SSIO checkpoints: 30 paper models in <dataset>/<recipe>/

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README.md

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+---
+license: other
+library_name: pytorch
+pipeline_tag: robotics
+tags:
+- robotics
+- imu
+- inertial-odometry
+- self-supervised-learning
+- legged-robots
+- humanoid
+- quadruped
+- drone
+datasets:
+- Open-IO/humanoid-g1-odometry
+- Open-IO/mipo-go1-odometry
+---
+
+# SSIO: Self-Supervised Inertial Odometry — Checkpoints
+
+[Paper](https://arxiv.org/abs/2610.25988) | [Project Page](https://ssio-imu.github.io) | [Code](https://github.com/amazon-far/SSIO) | [Collection](https://huggingface.co/collections/Open-IO/ssio-self-supervised-inertial-odometry-6ad670b4bf71f392cd23d1c8)
+
+Every model in the tables of **[SSIO](https://ssio-imu.github.io)**, which trains inertial
+odometry from a robot's own unlabeled IMU stream, with no velocity or position labels.
+SSIO trains in two steps: **Integration Self-Supervision**, where the network learns
+body-frame velocity from an IMU integration teacher on short windows ("Ours"), and optional
+**Pose Graph Distillation**, which fine-tunes it on sequence-consistent velocities from a
+pose graph ("Ours (w/ PGD)"). The supervised AirIO baselines are released alongside.
+
+## Checkpoints
+
+One directory per table cell, `<dataset>/<recipe>/`, named after the recipe in
+[`Config/experiment/<dataset>/<recipe>.yaml`](https://github.com/amazon-far/SSIO/tree/main/Config/experiment)
+that retrains it (`airio_full` is the `airio` recipe with `network=airio`). Scores are the released checkpoint's AVE (m/s) / ATE (m)
+on the test split. AirIO and AirIO† are supervised; the other columns are self-supervised.
+*Proprio* adds joint states (and, on MIPO, the four calf-mounted IMUs) to the network input.
+
+| Dataset | Test split | AirIO | AirIO† | Ours | Ours (w/ PGD) | AirIO† + *Proprio* | Ours + *Proprio* |
+|---|---|---|---|---|---|---|---|
+| TLIO | `TLIO_Test` | [`tlio/airio_full`](https://huggingface.co/Open-IO/SSIO/tree/main/tlio/airio_full) 0.081 / 1.89 | [`tlio/airio`](https://huggingface.co/Open-IO/SSIO/tree/main/tlio/airio) 0.084 / 2.08 | [`tlio/ssio`](https://huggingface.co/Open-IO/SSIO/tree/main/tlio/ssio) 0.104 / 3.04 | [`tlio/ssio_pgd`](https://huggingface.co/Open-IO/SSIO/tree/main/tlio/ssio_pgd) 0.101 / 2.99 | – | – |
+| EuRoC | `EuRoC_Test` | [`euroc/airio_full`](https://huggingface.co/Open-IO/SSIO/tree/main/euroc/airio_full) 0.335 / 3.72 | [`euroc/airio`](https://huggingface.co/Open-IO/SSIO/tree/main/euroc/airio) 0.344 / 3.72 | [`euroc/ssio`](https://huggingface.co/Open-IO/SSIO/tree/main/euroc/ssio) 0.423 / 9.03 | [`euroc/ssio_pgd`](https://huggingface.co/Open-IO/SSIO/tree/main/euroc/ssio_pgd) 0.403 / 9.93 | – | – |
+| Blackbird | `BlackBird_Test` | [`blackbird/airio_full`](https://huggingface.co/Open-IO/SSIO/tree/main/blackbird/airio_full) 0.318 / 6.10 | [`blackbird/airio`](https://huggingface.co/Open-IO/SSIO/tree/main/blackbird/airio) 0.362 / 6.39 | [`blackbird/ssio`](https://huggingface.co/Open-IO/SSIO/tree/main/blackbird/ssio) 0.475 / 18.39 | [`blackbird/ssio_pgd`](https://huggingface.co/Open-IO/SSIO/tree/main/blackbird/ssio_pgd) 0.429 / 17.73 | – | – |
+| MIPO (Go1) | `MIPO_Test` | [`mipo/airio_full`](https://huggingface.co/Open-IO/SSIO/tree/main/mipo/airio_full) 0.120 / 0.31 | [`mipo/airio`](https://huggingface.co/Open-IO/SSIO/tree/main/mipo/airio) 0.121 / 0.31 | [`mipo/ssio`](https://huggingface.co/Open-IO/SSIO/tree/main/mipo/ssio) 0.182 / 1.63 | [`mipo/ssio_pgd`](https://huggingface.co/Open-IO/SSIO/tree/main/mipo/ssio_pgd) 0.169 / 1.58 | [`mipo/airio_proprio`](https://huggingface.co/Open-IO/SSIO/tree/main/mipo/airio_proprio) 0.116 / 0.19 | [`mipo/ssio_proprio`](https://huggingface.co/Open-IO/SSIO/tree/main/mipo/ssio_proprio) 0.146 / 0.82 |
