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| Field | Value |
|---|---|
| Base | openpi-assets/checkpoints/pi05_base/params (π0.5) |
| Training config | pi05_robodyna (openpi TrainConfig, see training_config/train_config.py) |
| Exp name | baseline_bs256_30k |
| Ckpt uploaded | ckpt-25000 (step 25000 of a planned 30000) |
| Loss at step 25000 | ~0.0046 (grad_norm ~0.05, param_norm ~1806) |
| Why not 30k | Slurm 12h time limit hit at step ~25.8k; last saved ckpt is 25000. |
python scripts/train.py pi05_robodyna \
--exp-name baseline_bs256_30k \
--overwrite \
--fsdp-devices 8 \
--batch-size 256 \
--num-train-steps 30000 \
--log-interval 100 \
--save-interval 5000 \
--keep-period 10000training_config/train_config.py):Pi0Config(pi05=True, action_horizon=50)LeRobotAlohaDataConfig(repo_id="robodyna", adapt_to_pi=False, use_delta_joint_actions=True)| Field | Value |
|---|---|
| Robot | dual UR5 + WSG grippers (14-D state/action) |
| Total episodes | 4050 |
| Total frames | 1,374,883 |
| Total tasks | 35 |
| FPS | ~16.67 |
| Cameras (3) | head, left_wrist, right_wrist |
| LeRobot version | v2.1 |
| Local path | /work/markhsp/datasets/robodyna (7.5 GB) |
| Build script | training_config/build_robodyna_lerobot.py |
| norm_stats | Baked into ckpt-25000/assets/robodyna/norm_stats.json |
ckpt-25000/
├── _CHECKPOINT_METADATA
├── assets/
│ └── robodyna/
│ └── norm_stats.json # normalization stats (baked in)
└── params/ # π0.5 weights (Orbax checkpoint)
training_config/
├── train_config.py # excerpt of openpi TrainConfig for pi05_robodyna
├── train_30k.sbatch # slurm launch script (as-run)
├── pi05_robodyna_config.patch # adds the TrainConfig to openpi
├── pi05_robodyna_workers16.patch # num_workers=16 adjustment
├── build_robodyna_lerobot.py # dataset builder (source→LeRobot v2.1)
└── compute_norm_stats_fast.py # norm_stats generatortrain_state/ (~31 GB Orbax optimizer/rng state) is intentionally NOT included. To resume, re-train from the base and load params/.