Upload folder using huggingface_hub
Browse files- .gitattributes +2 -0
- assets/arx_l5/norm_stats.json +80 -0
- best/assets/arx_l5/norm_stats.json +80 -0
- best/model.pt +3 -0
- config.json +33 -0
- model.pt +3 -0
- train_log.jsonl +0 -0
- train_state.pt +3 -0
- training_curves.png +3 -0
- wandb/debug-internal.log +0 -0
- wandb/debug.log +24 -0
- wandb/run-20260713_181849-o7ouu23c/files/config.yaml +118 -0
- wandb/run-20260713_181849-o7ouu23c/files/output.log +22 -0
- wandb/run-20260713_181849-o7ouu23c/files/requirements.txt +96 -0
- wandb/run-20260713_181849-o7ouu23c/files/wandb-metadata.json +46 -0
- wandb/run-20260713_181849-o7ouu23c/files/wandb-summary.json +1 -0
- wandb/run-20260713_181849-o7ouu23c/logs/debug-core.log +20 -0
- wandb/run-20260713_181849-o7ouu23c/logs/debug-internal.log +0 -0
- wandb/run-20260713_181849-o7ouu23c/logs/debug.log +24 -0
- wandb/run-20260713_181849-o7ouu23c/run-o7ouu23c.wandb +3 -0
.gitattributes
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best/model.pt
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config.json
ADDED
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{
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"dataset": "/workspace/datasets/RoboPref_dataset/stacking_blocks_ordered",
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"checkpoint_in": "/workspace/models/pi05_base_pytorch",
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"checkpoint_out": "/workspace/models/pi05_arx_ordered",
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model.pt
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train_log.jsonl
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The diff for this file is too large to render.
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train_state.pt
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training_curves.png
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Git LFS Details
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wandb/debug-internal.log
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The diff for this file is too large to render.
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wandb/debug.log
ADDED
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2026-07-13 18:18:49,968 INFO MainThread:31979 [wandb_setup.py:_flush():81] Current SDK version is 0.28.0
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| 2 |
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2026-07-13 18:18:49,969 INFO MainThread:31979 [wandb_setup.py:_flush():81] Configure stats pid to 31979
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| 3 |
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2026-07-13 18:18:49,969 INFO MainThread:31979 [wandb_setup.py:_flush():81] Loading settings from environment variables
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| 4 |
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2026-07-13 18:18:49,970 INFO MainThread:31979 [wandb_init.py:setup_run_log_directory():725] Logging user logs to /workspace/models/pi05_arx_ordered/wandb/run-20260713_181849-o7ouu23c/logs/debug.log
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| 5 |
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2026-07-13 18:18:49,971 INFO MainThread:31979 [wandb_init.py:setup_run_log_directory():726] Logging internal logs to /workspace/models/pi05_arx_ordered/wandb/run-20260713_181849-o7ouu23c/logs/debug-internal.log