+| GrandTour (ANYmal) | `ANYmal_Test` | [`grandtour/airio_full`](https://huggingface.co/Open-IO/SSIO/tree/main/grandtour/airio_full) 0.068 / 3.19 | [`grandtour/airio`](https://huggingface.co/Open-IO/SSIO/tree/main/grandtour/airio) 0.070 / 3.38 | [`grandtour/ssio`](https://huggingface.co/Open-IO/SSIO/tree/main/grandtour/ssio) 0.096 / 4.37 | [`grandtour/ssio_pgd`](https://huggingface.co/Open-IO/SSIO/tree/main/grandtour/ssio_pgd) 0.096 / 4.37 | [`grandtour/airio_proprio`](https://huggingface.co/Open-IO/SSIO/tree/main/grandtour/airio_proprio) 0.073 / 3.62 | [`grandtour/ssio_proprio`](https://huggingface.co/Open-IO/SSIO/tree/main/grandtour/ssio_proprio) 0.091 / 3.66 |
+| Humanoid (G1) | `HumanoidOdom_Test` (*Proprio*: `HumanoidOdom_Joints_Test`) | [`humanoid/airio_full`](https://huggingface.co/Open-IO/SSIO/tree/main/humanoid/airio_full) 0.087 / 1.26 | [`humanoid/airio`](https://huggingface.co/Open-IO/SSIO/tree/main/humanoid/airio) 0.096 / 1.40 | [`humanoid/ssio`](https://huggingface.co/Open-IO/SSIO/tree/main/humanoid/ssio) 0.167 / 4.36 | [`humanoid/ssio_pgd`](https://huggingface.co/Open-IO/SSIO/tree/main/humanoid/ssio_pgd) 0.155 / 4.38 | [`humanoid/airio_proprio`](https://huggingface.co/Open-IO/SSIO/tree/main/humanoid/airio_proprio) 0.095 / 2.35 | [`humanoid/ssio_proprio`](https://huggingface.co/Open-IO/SSIO/tree/main/humanoid/ssio_proprio) 0.161 / 3.20 |
+
+The released "Ours (w/ PGD)" checkpoints do not match the paper's PGD row exactly;
+[`Doc/recipes.md`](https://github.com/amazon-far/SSIO/blob/main/Doc/recipes.md) lists the
+paper and checkpoint scores side by side, with the recipe that retrains each run.
+
+## Repository Layout
+
+```
+<dataset>/                 tlio, euroc, blackbird, mipo, grandtour, humanoid
+├── airio_full/            AirIO              (train_ssio.py, supervised)
+├── airio/                 AirIO†             (train_ssio.py, supervised)
+├── ssio/                  Ours               (train_ssio.py)
+├── ssio_pgd/              Ours (w/ PGD)      (train_pgd.py, warm-started from ssio/)
+├── airio_proprio/         AirIO† + Proprio   (mipo, grandtour, humanoid)
+└── ssio_proprio/          Ours + Proprio     (mipo, grandtour, humanoid)
+calibration/grand_tour/anymal_imu_gt_offsets_per_imu.json
+```
+
+Each directory holds `best_model.pt`, a bare PyTorch `state_dict` selected on the lowest
+validation loss (no labels), and the training run's Hydra config in `.hydra/`. The GrandTour
+calibration file holds the per-IMU IMU-to-ground-truth time offsets the GrandTour runs were
+trained with; it is not part of the GrandTour release.
+
+## Quick Usage
+
+With the [SSIO code](https://github.com/amazon-far/SSIO) installed and the datasets under
+`$DATA_ROOT`:
+
+```bash
+hf download Open-IO/SSIO --include "euroc/ssio/*" --local-dir ckpts
+python evaluate.py ckpts/euroc/ssio --checkpoint best_model.pt --data Config/dataset/EuRoC_Test.yaml
+```
+
+Always pass `--checkpoint best_model.pt` and `--data`: the released runs ship no
+`checkpoint_*.pt` and store their splits under `val_dataset` / `test_dataset`. To fine-tune a released "Ours" run with Pose Graph Distillation:
+
+```bash
+python train_pgd.py +experiment=euroc/ssio_pgd train.resume_from=file:ckpts/euroc/ssio/best_model.pt
+```
+
+The evaluator reports AVE (average velocity error, m/s, the primary metric), ATE (RMSE of
+the position error, m), Δv error, and RVTE / nRVTE.
+
+## Citation
+
+```bibtex
+@misc{qiu2026ssioselfsupervisedinertialodometry,
+      title={SSIO: Self-Supervised Inertial Odometry},
+      author={Yuheng Qiu and Yutian Chen and Carlton Cort and Weison Huang and Shibo Zhao and Pieter Abbeel and Rocky Duan and Koushil Sreenath and C. Karen Liu and Carmelo Sferrazza and Junyi Geng and Sebastian Scherer and Guanya Shi},
+      year={2026},
+      eprint={2610.25988},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2610.25988},
+}
+```

