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MGD_Processing_line_Only/dit_core_only/mgd_token_mask_ratio_0.3/phase3/config.json

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MGD_Processing_line_Only/dit_core_only/mgd_token_mask_ratio_0.3/resolved_config.yaml

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+experiment_name: mgd_sweep_from_trained_base
+policy_type: groot_mgd
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/phase2
+output_root: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/dit_core_only
+sweep:
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+- name: phase3_mgd_fm
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MGD_Processing_line_Only/dit_core_only/mgd_token_mask_ratio_0.5/mgd_dit_core_only1.yaml

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+experiment_name: mgd_sweep_from_trained_base
+policy_type: groot_mgd
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_${sweep.mgd_token_mask_ratio}/phase2
+output_root: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/dit_core_only
+sweep:
+  mgd_token_mask_ratio:
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+    mgd_token_mask_ratio: ${sweep.mgd_token_mask_ratio}
+    mgd_use_cosine_loss: true
+    mgd_use_mse_loss: false

MGD_Processing_line_Only/dit_core_only/mgd_token_mask_ratio_0.5/phase3/config.json

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MGD_Processing_line_Only/dit_core_only/mgd_token_mask_ratio_0.5/resolved_config.yaml

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+experiment_name: mgd_sweep_from_trained_base
+policy_type: groot_mgd
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/phase2
+output_root: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/dit_core_only
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+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    mgd_enabled: false
+    mgd_fm_loss_weight: 1.0
+    mgd_loss_weight: 0.0
+    mgd_token_mask_ratio: 0.5
+    mgd_use_cosine_loss: true
+    mgd_use_mse_loss: false
+resolved_sweep:
+  mgd_token_mask_ratio: 0.5

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+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
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+    "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,
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+  "architectures": [
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+  ],
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+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
+    "load_bf16": false,
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+    "select_layer": 12,
+    "tune_llm": false,
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+    "use_flash_attention": true
+  },
+  "compute_dtype": "bfloat16",
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+  "mgd_enabled": false,
+  "mgd_fm_loss_weight": 1.0,
+  "mgd_loss_weight": 0.0,
+  "mgd_pretrained_projector_path": null,
+  "mgd_sequence_hidden_dim": 512,
+  "mgd_target_dim": 512,
+  "mgd_target_pooling": "flatten",
+  "mgd_target_projection": "frozen_random",
+  "mgd_token_mask_ratio": 0.7,
+  "mgd_use_cosine_loss": true,
+  "mgd_use_mse_loss": false,
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+  "model_type": "gr00t_n1_5",
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
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