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FewShot/39tasks/5shot/FromRKD-Timewar_Processingline_v2/seed0/default/train_5shot_seed0_processingline_5k/checkpoint-1000/config.json

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FewShot/39tasks/5shot/FromRKD-Timewar_Processingline_v2/seed0/default/train_5shot_seed0_processingline_5k/checkpoint-1000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromRKD-Timewar_Processingline_v2/seed0/default/train_5shot_seed0_processingline_5k/checkpoint-3000/config.json

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FewShot/39tasks/5shot/FromRKD-Timewar_Processingline_v2/seed0/default/train_5shot_seed0_processingline_5k/checkpoint-3000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromRKD-Timewar_Processingline_v2/seed0/default/train_5shot_seed0_processingline_5k/checkpoint-5000/config.json

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FewShot/39tasks/5shot/FromRKD-Timewar_Processingline_v2/seed0/default/train_5shot_seed0_processingline_5k/checkpoint-5000/experiment_cfg/metadata.json

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+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_left": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_right": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                }
+            },
+            "state": {
+                "base_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "base_rotation": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position_relative": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation_relative": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "gripper_qpos": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        2
+                    ],
+                    "continuous": true
+                }
+            },
+            "action": {
+                "base_motion": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "control_mode": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation": {
+                    "absolute": true,
+                    "rotation_type": "axis_angle",
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "gripper_close": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                }
+            }
+        },
+        "embodiment_tag": "new_embodiment"
+    }
+}

FewShot/39tasks/5shot/FromRKD-Timewar_Processingline_v2/seed2/default/resolved_config.yaml

@@ -0,0 +1,38 @@
+experiment_name: fewshot_39tasks_5shot_from_rkd_timewar_processingline_v2_seed2
+policy_type: groot_RKDv3
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_from_Atomic26Baseline60k/default/phase3
+output_root: ${HOME}/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewar_Processingline_v2/seed2
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 2
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed2.json
+  save_total_limit: 4
+model:
+  rkd_enabled: true
+  rkd_fm_loss_weight: 1.0
+  rkd_loss_weight: 0.5
+  rkd_loss_weight_schedule: null
+phases:
+- name: train_5shot_seed2_processingline_5k
+  max_steps: 5000
+  save_steps: 0
+  save_step_list:
+  - 1000
+  - 3000
+  - 5000
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+    rkd_loss_weight_schedule: null
+resolved_sweep: {}

FewShot/39tasks/5shot/FromRKD-Timewar_Processingline_v2/seed2/default/seed2.yaml

@@ -0,0 +1,37 @@
+experiment_name: fewshot_39tasks_5shot_from_rkd_timewar_processingline_v2_seed2
+policy_type: groot_RKDv3
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_from_Atomic26Baseline60k/default/phase3
+output_root: ${HOME}/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewar_Processingline_v2/seed2
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 2
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed2.json
+  save_total_limit: 4
+model:
+  rkd_enabled: true
+  rkd_fm_loss_weight: 1.0
+  rkd_loss_weight: 0.5
+  rkd_loss_weight_schedule: null
+phases:
+- name: train_5shot_seed2_processingline_5k
+  max_steps: 5000
+  save_steps: 0
+  save_step_list:
+  - 1000
+  - 3000
+  - 5000
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+    rkd_loss_weight_schedule: null

FewShot/39tasks/5shot/FromRKD-Timewar_Processingline_v2/seed2/default/train_5shot_seed2_processingline_5k/config.json