blackbird/airio/.hydra/config.yaml

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+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed3p25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed1p0
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed3p0
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: egg/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed7p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed1p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed3p0
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 120
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null

blackbird/airio/.hydra/hydra.yaml

@@ -0,0 +1,173 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio_imu_only
+    - train.epoch=120
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=BlackBird_Train_Randomized
+    - dataset@eval_dataset=BlackBird_Valid
+    - dataset@test_dataset=BlackBird_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=BlackBird_Valid,dataset@test_dataset=BlackBird_Test,dataset@train_dataset=BlackBird_Train_Randomized,loss=supervised_only,network=airio_imu_only,train.checkpoint_every_epochs=5,train.epoch=120,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/BlackBird_Train_Randomized/20260913_220103
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: BlackBird_Test
+      dataset@eval_dataset: BlackBird_Valid
+      dataset@train_dataset: BlackBird_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

blackbird/airio/.hydra/overrides.yaml

@@ -0,0 +1,8 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio_imu_only
+- train.epoch=120
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=BlackBird_Train_Randomized
+- dataset@eval_dataset=BlackBird_Valid
+- dataset@test_dataset=BlackBird_Test

blackbird/airio/best_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac3ea372375f98021e1f9d6f88ad0beba20730631c54ef10a68ec58616ffb8cd
+size 1355061

blackbird/airio_full/.hydra/config.yaml

@@ -0,0 +1,1549 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed3p25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed1p0
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed3p0
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: egg/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed7p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed1p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed3p0
+network:
+  _target_: Model.airio.AirIONetwork
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  ori_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 120
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null

blackbird/airio_full/.hydra/hydra.yaml

@@ -0,0 +1,173 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio
+    - train.epoch=120
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=BlackBird_Train_Randomized
+    - dataset@eval_dataset=BlackBird_Valid
+    - dataset@test_dataset=BlackBird_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=BlackBird_Valid,dataset@test_dataset=BlackBird_Test,dataset@train_dataset=BlackBird_Train_Randomized,loss=supervised_only,network=airio,train.checkpoint_every_epochs=5,train.epoch=120,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/BlackBird_Train_Randomized/20260913_214725
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio
+      dataset@test_dataset: BlackBird_Test
+      dataset@eval_dataset: BlackBird_Valid
+      dataset@train_dataset: BlackBird_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

blackbird/airio_full/.hydra/overrides.yaml

@@ -0,0 +1,8 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio
+- train.epoch=120
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=BlackBird_Train_Randomized
+- dataset@eval_dataset=BlackBird_Valid
+- dataset@test_dataset=BlackBird_Test

blackbird/airio_full/best_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c98250c81154687d8131b43498d55372e8fb87773d57204ce6dbe0f2b1613eb3
+size 1438197

blackbird/ssio/.hydra/config.yaml

@@ -0,0 +1,1543 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed3p25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed1p0
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed3p0
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: egg/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed7p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed1p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed3p0
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.FixedDvLoss
+  dv:
+  - - 1
+    - 1.0
+  - - 3
+    - 1.0
+  - - 9
+    - 1.0
+  - - 27
+    - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 120
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.1
+  zupt_gate: imu
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null

blackbird/ssio/.hydra/hydra.yaml

@@ -0,0 +1,174 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - network=airio_imu_only
+    - train.zupt_gate=imu
+    - loss=ssio_dv_1_3_9_27
+    - train.zupt_weight=0.1
+    - train.epoch=120
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=BlackBird_Train_Randomized
+    - dataset@val_dataset=BlackBird_Valid
+    - dataset@test_dataset=BlackBird_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=BlackBird_Test,dataset@train_dataset=BlackBird_Train_Randomized,dataset@val_dataset=BlackBird_Valid,loss=ssio_dv_1_3_9_27,network=airio_imu_only,train.checkpoint_every_epochs=5,train.epoch=120,train.zupt_gate=imu,train.zupt_weight=0.1
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/BlackBird_Train_Randomized/20260914_000110
+    choices:
+      loss: ssio_dv_1_3_9_27
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: BlackBird_Test
+      dataset@val_dataset: BlackBird_Valid
+      dataset@train_dataset: BlackBird_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

blackbird/ssio/.hydra/overrides.yaml

@@ -0,0 +1,9 @@
+- network=airio_imu_only
+- train.zupt_gate=imu
+- loss=ssio_dv_1_3_9_27
+- train.zupt_weight=0.1
+- train.epoch=120
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=BlackBird_Train_Randomized
+- dataset@val_dataset=BlackBird_Valid
+- dataset@test_dataset=BlackBird_Test

blackbird/ssio/best_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95ac7559c86cc76f65e2361ae88f4be313d62184e63f16b03a30dbabe7b534fe
+size 1355061