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| 6 |
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2026-07-13 18:18:49,972 INFO MainThread:31979 [wandb_init.py:init():768] calling init triggers
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| 7 |
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2026-07-13 18:18:49,972 INFO MainThread:31979 [wandb_init.py:init():773] wandb.init called with sweep_config: {}
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| 8 |
+
config: {'dataset': '/workspace/datasets/RoboPref_dataset/stacking_blocks_ordered', 'checkpoint_in': '/workspace/models/pi05_base_pytorch', 'checkpoint_out': '/workspace/models/pi05_arx_ordered', 'norm_stats': None, 'tokenizer': '/root/.cache/openpi/big_vision/paligemma_tokenizer.model', 'steps': 15000, 'micro_batch': 32, 'accum': 1, 'lr': 2.5e-05, 'warmup': 1000, 'final_lr_frac': 0.1, 'grad_clip': 1.0, 'num_workers': 12, 'seed': 0, 'device': 'cuda', 'offload_optim': False, 'ema': None, 'resume': False, 'overfit_episode': None, 'log_every': 20, 'val_every': 1000, 'action_val_every': 5000, 'save_every': 2500, 'val_samples': 512, 'action_val_samples': 64, 'wandb_project': 'robopref', 'wandb_entity': None, 'wandb_mode': 'online', 'embodiment': 'arx_l5', 'git': '6993e1c1ff942e2857950bba5cb76ac6015520a7', 'train_samples': 183984, '_wandb': {}}
|
| 9 |
+
2026-07-13 18:18:49,972 INFO MainThread:31979 [wandb_init.py:init():816] starting backend
|
| 10 |
+
2026-07-13 18:18:49,973 INFO MainThread:31979 [wandb_init.py:init():831] sending inform_init request
|
| 11 |
+
2026-07-13 18:18:50,441 INFO MainThread:31979 [wandb_init.py:init():836] backend started and connected
|
| 12 |
+
2026-07-13 18:18:50,551 INFO MainThread:31979 [wandb_init.py:init():906] updated telemetry
|
| 13 |
+
2026-07-13 18:18:50,597 INFO MainThread:31979 [wandb_init.py:init():929] communicating run to backend with 90.0 second timeout
|
| 14 |
+
2026-07-13 18:18:51,325 INFO MainThread:31979 [wandb_init.py:init():974] starting run threads in backend
|
| 15 |
+
2026-07-13 18:18:51,909 INFO MainThread:31979 [wandb_run.py:_console_start():2523] atexit reg
|
| 16 |
+
2026-07-13 18:18:51,909 INFO MainThread:31979 [wandb_run.py:_redirect():2373] redirect: wrap_raw
|
| 17 |
+
2026-07-13 18:18:51,909 INFO MainThread:31979 [wandb_run.py:_redirect():2442] Wrapping output streams.
|
| 18 |
+
2026-07-13 18:18:51,910 INFO MainThread:31979 [wandb_run.py:_redirect():2465] Redirects installed.
|
| 19 |
+
2026-07-13 18:18:51,923 INFO MainThread:31979 [wandb_init.py:init():1012] run started, returning control to user process
|
| 20 |
+
2026-07-14 02:36:38,976 INFO MainThread:31979 [wandb_run.py:_finish():2285] finishing run kasloot-ai/robopref/o7ouu23c
|
| 21 |
+
2026-07-14 02:36:38,977 INFO MainThread:31979 [wandb_run.py:_atexit_cleanup():2490] got exitcode: 0
|
| 22 |
+
2026-07-14 02:36:38,978 INFO MainThread:31979 [wandb_run.py:_restore():2472] restore
|
| 23 |
+
2026-07-14 02:36:38,978 INFO MainThread:31979 [wandb_run.py:_restore():2478] restore done
|
| 24 |
+
2026-07-14 02:36:40,963 INFO MainThread:31979 [wandb_run.py:_footer_sync_info():3895] logging synced files
|
wandb/run-20260713_181849-o7ouu23c/files/config.yaml
ADDED
|
@@ -0,0 +1,118 @@
|
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|
