32
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| 7 |
+
action_horizon: 50
|
| 8 |
+
max_token_len: 48
|
| 9 |
+
dtype: bfloat16
|
| 10 |
+
paligemma_variant: gemma_2b
|
| 11 |
+
action_expert_variant: gemma_300m
|
| 12 |
+
img_variant: So400m/14
|
| 13 |
+
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.LeRobotNomagicURXDataConfig
|
| 29 |
+
repo_ids: !!python/tuple
|
| 30 |
+
- robotgeneralist/precise-packing-robiros-fixed-3
|
| 31 |
+
- robotgeneralist/precise-packing-robiros-fixed-3-adversarial
|
| 32 |
+
- robotgeneralist/precise-packing-robiros-fixed-3-additional-1
|
| 33 |
+
- robotgeneralist/precise-packing-robiros-fixed-3-additional-2
|
| 34 |
+
- robotgeneralist/precise-packing-robiros-fixed-3-additional-3
|
| 35 |
+
- robotgeneralist/precise-packing-robiros-fixed-3-additional-4
|
| 36 |
+
- robotgeneralist/precise-packing-robiros-fixed-3-additional-dense
|
| 37 |
+
- robotgeneralist/simple-collecting-robiros-4-recovery
|
| 38 |
+
- robotgeneralist/simple-collecting-robiros-5-recovery
|
| 39 |
+
- robotgeneralist/simple-collecting-robiros-6
|
| 40 |
+
- robotgeneralist/simple-collecting-robiros-7
|
| 41 |
+
- robotgeneralist/simple-collecting-robiros-8
|
| 42 |
+
- robotgeneralist/simple-collecting-robiros-9
|
| 43 |
+
- robotgeneralist/simple-collecting-robiros-10
|
| 44 |
+
- robotgeneralist/simple-collecting-robiros-11
|
| 45 |
+
- robotgeneralist/simple-collecting-robiros-dark
|
| 46 |
+
- robotgeneralist/simple-collecting-robiros-darklight
|
| 47 |
+
- robotgeneralist/simple-collecting-robiros-darklight2
|
| 48 |
+
- robotgeneralist/simple-collecting-shorts-1
|
| 49 |
+
- robotgeneralist/simple-collecting-shorts-2
|
| 50 |
+
- robotgeneralist/simple-collecting-shorts-3
|
| 51 |
+
assets: !!python/object:openpi.training.config.AssetsConfig
|
| 52 |
+
assets_dir: null
|
| 53 |
+
asset_id: ur10e
|
| 54 |
+
norm_stats_sample_ratio: 1.0
|
| 55 |
+
base_config: !!python/object:openpi.training.config.DataConfig
|
| 56 |
+
repo_ids: null
|
| 57 |
+
asset_id: null
|
| 58 |
+
norm_stats_data: null
|
| 59 |
+
norm_stats_sample_ratio: 1.0
|
| 60 |
+
norm_stats_dir: null
|
| 61 |
+
repack_transforms: !!python/object:openpi.transforms.Group
|
| 62 |
+
inputs: !!python/tuple []
|
| 63 |
+
outputs: !!python/tuple []
|
| 64 |
+
data_transforms: !!python/object:openpi.transforms.Group
|
| 65 |
+
inputs: !!python/tuple []
|
| 66 |
+
outputs: !!python/tuple []
|
| 67 |
+
model_transforms: !!python/object:openpi.transforms.Group
|
| 68 |
+
inputs: !!python/tuple []
|
| 69 |
+
outputs: !!python/tuple []
|
| 70 |
+
use_quantile_norm: false
|
| 71 |
+
action_sequence_keys: !!python/tuple
|
| 72 |
+
- actions
|
| 73 |
+
fourier_config: null
|
| 74 |
+
prompt_from_task: true
|
| 75 |
+
default_prompt: null
|
| 76 |
+
use_poses: true
|
| 77 |
+
train_on_deltas: true
|
| 78 |
+
end_effector_frame: false
|
| 79 |
+
fourier_config: null
|
| 80 |
+
assets_base_dir: ./assets
|
| 81 |
+
checkpoint_base_dir: /storage_nvme_1/robotgeneralist/checkpoints
|
| 82 |
+
seed: 42
|
| 83 |
+
batch_size: 32
|
| 84 |
+
num_workers: 16
|
| 85 |
+
num_train_steps: 30000
|
| 86 |
+
log_interval: 100
|
| 87 |
+
save_interval: 1000
|
| 88 |
+
keep_period: 5000
|
| 89 |
+
overwrite: false
|
| 90 |
+
resume: true
|
| 91 |
+
wandb_enabled: true
|
| 92 |
+
policy_metadata: null
|
| 93 |
+
fsdp_devices: 1
|
ppsc_baseline/wandb_id.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
kz6isvbt
|