1# ringonpole task ablation: full dataset, both tasks (199 eps / 158691 frames; prompts
2# come from the per-episode task strings). Pair: ringonpole-put-bs64-ah60.yaml.
3# bs64 needs 2x H100-80G at fsdp=1 (32/card, the full-fine-tune ceiling per card);
4# stock openpi has no gradient accumulation, so 1 GPU would force bs32 instead.
5
6name: qualia_pi05
7exp_name: ringonpole-both-bs64-ah60
8repo_id: qualiadev/ringonpole-v21
9checkpoint_base_dir: /ephemeral/checkpoints
10project_name: qualia-pi05
11hf_repo_id: qualiadev/pi05-ringonpole-both-bs64-ah60
12
13# ── Data: bi_dk1_follower, 14-D state/action, 3 cameras (the left arm is parked in
14# every demo; kept in full anyway) ──────────────────────────────────────────
15data_layer: generic
16cameras:
17 cam_1: observation.images.base
18 cam_2: observation.images.left_wrist
19 cam_3: observation.images.right_wrist
20relativize: true # dataset actions are absolute joint positions
21bimanual: true
22
23# ── Model ──────────────────────────────────────────────────────────────────
24action_horizon: 60 # 2.0 s chunks at 30 fps
25
26# ── Hyperparameters ─────────────────────────────────────────────────────────
27num_train_steps: 15000 # ~6 epochs (158691 frames / bs 64)
28save_interval: 2500
29keep_period: null # keep only the latest save on disk; every save still
30 # publishes params to HF as a step-<N> revision
31batch_size: 64
32num_workers: 16 # pyav decode (leak-free) is ~3x slower per worker than
33 # torchcodec; 16 keeps 2x headroom over the bs64 frame rate
34seed: 42
35fsdp_devices: 1
36ema_decay: null # openpi's pi05 fine-tune anchor uses 0.99; off in our stack
37overwrite: false
38resume: true # fresh dir starts from step 0; a re-run of this
39 # exp_name continues from its last on-disk checkpoint
40optimizer:
41 b1: 0.9
42 b2: 0.95
43 eps: 1.0e-8
44 weight_decay: 1.0e-10
45 clip_gradient_norm: 1.0
46lr_schedule:
47 warmup_steps: 1000
48 peak_lr: 2.5e-5 # matches openpi's pi05_aloha_pen_uncap anchor AT bs64
49 decay_steps: 15000 # match num_train_steps
50 decay_lr: 2.5e-6