blackbird/ssio_pgd/.hydra/config.yaml

@@ -0,0 +1,1543 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed3p25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed1p0
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed3p0
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: egg/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed7p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed1p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed3p0
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+graph:
+  _target_: Optimizer.sparse_pgo.Sparse_IMUPGOGraph
+  anchor_weight: 1000000.0
+  vel_prior_weight: 1000000.0
+  max_iter: 10
+  tol: 1.0e-05
+  obs_reject_chi2: null
+  obs_reject_all: true
+loss:
+  _target_: Loss.adapt.Adapt_MSE_Loss
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 5.0e-05
+  decay: 0.001
+  batch: 512
+  epoch: 30
+  window: 1024
+  step_size: 252
+  ema: true
+  ema_decay: 0.8
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 5
+  test_every_epochs: 1
+  label_refresh_every_steps: 1000000000
+  label_batch_windows: 64
+  label_obs_sigma: 2.0
+  dv_imu_input: corrected
+  pgo_gyro_sigma: null
+  pgo_acc_sigma: null
+  zupt_sigma: 0.0
+  zupt_weight: 0.0
+  zupt_gate: imu
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  resume_from: file:/tmp/resume.ckpt
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: 2b-blackbird-imu

blackbird/ssio_pgd/.hydra/hydra.yaml

@@ -0,0 +1,181 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_adapt_traj/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - train.resume_from=file:/tmp/resume.ckpt
+    - graph=sparse_imupgo
+    - loss=adapt_mse
+    - train.batch=512
+    - train.lr=5e-5
+    - train.checkpoint_every_epochs=1
+    - train.plot_every_epochs=5
+    - train.epoch=30
+    - train.label_obs_sigma=2.0
+    - train.dv_imu_input=corrected
+    - network=airio_imu_only
+    - dataset@train_dataset=BlackBird_Train_Randomized
+    - dataset@val_dataset=BlackBird_Valid
+    - dataset@test_dataset=BlackBird_Test
+    - +wandb.name=2b-blackbird-imu
+  job:
+    name: train_step2b_adapt
+    chdir: false
+    override_dirname: +wandb.name=2b-blackbird-imu,dataset@test_dataset=BlackBird_Test,dataset@train_dataset=BlackBird_Train_Randomized,dataset@val_dataset=BlackBird_Valid,graph=sparse_imupgo,loss=adapt_mse,network=airio_imu_only,train.batch=512,train.checkpoint_every_epochs=1,train.dv_imu_input=corrected,train.epoch=30,train.label_obs_sigma=2.0,train.lr=5e-5,train.plot_every_epochs=5,train.resume_from=file:/tmp/resume.ckpt
+    id: ???
+    num: ???
+    config_name: train_adapt_traj
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_adapt_traj/BlackBird_Train_Randomized/20260914_082110
+    choices:
+      loss: adapt_mse
+      graph: sparse_imupgo
+      network: airio_imu_only
+      scheduler: constant
+      optimizer: adamw
+      dataset@test_dataset: BlackBird_Test
+      dataset@val_dataset: BlackBird_Valid
+      dataset@train_dataset: BlackBird_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

blackbird/ssio_pgd/.hydra/overrides.yaml

@@ -0,0 +1,15 @@
+- train.resume_from=file:/tmp/resume.ckpt
+- graph=sparse_imupgo
+- loss=adapt_mse
+- train.batch=512
+- train.lr=5e-5
+- train.checkpoint_every_epochs=1
+- train.plot_every_epochs=5
+- train.epoch=30
+- train.label_obs_sigma=2.0
+- train.dv_imu_input=corrected
+- network=airio_imu_only
+- dataset@train_dataset=BlackBird_Train_Randomized
+- dataset@val_dataset=BlackBird_Valid
+- dataset@test_dataset=BlackBird_Test
+- +wandb.name=2b-blackbird-imu

blackbird/ssio_pgd/best_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6ea75adbb3e0310b5d87962e199547748b2c7ca190a35456becfddbe10ee988
+size 1355061

calibration/grand_tour/anymal_imu_gt_offsets_per_imu.json

@@ -0,0 +1,2036 @@
+{
+  "method": "gyro-magnitude vs cpt7 GT attitude-rate cross-correlation on a uniform grid",
+  "sign": "offset_ms = value to ADD to that IMU's timestamps to align onto the cpt7 GT signal",
+  "note": "conflates clock skew + per-sensor gyro group delay + Inertial-Explorer GT latency; cpt7_imu (co-located with GT) is itself nonzero, so these are signal-alignment values",
+  "params": {
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+}

euroc/airio/.hydra/config.yaml

@@ -0,0 +1,419 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_02_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_04_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_01_easy
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 64
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 150
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 10
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null

euroc/airio/.hydra/hydra.yaml

@@ -0,0 +1,178 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio_imu_only
+    - train.lr=1.0e-3
+    - train.decay=1.0e-3
+    - train.batch=64
+    - train.window=1024
+    - train.ema=true
+    - train.epoch=150
+    - train.checkpoint_every_epochs=10
+    - dataset@train_dataset=EuRoC_Train_Randomized
+    - dataset@eval_dataset=EuRoC_Valid
+    - dataset@test_dataset=EuRoC_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=EuRoC_Valid,dataset@test_dataset=EuRoC_Test,dataset@train_dataset=EuRoC_Train_Randomized,loss=supervised_only,network=airio_imu_only,train.batch=64,train.checkpoint_every_epochs=10,train.decay=1.0e-3,train.ema=true,train.epoch=150,train.lr=1.0e-3,train.window=1024,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/EuRoC_Train_Randomized/20260913_214404
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: EuRoC_Test
+      dataset@eval_dataset: EuRoC_Valid
+      dataset@train_dataset: EuRoC_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

