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0000000000000000000000000000000000000000..5851f73e036f489c0875bee2eea1847977ad3ea0 --- /dev/null +++ b/cs_basic_3/config.yaml @@ -0,0 +1,94 @@ +!!python/object:openpi.training.config.TrainConfig +name: cs_basic +project_name: openpi +exp_name: cs_basic_3 +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: 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