|
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|
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|
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|
|
|
| 1 |
+
_wandb:
|
| 2 |
+
value:
|
| 3 |
+
cli_version: 0.28.0
|
| 4 |
+
e:
|
| 5 |
+
uo883ucaprnzyf6co4ecgxjfqtuxcu9t:
|
| 6 |
+
args:
|
| 7 |
+
- --dataset
|
| 8 |
+
- /workspace/datasets/RoboPref_dataset/stacking_blocks_ordered
|
| 9 |
+
- --checkpoint-in
|
| 10 |
+
- /workspace/models/pi05_base_pytorch
|
| 11 |
+
- --checkpoint-out
|
| 12 |
+
- /workspace/models/pi05_arx_ordered
|
| 13 |
+
cpu_count: 128
|
| 14 |
+
cpu_count_logical: 256
|
| 15 |
+
cudaVersion: "13.0"
|
| 16 |
+
disk:
|
| 17 |
+
/:
|
| 18 |
+
total: "32212254720"
|
| 19 |
+
used: "1706278912"
|
| 20 |
+
email: steven.liu.yuxin@outlook.com
|
| 21 |
+
executable: /workspace/RoboPref/.venv/bin/python3
|
| 22 |
+
git:
|
| 23 |
+
commit: 6993e1c1ff942e2857950bba5cb76ac6015520a7
|
| 24 |
+
remote: https://github.com/KasLoot/RoboPref.git
|
| 25 |
+
gpu: NVIDIA GeForce RTX 3090
|
| 26 |
+
gpu_count: 1
|
| 27 |
+
gpu_nvidia:
|
| 28 |
+
- architecture: Ampere
|
| 29 |
+
cudaCores: 10496
|
| 30 |
+
memoryTotal: "25769803776"
|
| 31 |
+
name: NVIDIA GeForce RTX 3090
|
| 32 |
+
uuid: GPU-e4ce1638-ee86-83b3-59fb-b8cdb6ab2201
|
| 33 |
+
host: 207692caf9fb
|
| 34 |
+
memory:
|
| 35 |
+
total: "1081934213120"
|
| 36 |
+
os: Linux-6.8.0-110-generic-x86_64-with-glibc2.39
|
| 37 |
+
program: -m pi05.train
|
| 38 |
+
python: CPython 3.13.8
|
| 39 |
+
root: /workspace/models/pi05_arx_ordered
|
| 40 |
+
startedAt: "2026-07-13T18:18:49.949416Z"
|
| 41 |
+
writerId: uo883ucaprnzyf6co4ecgxjfqtuxcu9t
|
| 42 |
+
m: []
|
| 43 |
+
python_version: 3.13.8
|
| 44 |
+
t:
|
| 45 |
+
"1":
|
| 46 |
+
- 1
|
| 47 |
+
"2":
|
| 48 |
+
- 1
|
| 49 |
+
"3":
|
| 50 |
+
- 2
|
| 51 |
+
- 16
|
| 52 |
+
- 61
|
| 53 |
+
"4": 3.13.8
|
| 54 |
+
"5": 0.28.0
|
| 55 |
+
"12": 0.28.0
|
| 56 |
+
"13": linux-x86_64
|
| 57 |
+
accum:
|
| 58 |
+
value: 1
|
| 59 |
+
action_val_every:
|
| 60 |
+
value: 5000
|
| 61 |
+
action_val_samples:
|
| 62 |
+
value: 64
|
| 63 |
+
checkpoint_in:
|
| 64 |
+
value: /workspace/models/pi05_base_pytorch
|
| 65 |
+
checkpoint_out:
|
| 66 |
+
value: /workspace/models/pi05_arx_ordered
|
| 67 |
+
dataset:
|
| 68 |
+
value: /workspace/datasets/RoboPref_dataset/stacking_blocks_ordered
|
| 69 |
+
device:
|
| 70 |
+
value: cuda
|
| 71 |
+
ema:
|
| 72 |
+
value: null
|
| 73 |
+
embodiment:
|
| 74 |
+
value: arx_l5
|
| 75 |
+
final_lr_frac:
|
| 76 |
+
value: 0.1
|
| 77 |
+
git:
|
| 78 |
+
value: 6993e1c1ff942e2857950bba5cb76ac6015520a7
|
| 79 |
+
grad_clip:
|
| 80 |
+
value: 1
|
| 81 |
+
log_every:
|
| 82 |
+
value: 20
|
| 83 |
+
lr:
|
| 84 |
+
value: 2.5e-05
|
| 85 |
+
micro_batch:
|
| 86 |
+
value: 32
|
| 87 |
+
norm_stats:
|
| 88 |
+
value: null
|
| 89 |
+
num_workers:
|
| 90 |
+
value: 12
|
| 91 |
+
offload_optim:
|
| 92 |
+
value: false
|
| 93 |
+
overfit_episode:
|
| 94 |
+
value: null
|
| 95 |
+
resume:
|
| 96 |
+
value: false
|
| 97 |
+
save_every:
|
| 98 |
+
value: 2500
|
| 99 |
+
seed:
|
| 100 |
+
value: 0
|
| 101 |
+
steps:
|
| 102 |
+
value: 15000
|
| 103 |
+
tokenizer:
|
| 104 |
+
value: /root/.cache/openpi/big_vision/paligemma_tokenizer.model
|
| 105 |
+
train_samples:
|
| 106 |
+
value: 183984
|
| 107 |
+
val_every:
|
| 108 |
+
value: 1000
|
| 109 |