euroc/airio/.hydra/overrides.yaml

@@ -0,0 +1,13 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio_imu_only
+- train.lr=1.0e-3
+- train.decay=1.0e-3
+- train.batch=64
+- train.window=1024
+- train.ema=true
+- train.epoch=150
+- train.checkpoint_every_epochs=10
+- dataset@train_dataset=EuRoC_Train_Randomized
+- dataset@eval_dataset=EuRoC_Valid
+- dataset@test_dataset=EuRoC_Test

euroc/airio/best_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae35e246042bfd822ef70baac46cdca09a5958a5e5ba67936193d5cedd7aaa6a
+size 1355061

euroc/airio_full/.hydra/config.yaml

@@ -0,0 +1,422 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_02_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_04_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_01_easy
+network:
+  _target_: Model.airio.AirIONetwork
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  ori_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 64
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 150
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 10
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null

euroc/airio_full/.hydra/hydra.yaml

@@ -0,0 +1,178 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio
+    - train.lr=1.0e-3
+    - train.decay=1.0e-3
+    - train.batch=64
+    - train.window=1024
+    - train.ema=true
+    - train.epoch=150
+    - train.checkpoint_every_epochs=10
+    - dataset@train_dataset=EuRoC_Train_Randomized
+    - dataset@eval_dataset=EuRoC_Valid
+    - dataset@test_dataset=EuRoC_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=EuRoC_Valid,dataset@test_dataset=EuRoC_Test,dataset@train_dataset=EuRoC_Train_Randomized,loss=supervised_only,network=airio,train.batch=64,train.checkpoint_every_epochs=10,train.decay=1.0e-3,train.ema=true,train.epoch=150,train.lr=1.0e-3,train.window=1024,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/EuRoC_Train_Randomized/20260913_215104
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio
+      dataset@test_dataset: EuRoC_Test
+      dataset@eval_dataset: EuRoC_Valid
+      dataset@train_dataset: EuRoC_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

euroc/airio_full/.hydra/overrides.yaml

@@ -0,0 +1,13 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio
+- train.lr=1.0e-3
+- train.decay=1.0e-3
+- train.batch=64
+- train.window=1024
+- train.ema=true
+- train.epoch=150
+- train.checkpoint_every_epochs=10
+- dataset@train_dataset=EuRoC_Train_Randomized
+- dataset@eval_dataset=EuRoC_Valid
+- dataset@test_dataset=EuRoC_Test

euroc/airio_full/best_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2be26b4b25e39cea29f1baaa9e762e73e931aa485aeba7eab4a107081f6cd3c3
+size 1438197

euroc/ssio/.hydra/config.yaml

@@ -0,0 +1,416 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_02_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_04_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_01_easy
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.FixedDvLoss
+  dv:
+  - - 1
+    - 1.0
+  - - 3
+    - 1.0
+  - - 9
+    - 1.0
+  - - 27
+    - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 64
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 150
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 10
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.1
+  zupt_gate: imu
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null

euroc/ssio/.hydra/hydra.yaml

@@ -0,0 +1,179 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - network=airio_imu_only
+    - train.zupt_gate=imu
+    - loss=ssio_dv_1_3_9_27
+    - train.zupt_weight=0.1
+    - train.lr=1.0e-3
+    - train.decay=1.0e-3
+    - train.batch=64
+    - train.window=1024
+    - train.ema=true
+    - train.epoch=150
+    - train.checkpoint_every_epochs=10
+    - dataset@train_dataset=EuRoC_Train_Randomized
+    - dataset@val_dataset=EuRoC_Valid
+    - dataset@test_dataset=EuRoC_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=EuRoC_Test,dataset@train_dataset=EuRoC_Train_Randomized,dataset@val_dataset=EuRoC_Valid,loss=ssio_dv_1_3_9_27,network=airio_imu_only,train.batch=64,train.checkpoint_every_epochs=10,train.decay=1.0e-3,train.ema=true,train.epoch=150,train.lr=1.0e-3,train.window=1024,train.zupt_gate=imu,train.zupt_weight=0.1
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/EuRoC_Train_Randomized/20260913_235931
+    choices:
+      loss: ssio_dv_1_3_9_27
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: EuRoC_Test
+      dataset@val_dataset: EuRoC_Valid
+      dataset@train_dataset: EuRoC_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

euroc/ssio/.hydra/overrides.yaml

@@ -0,0 +1,14 @@
+- network=airio_imu_only
+- train.zupt_gate=imu
+- loss=ssio_dv_1_3_9_27
+- train.zupt_weight=0.1
+- train.lr=1.0e-3
+- train.decay=1.0e-3
+- train.batch=64
+- train.window=1024
+- train.ema=true
+- train.epoch=150
+- train.checkpoint_every_epochs=10
+- dataset@train_dataset=EuRoC_Train_Randomized
+- dataset@val_dataset=EuRoC_Valid
+- dataset@test_dataset=EuRoC_Test

