Upload config.json with huggingface_hub
Browse files- config.json +84 -0
config.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "pi0.5_LoRA_finetune_so100",
|
| 3 |
+
"project_name": "openpi",
|
| 4 |
+
"exp_name": "pi05_so100_lora_finetune",
|
| 5 |
+
"model": {
|
| 6 |
+
"action_dim": 32,
|
| 7 |
+
"action_horizon": 50,
|
| 8 |
+
"max_token_len": 200,
|
| 9 |
+
"dtype": "bfloat16",
|
| 10 |
+
"paligemma_variant": "gemma_2b_lora",
|
| 11 |
+
"action_expert_variant": "gemma_300m_lora",
|
| 12 |
+
"pi05": true,
|
| 13 |
+
"discrete_state_input": true
|
| 14 |
+
},
|
| 15 |
+
"weight_loader": {
|
| 16 |
+
"params_path": "gs://openpi-assets/checkpoints/pi05_base/params"
|
| 17 |
+
},
|
| 18 |
+
"pytorch_weight_path": null,
|
| 19 |
+
"pytorch_training_precision": "bfloat16",
|
| 20 |
+
"lr_schedule": {
|
| 21 |
+
"warmup_steps": 1000,
|
| 22 |
+
"peak_lr": 2.5e-05,
|
| 23 |
+
"decay_steps": 30000,
|
| 24 |
+
"decay_lr": 2.5e-06
|
| 25 |
+
},
|
| 26 |
+
"optimizer": {
|
| 27 |
+
"b1": 0.9,
|
| 28 |
+
"b2": 0.95,
|
| 29 |
+
"eps": 1e-08,
|
| 30 |
+
"weight_decay": 1e-10,
|
| 31 |
+
"clip_gradient_norm": 1.0
|
| 32 |
+
},
|
| 33 |
+
"ema_decay": null,
|
| 34 |
+
"freeze_filter": "All",
|
| 35 |
+
"data": {
|
| 36 |
+
"repo_id": "LegrandFrederic/place-food-in-bowl",
|
| 37 |
+
"assets": {
|
| 38 |
+
"assets_dir": null,
|
| 39 |
+
"asset_id": null
|
| 40 |
+
},
|
| 41 |
+
"base_config": {
|
| 42 |
+
"repo_id": null,
|
| 43 |
+
"asset_id": null,
|
| 44 |
+
"norm_stats": null,
|
| 45 |
+
"repack_transforms": {
|
| 46 |
+
"inputs": [],
|
| 47 |
+
"outputs": []
|
| 48 |
+
},
|
| 49 |
+
"data_transforms": {
|
| 50 |
+
"inputs": [],
|
| 51 |
+
"outputs": []
|
| 52 |
+
},
|
| 53 |
+
"model_transforms": {
|
| 54 |
+
"inputs": [],
|
| 55 |
+
"outputs": []
|
| 56 |
+
},
|
| 57 |
+
"use_quantile_norm": false,
|
| 58 |
+
"action_sequence_keys": [
|
| 59 |
+
"action"
|
| 60 |
+
],
|
| 61 |
+
"prompt_from_task": true,
|
| 62 |
+
"rlds_data_dir": null,
|
| 63 |
+
"action_space": null,
|
| 64 |
+
"filter_dict_path": null
|
| 65 |
+
},
|
| 66 |
+
"image_keys": [
|
| 67 |
+
"observation.images.laptop"
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"assets_base_dir": "./assets",
|
| 71 |
+
"checkpoint_base_dir": "./checkpoints",
|
| 72 |
+
"seed": 42,
|
| 73 |
+
"batch_size": 32,
|
| 74 |
+
"num_workers": 8,
|
| 75 |
+
"num_train_steps": 500,
|
| 76 |
+
"log_interval": 100,
|
| 77 |
+
"save_interval": 1000,
|
| 78 |
+
"keep_period": 5000,
|
| 79 |
+
"overwrite": false,
|
| 80 |
+
"resume": false,
|
| 81 |
+
"wandb_enabled": true,
|
| 82 |
+
"policy_metadata": null,
|
| 83 |
+
"fsdp_devices": 1
|
| 84 |
+
}
|