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cs_basic_sitters_continuous_shift15/25000/params/array_metadatas/process_0

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cs_basic_sitters_continuous_shift15/config.yaml

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+!!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 []