euroc/ssio/best_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dff0eb0aa689865211f6d95754b12352926e048c65775f05eaccfede90d5ac8
+size 1355061

euroc/ssio_pgd/.hydra/config.yaml

@@ -0,0 +1,416 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_02_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_04_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_01_easy
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+graph:
+  _target_: Optimizer.sparse_pgo.Sparse_IMUPGOGraph
+  anchor_weight: 1000000.0
+  vel_prior_weight: 1000000.0
+  max_iter: 10
+  tol: 1.0e-05
+  obs_reject_chi2: null
+  obs_reject_all: true
+loss:
+  _target_: Loss.adapt.Adapt_MSE_Loss
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 5.0e-05
+  decay: 0.001
+  batch: 512
+  epoch: 150
+  window: 1024
+  step_size: 252
+  ema: true
+  ema_decay: 0.8
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 5
+  test_every_epochs: 1
+  label_refresh_every_steps: 1000000000
+  label_batch_windows: 64
+  label_obs_sigma: 1.0
+  dv_imu_input: corrected
+  pgo_gyro_sigma: null
+  pgo_acc_sigma: null
+  zupt_sigma: 0.0
+  zupt_weight: 0.0
+  zupt_gate: imu
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  resume_from: file:/tmp/resume.ckpt
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: 2b-euroc-imu

euroc/ssio_pgd/.hydra/hydra.yaml

@@ -0,0 +1,181 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_adapt_traj/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - train.resume_from=file:/tmp/resume.ckpt
+    - graph=sparse_imupgo
+    - loss=adapt_mse
+    - train.batch=512
+    - train.lr=5e-5
+    - train.checkpoint_every_epochs=1
+    - train.plot_every_epochs=5
+    - train.epoch=150
+    - train.label_obs_sigma=1.0
+    - train.dv_imu_input=corrected
+    - network=airio_imu_only
+    - dataset@train_dataset=EuRoC_Train_Randomized
+    - dataset@val_dataset=EuRoC_Valid
+    - dataset@test_dataset=EuRoC_Test
+    - +wandb.name=2b-euroc-imu
+  job:
+    name: train_step2b_adapt
+    chdir: false
+    override_dirname: +wandb.name=2b-euroc-imu,dataset@test_dataset=EuRoC_Test,dataset@train_dataset=EuRoC_Train_Randomized,dataset@val_dataset=EuRoC_Valid,graph=sparse_imupgo,loss=adapt_mse,network=airio_imu_only,train.batch=512,train.checkpoint_every_epochs=1,train.dv_imu_input=corrected,train.epoch=150,train.label_obs_sigma=1.0,train.lr=5e-5,train.plot_every_epochs=5,train.resume_from=file:/tmp/resume.ckpt
+    id: ???
+    num: ???
+    config_name: train_adapt_traj
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_adapt_traj/EuRoC_Train_Randomized/20260914_081234
+    choices:
+      loss: adapt_mse
+      graph: sparse_imupgo
+      network: airio_imu_only
+      scheduler: constant
+      optimizer: adamw
+      dataset@test_dataset: EuRoC_Test
+      dataset@val_dataset: EuRoC_Valid
+      dataset@train_dataset: EuRoC_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

euroc/ssio_pgd/.hydra/overrides.yaml

@@ -0,0 +1,15 @@
+- train.resume_from=file:/tmp/resume.ckpt
+- graph=sparse_imupgo
+- loss=adapt_mse
+- train.batch=512
+- train.lr=5e-5
+- train.checkpoint_every_epochs=1
+- train.plot_every_epochs=5
+- train.epoch=150
+- train.label_obs_sigma=1.0
+- train.dv_imu_input=corrected
+- network=airio_imu_only
+- dataset@train_dataset=EuRoC_Train_Randomized
+- dataset@val_dataset=EuRoC_Valid
+- dataset@test_dataset=EuRoC_Test
+- +wandb.name=2b-euroc-imu

euroc/ssio_pgd/best_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13ddea1d63529805c47521b7a07660726926f43215b2b346d8caa3de924866ee
+size 1355061

grandtour/airio/.hydra/config.yaml

@@ -0,0 +1,987 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  _ici:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: state_estimator
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-10-25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-18-32
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-12-55-59
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-07-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-11-17-02
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-15-22-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-16-04-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-18-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-37-15
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-12-06-03
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-14-12
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-43-52
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-22-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-48-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-15-46-05
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-16-59-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-15-38
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-26-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-14-57-08
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-16-36-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-10-01-11-47-44
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-11-16-14-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-13-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-31-36
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-34-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-41-46
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-28-28
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-53-11
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-10-16-35
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-16-41-14
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-42-47
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-52-45
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-11-29-55
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-12-00-49
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-10-57-34
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-13-51-43
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-13-45-37
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-21-12-51
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-57-34
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: false
+  use_joints: false
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 30
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null

