| env: |
| train: |
| env_type: wan_wm |
| task_suite_name: libero_spatial |
| wm_env_type: libero |
| total_num_envs: 128 |
| auto_reset: false |
| ignore_terminations: false |
| max_steps_per_rollout_epoch: 240 |
| max_episode_steps: 240 |
| use_rel_reward: true |
| reward_coef: 5.0 |
| reset_gripper_open: true |
| is_eval: false |
| seed: 0 |
| group_size: 8 |
| use_fixed_reset_state_ids: true |
| use_ordered_reset_state_ids: false |
| specific_reset_id: null |
| video_cfg: |
| save_video: true |
| info_on_video: false |
| video_base_dir: '@BUNDLE@/runs/reference/video/train' |
| record_every_n_episodes: 4 |
| reward_plot_on_video: true |
| reward_plot_show_return: false |
| reward_plot_save_metrics: true |
| reward_plot_height: 48 |
| reward_plot_max_points: 30 |
| fps: 2 |
| enable_offload: true |
| wan_wm_hf_ckpt_path: '@BUNDLE@/config/updated_wan_deployment' |
| VAE_path: '@BUNDLE@/assets/wan_baseline/Wan2.2_VAE.pth' |
| model_path: '@BUNDLE@/config/updated_wan_deployment/model-00001.safetensors' |
| enable_kir: true |
| initial_image_path: '@BUNDLE@/assets/wan_baseline/dataset/' |
| num_inference_steps: 5 |
| chunk: 8 |
| condition_frame_length: 5 |
| image_size: |
| - 256 |
| - 256 |
| num_frames: 13 |
| reward_model: |
| type: ResnetRewModel |
| from_pretrained: '@BUNDLE@/assets/wan_baseline/resnet_rm.pth' |
| shared_wan_pool: |
| enabled: true |
| target_job_gib: 75.0 |
| startup_target_job_gib: 65.0 |
| device_headroom_gib: 3.5 |
| rpc_timeout_seconds: 1200.0 |
| rpc_root: '' |
| log_dir: '' |
| memory_guard: |
| enabled: false |
| poll_seconds: 5.0 |
| stable_checks: 2 |
| foreign_limit_mib: 256.0 |
| imagination_free_gib: 38.0 |
| update_free_gib: 12.0 |
| checkpoint_each_step: true |
| retain_imagination_cache: true |
| rollout_epoch: 8 |
| mask_after_first_success: true |
| skip_successful_env_generation: true |
| fast_frame_transfer: true |
| success_reward_threshold: 0.9 |
| success_consecutive_frames: 1 |
| state_dim: 8 |
| use_libero_state_bridge: false |
| use_policy_state: false |
| debug_io: false |
| use_kir_frame_pool: true |
| kir_frame_pool_path: '@BUNDLE@/config/kir_pool' |
| kir_fraction: 0.2832369942196532 |
| cosmos_wrist_action_horizon: 8 |
| use_cosmos_wrist: true |
| cosmos_wrist_use_wovr_contract: true |
| cosmos_gripper_action_mode: already_cosmos |
| cosmos_wrist_primary_reference: true |
| cosmos_wrist_input_camera_space: rlinf_runtime_rot180 |
| cosmos_wrist_guidance: 1.0 |
| cosmos_use_predicted_proprio: false |
| worldpilot_root: '@BUNDLE@/project/third_party/WorldPilot' |
| cosmos_host: 127.0.0.1 |
| cosmos_port: 8055 |
| cosmos_batch_size: 4 |
| cosmos_wrist_parallel_generation: false |
| cosmos_image_size: |
| - 224 |
| - 224 |
| cosmos_future_denoising_steps: 5 |
| cosmos_reward_mode: dense |
| cosmos_value_enabled: false |
| cosmos_value_host: 127.0.0.1 |
| cosmos_value_port: 8056 |
| video_show_shadow_wrist: false |
| init_params: |
| camera_heights: 256 |
| camera_widths: 256 |
| openpi_gripper_action_mode: libero_01_to_signed |
