| 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 | |