grandtour/airio/.hydra/hydra.yaml

@@ -0,0 +1,175 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio_imu_only
+    - modality.use_joints=false
+    - modality.use_aux_imu=false
+    - train.epoch=30
+    - train.checkpoint_every_epochs=1
+    - dataset@train_dataset=ANYmal_SSL
+    - dataset@val_dataset=ANYmal_Val
+    - dataset@test_dataset=ANYmal_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=ANYmal_Test,dataset@train_dataset=ANYmal_SSL,dataset@val_dataset=ANYmal_Val,loss=supervised_only,modality.use_aux_imu=false,modality.use_joints=false,network=airio_imu_only,train.checkpoint_every_epochs=1,train.epoch=30,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/ANYmal_SSL/20260913_225232
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: ANYmal_Test
+      dataset@val_dataset: ANYmal_Val
+      dataset@train_dataset: ANYmal_SSL
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

grandtour/airio/.hydra/overrides.yaml

@@ -0,0 +1,10 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio_imu_only
+- modality.use_joints=false
+- modality.use_aux_imu=false
+- train.epoch=30
+- train.checkpoint_every_epochs=1
+- dataset@train_dataset=ANYmal_SSL
+- dataset@val_dataset=ANYmal_Val
+- dataset@test_dataset=ANYmal_Test

grandtour/airio/best_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e4311c9f609262b6854422142f8f6471b4f1b79f8aa2caf4f129ca41602d502
+size 1355061

grandtour/airio_full/.hydra/config.yaml

@@ -0,0 +1,990 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  _ici:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: state_estimator
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-10-25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-18-32
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-12-55-59
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-07-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-11-17-02
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-15-22-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-16-04-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-18-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-37-15
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-12-06-03
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-14-12
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-43-52
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-22-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-48-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-15-46-05
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-16-59-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-15-38
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-26-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-14-57-08
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-16-36-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-10-01-11-47-44
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-11-16-14-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-13-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-31-36
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-34-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-41-46
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-28-28
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-53-11
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-10-16-35
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-16-41-14
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-42-47
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-52-45
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-11-29-55
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-12-00-49
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-10-57-34
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-13-51-43
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-13-45-37
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-21-12-51
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-57-34
+network:
+  _target_: Model.airio.AirIONetwork
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  ori_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: false
+  use_joints: false
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 30
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null

grandtour/airio_full/.hydra/hydra.yaml

@@ -0,0 +1,175 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio
+    - modality.use_joints=false
+    - modality.use_aux_imu=false
+    - train.epoch=30
+    - train.checkpoint_every_epochs=1
+    - dataset@train_dataset=ANYmal_SSL
+    - dataset@val_dataset=ANYmal_Val
+    - dataset@test_dataset=ANYmal_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=ANYmal_Test,dataset@train_dataset=ANYmal_SSL,dataset@val_dataset=ANYmal_Val,loss=supervised_only,modality.use_aux_imu=false,modality.use_joints=false,network=airio,train.checkpoint_every_epochs=1,train.epoch=30,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/ANYmal_SSL/20260913_224936
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio
+      dataset@test_dataset: ANYmal_Test
+      dataset@val_dataset: ANYmal_Val
+      dataset@train_dataset: ANYmal_SSL
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

grandtour/airio_full/.hydra/overrides.yaml

@@ -0,0 +1,10 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio
+- modality.use_joints=false
+- modality.use_aux_imu=false
+- train.epoch=30
+- train.checkpoint_every_epochs=1
+- dataset@train_dataset=ANYmal_SSL
+- dataset@val_dataset=ANYmal_Val
+- dataset@test_dataset=ANYmal_Test

grandtour/airio_full/best_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6346c8c8e946915712fba888f57eb47546cd28ebcaa36372a96ee5e76c1a4558
+size 1438197

grandtour/airio_proprio/.hydra/config.yaml

@@ -0,0 +1,996 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  _ici:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: state_estimator
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-10-25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-18-32
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-12-55-59
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-07-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-11-17-02
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-15-22-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-16-04-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-18-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-37-15
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-12-06-03
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-14-12
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-43-52
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-22-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-48-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-15-46-05
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-16-59-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-15-38
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-26-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-14-57-08
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-16-36-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-10-01-11-47-44
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-11-16-14-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-13-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-31-36
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-34-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-41-46
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-28-28
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-53-11
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-10-16-35
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-16-41-14
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-42-47
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-52-45
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-11-29-55
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-12-00-49
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-10-57-34
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-13-51-43
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-13-45-37
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-21-12-51
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-57-34
+network:
+  _target_: Model.airio.JointsAirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  num_imus: 1
+  num_joints: 12
+  joint_channels:
+  - position
+  - velocity
+  - effort
+  imu_encoder_channels:
+  - 32
+  - 64
+  joint_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  fusion_hidden: 128
+  gru1_hidden: 64
+  gru2_hidden: 128
+  bidirectional: true
+  decoder_hidden: 128
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: false
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 30
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null

