Add mixed180 15 FPS horizon25 checkpoint7500

.gitattributes

@@ -108,3 +108,8 @@ mirod-cup-pi05-lora-15fps-2500/params/ocdbt.process_0/d/d87d266750bbb0379b3e9fad
 mirod-cup-pi05-lora-15fps-2500/params/ocdbt.process_0/d/dedac49d469ea4efb0e812b057f402f0 filter=lfs diff=lfs merge=lfs -text
 mirod-cup-pi05-lora-15fps-2500/params/ocdbt.process_0/d/e8847a15c5475881d95076a37b964581 filter=lfs diff=lfs merge=lfs -text
 mirod-cup-pi05-lora-15fps-2500/params/ocdbt.process_0/d/ff270308a835687b0c37cb4cca7d9b77 filter=lfs diff=lfs merge=lfs -text
+mirod-mixed180-pi05-lora-15fps-h25-7500/params/ocdbt.process_0/d/3756082eb6a748a005535b07e526ece3 filter=lfs diff=lfs merge=lfs -text
+mirod-mixed180-pi05-lora-15fps-h25-7500/params/ocdbt.process_0/d/628ecd622c21eb39ead83dca5556d4de filter=lfs diff=lfs merge=lfs -text
+mirod-mixed180-pi05-lora-15fps-h25-7500/params/ocdbt.process_0/d/7cab1ca792fc080d79edc0bc750d482a filter=lfs diff=lfs merge=lfs -text
+mirod-mixed180-pi05-lora-15fps-h25-7500/params/ocdbt.process_0/d/afa7995b3bd35d012152b57450fbad1a filter=lfs diff=lfs merge=lfs -text
+mirod-mixed180-pi05-lora-15fps-h25-7500/params/ocdbt.process_0/d/c8a7c5160da80c3b9cf5f9bb11e2f24e filter=lfs diff=lfs merge=lfs -text

mirod-mixed180-pi05-lora-15fps-h25-7500/_CHECKPOINT_METADATA

@@ -0,0 +1 @@
+{"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": 1789606438482185902, "commit_timestamp_nsecs": 1789606473076496108, "custom_metadata": {}}

mirod-mixed180-pi05-lora-15fps-h25-7500/assets/mirod-mixed180-15fps-h25/norm_stats.json

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+}

mirod-mixed180-pi05-lora-15fps-h25-7500/camera_calibration.json

@@ -0,0 +1,238 @@
+{
+  "calibration": {
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+    "observation_domain": "rectified_pinhole",
+    "projection_constraint": "omniverse_centered_square_pixels",
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+    "raw_camera_distortion_model": "opencv_brown_conrady_5",
+    "schema_version": "lmcap.piper-official-camera-urdf/v1"
+  },
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+    "camera": "opencv_x_right_y_down_z_forward",
+    "frame": "robot_base",
+    "matrix_layout": "row_major",
+    "pose_format": "[x_m,y_m,z_m,qw,qx,qy,qz]",
+    "transform_semantics": "p_A = T_A_from_B @ p_B"
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+    "distortion_model": "none",
+    "height": 126,
+    "observation_domain": "rectified_pinhole",
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+    "distortion_coefficients": [],
+    "distortion_model": "none",
+    "ee_link": "link6",
+    "height": 126,
+    "observation_domain": "rectified_pinhole",
+    "placement": {
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+      "strategy": "rigidly_attached_to_link6"
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+  }
+}

mirod-mixed180-pi05-lora-15fps-h25-7500/inference_config.json

@@ -0,0 +1,21 @@
+{
+  "config_name": "mirod-mixed180-pi05-lora-15fps-h25",
+  "action_horizon": 25,
+  "training_fps": 15,
+  "asset_id": "mirod-mixed180-15fps-h25",
+  "format": "openpi-jax-orbax",
+  "pi05": true,
+  "paligemma_variant": "gemma_2b_lora",
+  "action_expert_variant": "gemma_300m_lora",
+  "normalization": "quantile",
+  "extra_delta_transform": true,
+  "state_and_action_dim": 7,
+  "image_projection": "mirod_rectified_pinhole_v1",
+  "prompts": [
+    "Pick up the small box and stack it on the other box.",
+    "Pick up the cup and place it in the tray.",
+    "Take the box out of the tray and place it on the table on the side closest to the robot."
+  ],
+  "checkpoint_step": 7500,
+  "training_code_commit": "20bd81748eeec055be6dcee0bff4f6c349023bfe"
+}

mirod-mixed180-pi05-lora-15fps-h25-7500/params/_METADATA

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mirod-mixed180-pi05-lora-15fps-h25-7500/training_config.txt

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+TrainConfig(name='mirod-mixed180-pi05-lora-15fps-h25', project_name='openpi', exp_name='mixed180-bs64-h25-10k-15fps-seed42-20260917', model=Pi0Config(action_dim=32, action_horizon=25, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b_lora', action_expert_variant='gemma_300m_lora', pi05=True, discrete_state_input=True, pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='/data8-hdd/zliao/ljt/openpi/.cache/openpi/openpi-assets/checkpoints/pi05_base/params'), pytorch_weight_path=None, pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=250, peak_lr=2.5e-05, decay_steps=10000, decay_lr=2.5e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=None, freeze_filter=All(PathRegex(pattern=re.compile('.*llm.*'), sep='/'), Not(PathRegex(pattern=re.compile('.*lora.*'), sep='/'))), data=LeRobotLiberoDataConfig(repo_id='mirod-mixed180-15fps', assets=AssetsConfig(assets_dir='/data3/zliao/ljt/Mirod_Mixed180_Pi05_15FPS_20260917/assets', asset_id='mirod-mixed180-15fps-h25'), base_config=DataConfig(repo_id=None, repo_ids=('/data3/zliao/ljt/Mirod_Mixed180_Pi05_15FPS_20260917/data/task1/real', '/data3/zliao/ljt/Mirod_Mixed180_Pi05_15FPS_20260917/data/task1/sim', '/data3/zliao/ljt/Mirod_Mixed180_Pi05_15FPS_20260917/data/task2/real', '/data3/zliao/ljt/Mirod_Mixed180_Pi05_15FPS_20260917/data/task2/sim', '/data3/zliao/ljt/Mirod_Mixed180_Pi05_15FPS_20260917/data/task3/real', '/data3/zliao/ljt/Mirod_Mixed180_Pi05_15FPS_20260917/data/task3/sim'), asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, balance_by_source_clip=False, video_backend=None, rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=True), assets_base_dir='./assets', checkpoint_base_dir='/data3/zliao/ljt/Mirod_Mixed180_Pi05_15FPS_20260917/checkpoints', seed=42, batch_size=64, num_workers=8, num_train_steps=10000, log_interval=50, save_interval=2500, keep_period=2500, overwrite=False, resume=False, wandb_enabled=False, policy_metadata=None, fsdp_devices=1)