| cosmos_wrist_cross_view_primary_history: false |
| cosmos_endpoints: |
| - host: 127.0.0.1 |
| port: 18759 |
| - host: 127.0.0.1 |
| port: 18760 |
| - host: 127.0.0.1 |
| port: 18761 |
| - host: 127.0.0.1 |
| port: 18762 |
| - host: 127.0.0.1 |
| port: 18763 |
| - host: 127.0.0.1 |
| port: 18764 |
| - host: 127.0.0.1 |
| port: 18765 |
| - host: 127.0.0.1 |
| port: 18766 |
| eval: |
| env_type: libero |
| task_suite_name: libero_spatial |
| total_num_envs: 64 |
| auto_reset: true |
| ignore_terminations: false |
| max_steps_per_rollout_epoch: 240 |
| max_episode_steps: 240 |
| use_rel_reward: true |
| use_step_penalty: false |
| reward_coef: 1.0 |
| reset_gripper_open: true |
| is_eval: true |
| seed: 0 |
| group_size: 1 |
| use_fixed_reset_state_ids: true |
| use_ordered_reset_state_ids: true |
| specific_reset_id: null |
| video_cfg: |
| save_video: true |
| info_on_video: false |
| video_base_dir: '@BUNDLE@/runs/reference/video/eval' |
| reward_plot_on_video: true |
| reward_plot_show_return: false |
| reward_plot_save_metrics: true |
| reward_plot_height: 48 |
| reward_plot_max_points: 30 |
| fps: 2 |
| init_params: |
| camera_heights: 256 |
| camera_widths: 256 |
| rollout_epoch: 8 |
| episodes_per_task: 50 |
| openpi_gripper_action_mode: libero_01_to_signed |
| group_name: EnvGroup |
| actor: |
| model: |
| model_type: openpi |
| model_path: '@BUNDLE@/weights/pi05/global_step_12000' |
| precision: null |
| num_action_chunks: 8 |
| action_dim: 7 |
| is_lora: false |
| lora_rank: 32 |
| use_proprio: true |
| num_steps: 3 |
| add_value_head: false |
| openpi: |
| config_name: pi05_libero |
| num_images_in_input: 2 |
| noise_level: 0.5 |
| action_chunk: 8 |
| num_steps: 3 |
| train_expert_only: true |
| action_env_dim: 7 |
| noise_method: flow_sde |
| add_value_head: false |
| value_after_vlm: false |
| value_vlm_mode: mean_token |
| detach_critic_input: null |
| collect_online_nft_state: false |
| use_dsrl: false |
| dsrl_state_dim: 8 |
| dsrl_action_noise_dim: 32 |
| dsrl_num_q_heads: 10 |
| dsrl_agg_q: mean |
| dsrl_image_latent_dim: 64 |
| dsrl_state_latent_dim: 64 |
| dsrl_hidden_dims: |
| - 128 |
| - 128 |
| - 128 |
| checkpoint_format: native |
| action_horizon: 10 |
| discrete_state_input: false |
| openpi_data: |
| norm_stats_path: '@BUNDLE@/weights/pi05/global_step_12000/physical-intelligence/libero/norm_stats.json' |
| fsdp_config: |
| strategy: fsdp |
| sharding_strategy: no_shard |
| gradient_checkpointing: false |
| cpu_offload: false |
| offload_pin_memory: false |
| reshard_after_forward: true |
| enable_gradient_accumulation: true |
| forward_prefetch: false |
| limit_all_gathers: false |
| backward_prefetch: null |
| use_orig_params: false |
| use_liger_kernel: false |
| mixed_precision: |
| param_dtype: null |
| reduce_dtype: null |
| buffer_dtype: null |
| amp_autocast: |
| enabled: false |
| precision: bf16 |
| grad_scaler: |
| enabled: false |
| save_full_model_weights: true |
| save_training_state_at_steps: |
| - 50 |
| - 60 |
| group_name: ActorGroup |
| shared_wan_pool: |
