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99c2fc4 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 | #!/usr/bin/env bash
set -euo pipefail
repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
data_root="${DATA_ROOT:-$repo_root/data/RoboFactory-5Task-RGBD-Decentralized/data}"
model_root="${MODEL_ROOT:-$repo_root/artifacts/Stereo-CoRE}"
output="${OUTPUT:-$repo_root/runs/stereo_core_120k}"
workers="${WORKERS:-8}"
export PYTHONPATH="$repo_root/stereo_core:${PYTHONPATH:-}"
python -u "$repo_root/stereo_core/train_pair_route_single_b40_120k.py" \
--data "$data_root/lift_barrier/*.h5,$data_root/camera_alignment/*.h5,$data_root/three_robots_stack_cube/*.h5,$data_root/long_pipeline_delivery/*.h5,$data_root/take_photo/*.h5" \
--normalization "$model_root/training_artifacts/stereo_core/normalization.pt" \
--teacher "$model_root/training_artifacts/complementarity_teacher_seed_20260801.pt" \
--output "$output" \
--updates 120000 \
--batch-size 40 \
--save-updates 60000,80000,100000,120000 \
--sampler-mode weighted_items \
--workers "$workers" \
--relation-weight 0 \
--anchor-weight 0 \
--specialization-weight 0 \
--capability-weight 0.05 \
--counterfactual-every 4 \
--experiment-label stereo_core \
--gpu-label GPU0
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