+
val_samples:
|
| 110 |
+
value: 512
|
| 111 |
+
wandb_entity:
|
| 112 |
+
value: null
|
| 113 |
+
wandb_mode:
|
| 114 |
+
value: online
|
| 115 |
+
wandb_project:
|
| 116 |
+
value: robopref
|
| 117 |
+
warmup:
|
| 118 |
+
value: 1000
|
wandb/run-20260713_181849-o7ouu23c/files/output.log
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
stacking_blocks_ordered: 100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 15000/15000 [8:17:46<00:00, 1.99s/step, loss=0.0015 lr=2.50e-06 gnorm=0.04]
|
| 2 |
+
[val @ 1000] val_flow_mse=0.005433
|
| 3 |
+
[val @ 2000] val_flow_mse=0.00438
|
| 4 |
+
[ckpt @ 2500] saved /workspace/models/pi05_arx_ordered
|
| 5 |
+
[val @ 3000] val_flow_mse=0.003085
|
| 6 |
+
[val @ 4000] val_flow_mse=0.002829
|
| 7 |
+
[val @ 5000] val_flow_mse=0.002425 val_action_mae=0.020015 best=True
|
| 8 |
+
[ckpt @ 5000] saved /workspace/models/pi05_arx_ordered
|
| 9 |
+
[val @ 6000] val_flow_mse=0.002111
|
| 10 |
+
[val @ 7000] val_flow_mse=0.002
|
| 11 |
+
[ckpt @ 7500] saved /workspace/models/pi05_arx_ordered
|
| 12 |
+
[val @ 8000] val_flow_mse=0.002003
|
| 13 |
+
[val @ 9000] val_flow_mse=0.001819
|
| 14 |
+
[val @ 10000] val_flow_mse=0.001662 val_action_mae=0.013208 best=True
|
| 15 |
+
[ckpt @ 10000] saved /workspace/models/pi05_arx_ordered
|
| 16 |
+
[val @ 11000] val_flow_mse=0.001598
|
| 17 |
+
[val @ 12000] val_flow_mse=0.001532
|
| 18 |
+
[ckpt @ 12500] saved /workspace/models/pi05_arx_ordered
|
| 19 |
+
[val @ 13000] val_flow_mse=0.00146
|
| 20 |
+
[val @ 14000] val_flow_mse=0.00147
|
| 21 |
+
[val @ 15000] val_flow_mse=0.00136 val_action_mae=0.011581 best=True
|
| 22 |
+
[ckpt @ 15000] saved /workspace/models/pi05_arx_ordered
|
wandb/run-20260713_181849-o7ouu23c/files/requirements.txt
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
nvidia-nvshmem-cu12==3.4.5
|
| 2 |
+
torch==2.13.0+cu126
|
| 3 |
+
torchvision==0.28.0+cu126
|
| 4 |
+
triton==3.7.1
|
| 5 |
+
nvidia-cublas-cu12==12.6.4.1
|
| 6 |
+
sympy==1.14.0
|
| 7 |
+
nvidia-cufft-cu12==11.3.0.4
|
| 8 |
+
networkx==3.6.1
|
| 9 |
+
setuptools==78.1.0
|
| 10 |
+
nvidia-cuda-nvrtc-cu12==12.6.85
|
| 11 |
+
nvidia-nvtx-cu12==12.6.77
|
| 12 |
+
nvidia-nccl-cu12==2.29.3
|
| 13 |
+
cuda-bindings==12.9.4
|
| 14 |
+
nvidia-cudnn-cu12==9.10.2.21
|
| 15 |
+
nvidia-cusparselt-cu12==0.7.1
|
| 16 |
+
nvidia-curand-cu12==10.3.7.77
|
| 17 |
+
MarkupSafe==3.0.3
|
| 18 |
+
nvidia-cusparse-cu12==12.5.4.2
|
| 19 |
+
nvidia-cusolver-cu12==11.7.1.2
|
| 20 |
+
nvidia-nvjitlink-cu12==12.6.85
|
| 21 |
+
nvidia-cufile-cu12==1.11.1.6
|
| 22 |
+
cuda-toolkit==12.6.3
|
| 23 |
+
mpmath==1.3.0
|
| 24 |
+
nvidia-cuda-cupti-cu12==12.6.80
|
| 25 |
+
filelock==3.29.0
|
| 26 |
+
cuda-pathfinder==1.2.2
|
| 27 |
+
Jinja2==3.1.6
|
| 28 |
+
nvidia-cuda-runtime-cu12==12.6.77
|
| 29 |
+
charset-normalizer==3.4.9
|
| 30 |
+
matplotlib==3.11.0
|
| 31 |
+
platformdirs==4.10.0
|
| 32 |
+
GitPython==3.1.51
|
| 33 |
+
wandb==0.28.0
|
| 34 |
+
sentry-sdk==2.64.0
|
| 35 |
+
click==8.4.2
|
| 36 |
+
cycler==0.12.1
|
| 37 |
+
pyparsing==3.3.2
|
| 38 |
+
fonttools==4.63.0
|
| 39 |
+
contourpy==1.3.3
|
| 40 |
+
urllib3==2.7.0
|
| 41 |
+
gitdb==4.0.12
|
| 42 |
+
requests==2.34.2
|
| 43 |
+
python-dateutil==2.9.0.post0
|
| 44 |
+
six==1.17.0
|
| 45 |
+
packaging==26.2
|
| 46 |
+
kiwisolver==1.5.0
|
| 47 |
+
smmap==5.0.3
|
| 48 |
+
protobuf==7.35.1