grandtour/airio_proprio/.hydra/hydra.yaml

@@ -0,0 +1,175 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio_joints_imu_only_anymal
+    - modality.use_joints=true
+    - modality.use_aux_imu=false
+    - train.epoch=30
+    - train.checkpoint_every_epochs=1
+    - dataset@train_dataset=ANYmal_SSL
+    - dataset@val_dataset=ANYmal_Val
+    - dataset@test_dataset=ANYmal_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=ANYmal_Test,dataset@train_dataset=ANYmal_SSL,dataset@val_dataset=ANYmal_Val,loss=supervised_only,modality.use_aux_imu=false,modality.use_joints=true,network=airio_joints_imu_only_anymal,train.checkpoint_every_epochs=1,train.epoch=30,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/ANYmal_SSL/20260913_225239
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio_joints_imu_only_anymal
+      dataset@test_dataset: ANYmal_Test
+      dataset@val_dataset: ANYmal_Val
+      dataset@train_dataset: ANYmal_SSL
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

grandtour/airio_proprio/.hydra/overrides.yaml

@@ -0,0 +1,10 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio_joints_imu_only_anymal
+- modality.use_joints=true
+- modality.use_aux_imu=false
+- train.epoch=30
+- train.checkpoint_every_epochs=1
+- dataset@train_dataset=ANYmal_SSL
+- dataset@val_dataset=ANYmal_Val
+- dataset@test_dataset=ANYmal_Test

grandtour/airio_proprio/best_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84b37addf729f143e9f8cac6e973e5854ed5c1bb44f7a9f14d7da2bd3e108d21
+size 1618549

grandtour/ssio/.hydra/config.yaml

@@ -0,0 +1,986 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  _ici:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: state_estimator
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-10-25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-18-32
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-12-55-59
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-07-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-11-17-02
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-15-22-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-16-04-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-18-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-37-15
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-12-06-03
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-14-12
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-43-52
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-22-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-48-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-15-46-05
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-16-59-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-15-38
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-26-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-14-57-08
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-16-36-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-10-01-11-47-44
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-11-16-14-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-13-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-31-36
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-34-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-41-46
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-28-28
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-53-11
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-10-16-35
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-16-41-14
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-42-47
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-52-45
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-11-29-55
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-12-00-49
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-10-57-34
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-13-51-43
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-13-45-37
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-21-12-51
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-57-34
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.FixedDvLoss
+  dv:
+  - - 1
+    - 1.0
+  - - 3
+    - 1.0
+  - - 9
+    - 1.0
+  - - 27
+    - 1.0
+  - - 81
+    - 1.0
+modality:
+  use_aux_imu: false
+  use_joints: false
+train:
+  lr: 5.0e-05
+  decay: 1.0e-05
+  batch: 256
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 120
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 10
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 1.0
+  zupt_gate: imu
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null

grandtour/ssio/.hydra/hydra.yaml

@@ -0,0 +1,181 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - network=airio_imu_only
+    - modality.use_joints=false
+    - modality.use_aux_imu=false
+    - loss=ssio_dv_1_3_9_27_81
+    - train.zupt_gate=imu
+    - train.zupt_weight=1.0
+    - train.zupt_sched_enable=false
+    - train.lr=5.0e-5
+    - train.decay=1.0e-5
+    - train.batch=256
+    - train.ema=true
+    - train.epoch=120
+    - train.checkpoint_every_epochs=10
+    - dataset@train_dataset=ANYmal_SSL
+    - dataset@val_dataset=ANYmal_Val
+    - dataset@test_dataset=ANYmal_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=ANYmal_Test,dataset@train_dataset=ANYmal_SSL,dataset@val_dataset=ANYmal_Val,loss=ssio_dv_1_3_9_27_81,modality.use_aux_imu=false,modality.use_joints=false,network=airio_imu_only,train.batch=256,train.checkpoint_every_epochs=10,train.decay=1.0e-5,train.ema=true,train.epoch=120,train.lr=5.0e-5,train.zupt_gate=imu,train.zupt_sched_enable=false,train.zupt_weight=1.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/ANYmal_SSL/20260914_000850
+    choices:
+      loss: ssio_dv_1_3_9_27_81
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: ANYmal_Test
+      dataset@val_dataset: ANYmal_Val
+      dataset@train_dataset: ANYmal_SSL
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

grandtour/ssio/.hydra/overrides.yaml

@@ -0,0 +1,16 @@
+- network=airio_imu_only
+- modality.use_joints=false
+- modality.use_aux_imu=false
+- loss=ssio_dv_1_3_9_27_81
+- train.zupt_gate=imu
+- train.zupt_weight=1.0
+- train.zupt_sched_enable=false
+- train.lr=5.0e-5
+- train.decay=1.0e-5
+- train.batch=256
+- train.ema=true
+- train.epoch=120
+- train.checkpoint_every_epochs=10
+- dataset@train_dataset=ANYmal_SSL
+- dataset@val_dataset=ANYmal_Val
+- dataset@test_dataset=ANYmal_Test