@@ -0,0 +1,101 @@
+{
+  "action_dim": 32,
+  "action_head_cfg": {
+    "action_dim": 32,
+    "action_horizon": 16,
+    "add_pos_embed": true,
+    "backbone_embedding_dim": 2048,
+    "diffusion_model_cfg": {
+      "attention_head_dim": 48,
+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
+      "norm_type": "ada_norm",
+      "num_attention_heads": 32,
+      "num_layers": 16,
+      "output_dim": 1024,
+      "positional_embeddings": null
+    },
+    "hidden_size": 1024,
+    "input_embedding_dim": 1536,
+    "max_action_dim": 32,
+    "max_state_dim": 64,
+    "model_dtype": "float32",
+    "noise_beta_alpha": 1.5,
+    "noise_beta_beta": 1.0,
+    "noise_s": 0.999,
+    "num_inference_timesteps": 4,
+    "num_target_vision_tokens": 32,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true,
+    "use_vlln": true,
+    "vl_self_attention_cfg": {
+      "attention_head_dim": 64,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "num_attention_heads": 32,
+      "num_layers": 4,
+      "positional_embeddings": null
+    }
+  },
+  "action_horizon": 16,
+  "architectures": [
+    "GR00T_N1_5_RKD"
+  ],
+  "attn_implementation": null,
+  "backbone_cfg": {
+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
+    "load_bf16": false,
+    "project_to_dim": null,
+    "reproject_vision": false,
+    "select_layer": 12,
+    "tune_llm": false,
+    "tune_visual": true,
+    "use_flash_attention": true
+  },
+  "compute_dtype": "bfloat16",
+  "hidden_size": 2048,
+  "model_dtype": "float32",
+  "model_type": "gr00t_n1_5",
+  "rkd_action_encoder_cls_ffn_hidden_dim": 2048,
+  "rkd_action_encoder_cls_num_heads": 8,
+  "rkd_action_encoder_cls_num_layers": 1,
+  "rkd_action_encoder_projector_dim": 512,
+  "rkd_action_encoder_projector_enabled": false,
+  "rkd_action_encoder_projector_pooling": "flatten",
+  "rkd_action_temp": 0.1,
+  "rkd_angle_loss_weight": 2.0,
+  "rkd_distance_loss_weight": 1.0,
+  "rkd_dtw_adaptive_floor": 0.05,
+  "rkd_dtw_adaptive_mix_lambda": 0.5,
+  "rkd_dtw_base_weight": 1.0,
+  "rkd_dtw_gripper_weight": 0.5,
+  "rkd_dtw_mix_mode": "distance_mix",
+  "rkd_dtw_normalize_components": true,
+  "rkd_dtw_pos_weight": 1.0,
+  "rkd_dtw_rot_weight": 1.0,
+  "rkd_dtw_timing_log_interval": 1000,
+  "rkd_enabled": true,
+  "rkd_exclude_diagonal": true,
+  "rkd_fm_loss_weight": 1.0,
+  "rkd_loss_type": "distance_angle",
+  "rkd_loss_weight": 0.5,
+  "rkd_loss_weight_end": 0.0,
+  "rkd_loss_weight_schedule": null,
+  "rkd_loss_weight_start": 0.1,
+  "rkd_raw_action_projector_dim": 512,
+  "rkd_raw_action_projector_enabled": false,
+  "rkd_raw_action_projector_pooling": "flatten",
+  "rkd_relation_mode": "token_pair_mean",
+  "rkd_student_reconstruction_head_dim": 512,
+  "rkd_student_reconstruction_head_enabled": true,
+  "rkd_student_reconstruction_head_hidden_dim": 512,
+  "rkd_student_reconstruction_head_pooling": "attention",
+  "rkd_teacher_source": "timewarp_action",
+  "rkd_timewarp_vae_checkpoint": "${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46",
+  "rkd_vlm_temp": 0.1,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed0/default/resolved_config.yaml

@@ -0,0 +1,38 @@
+experiment_name: fewshot_39tasks_5shot_from_rkd_timewarp_fullactionhead_seed0
+policy_type: groot_RKDv3
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_from_Atomic26Baseline60k/default/phase3
+output_root: ${HOME}/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed0
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 0
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed0.json
+  save_total_limit: 4
+model:
+  rkd_enabled: true
+  rkd_fm_loss_weight: 1.0
+  rkd_loss_weight: 0.5
+  rkd_loss_weight_schedule: null
+phases:
+- name: train_5shot_seed0_fullactionhead_5k
+  max_steps: 5000
+  save_steps: 0
+  save_step_list:
+  - 1000
+  - 3000
+  - 5000
+  save_final_model: false
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+    rkd_loss_weight_schedule: null
+resolved_sweep: {}

FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed0/default/seed0.yaml

@@ -0,0 +1,37 @@
+experiment_name: fewshot_39tasks_5shot_from_rkd_timewarp_fullactionhead_seed0
+policy_type: groot_RKDv3
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_from_Atomic26Baseline60k/default/phase3
+output_root: ${HOME}/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed0
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 0
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed0.json
+  save_total_limit: 4
+model:
+  rkd_enabled: true
+  rkd_fm_loss_weight: 1.0
+  rkd_loss_weight: 0.5
+  rkd_loss_weight_schedule: null
+phases:
+- name: train_5shot_seed0_fullactionhead_5k
+  max_steps: 5000
+  save_steps: 0
+  save_step_list:
+  - 1000
+  - 3000
+  - 5000
+  save_final_model: false
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+    rkd_loss_weight_schedule: null

FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_5k/checkpoint-1000/config.json

@@ -0,0 +1,101 @@
+{
+  "action_dim": 32,
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+    "add_pos_embed": true,
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+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
+      "norm_type": "ada_norm",
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+    "model_dtype": "float32",
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+    "num_inference_timesteps": 4,
+    "num_target_vision_tokens": 32,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true,
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+  "backbone_cfg": {
+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
+    "load_bf16": false,
+    "project_to_dim": null,
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+  "model_dtype": "float32",
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+  "transformers_version": "4.51.3"
+}

FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_5k/checkpoint-1000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_5k/checkpoint-3000/config.json

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FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_5k/checkpoint-3000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_5k/experiment_cfg/metadata.json

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+}

FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed1/default/resolved_config.yaml