|
| 49 |
+
etils==1.14.0
|
| 50 |
+
scipy==1.18.0
|
| 51 |
+
aiofiles==25.1.0
|
| 52 |
+
humanize==4.16.0
|
| 53 |
+
orbax-checkpoint==0.12.1
|
| 54 |
+
sentencepiece==0.2.2
|
| 55 |
+
ollama==0.6.2
|
| 56 |
+
annotated-types==0.7.0
|
| 57 |
+
httpcore==1.0.9
|
| 58 |
+
PyOpenGL==3.1.10
|
| 59 |
+
h5py==3.16.0
|
| 60 |
+
typing_extensions==4.16.0
|
| 61 |
+
typing-inspection==0.4.2
|
| 62 |
+
zipp==4.1.0
|
| 63 |
+
imageio-ffmpeg==0.6.0
|
| 64 |
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tensorstore==0.1.84
|
| 65 |
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tqdm==4.68.3
|
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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jax==0.10.2
|
| 72 |
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h11==0.16.0
|
| 73 |
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ml_dtypes==0.5.4
|
| 74 |
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jiter==0.16.0
|
| 75 |
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mujoco==3.10.0
|
| 76 |
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|
| 77 |
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pydantic_core==2.46.4
|
| 78 |
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|
| 79 |
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|
| 80 |
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orbax==0.1.9
|
| 81 |
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openai==2.44.0
|
| 83 |
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|
| 84 |
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|
| 85 |
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numpy==2.5.1
|
| 86 |
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|
| 87 |
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|
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|
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PyYAML==6.0.3
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|
| 92 |
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jaxlib==0.10.2
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| 93 |
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|
| 94 |
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|
| 95 |
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|
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wandb/run-20260713_181849-o7ouu23c/files/wandb-metadata.json
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|
| 1 |
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{
|
| 2 |
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|
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|
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| 5 |
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|
| 6 |
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"--dataset",
|
| 7 |
+
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|
| 8 |
+
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|
| 9 |
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"/workspace/models/pi05_base_pytorch",
|
| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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|
| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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wandb/run-20260713_181849-o7ouu23c/logs/debug.log
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