| enabled: true |
| target_job_gib: 75.0 |
| startup_target_job_gib: 65.0 |
| device_headroom_gib: 3.5 |
| rpc_timeout_seconds: 1200.0 |
| rpc_root: '' |
| log_dir: '' |
| gpu_memory_profile: |
| enabled: false |
| expected_optimizer_updates: null |
| training_backend: fsdp |
| micro_batch_size: 32 |
| global_batch_size: 2048 |
| seed: 42 |
| enable_offload: false |
| optim: |
| lr: 5.0e-06 |
| adam_beta1: 0.9 |
| adam_beta2: 0.95 |
| adam_eps: 1.0e-08 |
| weight_decay: 0.01 |
| clip_grad: 1.0 |
| memory_pool: |
| enabled: true |
| target_fraction: 0.8 |
| device_headroom_gib: 12.0 |
| weight_syncer: |
| type: patch |
| patch: |
| snapshot_device: cpu |
| delta_encoding: true |
| compression: none |
| init_sync: |
| enabled: true |
| prefixes: null |
| bucket_size: 134217728 |
| cluster: |
| num_nodes: 1 |
| component_placement: |
| actor,env,rollout: 0-7 |
| runner: |
| task_type: embodied |
| logger: |
| log_path: '@BUNDLE@/runs/reference' |
| project_name: rlinf |
| experiment_name: spatial_followup_primary |
| logger_backends: |
| - tensorboard |
| max_epochs: 60 |
| max_steps: 60 |
| only_eval: false |
| val_check_interval: 5 |
| save_interval: 5 |
| resume_dir: '@BUNDLE@/weights/policy/global_step_40' |
| ckpt_path: null |
| overlap_env_bootstrap: false |
| memory_guard: |
| enabled: false |
| poll_seconds: 5.0 |
| stable_checks: 2 |
| foreign_limit_mib: 256.0 |
| imagination_free_gib: 38.0 |
| update_free_gib: 12.0 |
| checkpoint_each_step: true |
| retain_imagination_cache: true |
| pi05_checkpoint_root: '@BUNDLE@/weights/pi05/global_step_12000' |
| algorithm: |
| normalize_advantages: true |
| kl_penalty: kl |
| group_size: 8 |
| reward_type: action_level |
| logprob_type: token_level |
| entropy_type: token_level |
| adv_type: grpo |
| loss_type: actor |
| loss_agg_func: token-mean |
| kl_beta: 0.0 |
| entropy_bonus: 0.0 |
| clip_ratio_high: 0.28 |
| clip_ratio_low: 0.2 |
| clip_ratio_c: 3.0 |
| gamma: 0.99 |
| gae_lambda: 0.95 |
| reward_coef: 5.0 |
| filter_rewards: true |
| rewards_lower_bound: 0.5 |
| rewards_upper_bound: 4.5 |
| update_epoch: 1 |
| rollout: |
| sampling_params: |
| do_sample: true |
| temperature_train: 1.6 |
| temperature_eval: 1.6 |
| top_k: -1 |
| top_p: 1.0 |
| repetition_penalty: 1.0 |
| group_name: RolloutGroup |
| generation_backend: huggingface |
| recompute_logprobs: false |
| enable_offload: false |
| pipeline_stage_num: 1 |
| model: |
| model_path: '@BUNDLE@/weights/pi05/global_step_12000' |
| precision: null |
| model_type: openpi |
| num_action_chunks: 8 |
| num_steps: 3 |
| openpi: |
| config_name: pi05_libero |
| num_images_in_input: 2 |
| action_chunk: 8 |
| action_env_dim: 7 |
| noise_level: 0.5 |
| num_steps: 3 |
| noise_method: flow_sde |
| checkpoint_format: native |
| action_horizon: 10 |
| discrete_state_input: false |
| openpi_data: |
| norm_stats_path: '@BUNDLE@/weights/pi05/global_step_12000/physical-intelligence/libero/norm_stats.json' |
| is_lora: false |
| reward: |
| use_reward_model: false |
| critic: |
| use_critic_model: false |
|
|