@@ -0,0 +1,38 @@
+experiment_name: fewshot_39tasks_5shot_from_rkd_timewarp_fullactionhead_seed1
+policy_type: groot_RKDv3
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_from_Atomic26Baseline60k/default/phase3
+output_root: ${HOME}/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed1
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 1
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed1.json
+  save_total_limit: 4
+model:
+  rkd_enabled: true
+  rkd_fm_loss_weight: 1.0
+  rkd_loss_weight: 0.5
+  rkd_loss_weight_schedule: null
+phases:
+- name: train_5shot_seed1_fullactionhead_5k
+  max_steps: 5000
+  save_steps: 0
+  save_step_list:
+  - 1000
+  - 3000
+  - 5000
+  save_final_model: false
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+    rkd_loss_weight_schedule: null
+resolved_sweep: {}

FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed1/default/seed1.yaml

@@ -0,0 +1,37 @@
+experiment_name: fewshot_39tasks_5shot_from_rkd_timewarp_fullactionhead_seed1
+policy_type: groot_RKDv3
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_from_Atomic26Baseline60k/default/phase3
+output_root: ${HOME}/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed1
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 1
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed1.json
+  save_total_limit: 4
+model:
+  rkd_enabled: true
+  rkd_fm_loss_weight: 1.0
+  rkd_loss_weight: 0.5
+  rkd_loss_weight_schedule: null
+phases:
+- name: train_5shot_seed1_fullactionhead_5k
+  max_steps: 5000
+  save_steps: 0
+  save_step_list:
+  - 1000
+  - 3000
+  - 5000
+  save_final_model: false
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+    rkd_loss_weight_schedule: null

FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_5k/checkpoint-1000/config.json

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+{
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+  "rkd_student_reconstruction_head_enabled": true,
+  "rkd_student_reconstruction_head_hidden_dim": 512,
+  "rkd_student_reconstruction_head_pooling": "attention",
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+  "rkd_timewarp_vae_checkpoint": "${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46",
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+  "transformers_version": "4.51.3"
+}

FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_5k/checkpoint-1000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_5k/checkpoint-3000/config.json

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FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_5k/checkpoint-3000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_5k/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed2/default/resolved_config.yaml

@@ -0,0 +1,38 @@
+experiment_name: fewshot_39tasks_5shot_from_rkd_timewarp_fullactionhead_seed2
+policy_type: groot_RKDv3
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_from_Atomic26Baseline60k/default/phase3
+output_root: ${HOME}/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed2
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 2
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed2.json
+  save_total_limit: 4
+model:
+  rkd_enabled: true
+  rkd_fm_loss_weight: 1.0
+  rkd_loss_weight: 0.5
+  rkd_loss_weight_schedule: null
+phases:
+- name: train_5shot_seed2_fullactionhead_5k
+  max_steps: 5000
+  save_steps: 0
+  save_step_list:
+  - 1000
+  - 3000
+  - 5000
+  save_final_model: false
+  trainable:
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+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+    rkd_loss_weight_schedule: null
+resolved_sweep: {}

FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed2/default/seed2.yaml

@@ -0,0 +1,37 @@
+experiment_name: fewshot_39tasks_5shot_from_rkd_timewarp_fullactionhead_seed2
+policy_type: groot_RKDv3
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_from_Atomic26Baseline60k/default/phase3
+output_root: ${HOME}/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed2
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 2
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed2.json
+  save_total_limit: 4
+model:
+  rkd_enabled: true
+  rkd_fm_loss_weight: 1.0
+  rkd_loss_weight: 0.5
+  rkd_loss_weight_schedule: null
+phases:
+- name: train_5shot_seed2_fullactionhead_5k
+  max_steps: 5000
+  save_steps: 0
+  save_step_list:
+  - 1000
+  - 3000
+  - 5000
+  save_final_model: false
+  trainable:
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+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+    rkd_loss_weight_schedule: null

FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed2/default/train_5shot_seed2_fullactionhead_5k/checkpoint-1000/config.json

@@ -0,0 +1,101 @@
+{
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+  "rkd_student_reconstruction_head_dim": 512,
+  "rkd_student_reconstruction_head_enabled": true,
+  "rkd_student_reconstruction_head_hidden_dim": 512,
+  "rkd_student_reconstruction_head_pooling": "attention",
+  "rkd_teacher_source": "timewarp_action",
+  "rkd_timewarp_vae_checkpoint": "${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46",
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+  "transformers_version": "4.51.3"
+}

FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed2/default/train_5shot_seed2_fullactionhead_5k/checkpoint-1000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed2/default/train_5shot_seed2_fullactionhead_5k/checkpoint-3000/config.json

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FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed2/default/train_5shot_seed2_fullactionhead_5k/checkpoint-3000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed2/default/train_5shot_seed2_fullactionhead_5k/experiment_cfg/metadata.json

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