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FewShot/39tasks/5shot/FromRKD-Timewarp_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_5k/checkpoint-5000/config.json

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RKDv3/base120_single_fm1-rkd0p5_atomic65_human/default/base120_single_fm1-rkd0p5_atomic65_human.yaml

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+experiment_name: RKDv3 TimewarpVAE DA, Student:APHead, single-phase FM+RKD 1:0.5 from
+  GR00T base to 120k on Atomic65 human
+policy_type: groot_RKDv3
+base_model_path: nvidia/GR00T-N1.5-3B
+output_root: ${HOME}/groot_robocasa/robocasa_v2/RKDv3/base120_single_fm1-rkd0p5_atomic65_human
+dataset:
+  dataset_soup: atomic_pretrain_human
+training:
+  num_gpus: 2
+  batch_size: 64
+  seed: 42
+model:
+  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_relation_mode: flatten
+  rkd_loss_type: distance_angle
+  rkd_student_reconstruction_head_pooling: attention
+  rkd_student_reconstruction_head_enabled: true
+  rkd_student_reconstruction_head_dim: 512
+  rkd_student_reconstruction_head_hidden_dim: 512
+  rkd_distance_loss_weight: 1.0
+  rkd_angle_loss_weight: 2.0
+  rkd_exclude_diagonal: true
+phases:
+- name: fm_rkdv3_timewarp_vae_da_aphead_fixed_0p5_120k
+  max_steps: 120000
+  save_steps: 60000
+  trainable:
+    tune_llm: false
+    tune_visual: false
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+    tune_diffusion_model: true
+  losses:
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+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5

RKDv3/base120_single_fm1-rkd0p5_atomic65_human/default/fm_rkdv3_timewarp_vae_da_aphead_fixed_0p5_120k/experiment_cfg/metadata.json

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RKDv3/base120_single_fm1-rkd0p5_atomic65_human/default/resolved_config.yaml

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+experiment_name: RKDv3 TimewarpVAE DA, Student:APHead, single-phase FM+RKD 1:0.5 from
+  GR00T base to 120k on Atomic65 human
+policy_type: groot_RKDv3
+base_model_path: nvidia/GR00T-N1.5-3B
+output_root: ${HOME}/groot_robocasa/robocasa_v2/RKDv3/base120_single_fm1-rkd0p5_atomic65_human
+dataset:
+  dataset_soup: atomic_pretrain_human
+training:
+  num_gpus: 2
+  batch_size: 64
+  seed: 42
+model:
+  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_relation_mode: flatten
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+  rkd_student_reconstruction_head_pooling: attention
+  rkd_student_reconstruction_head_enabled: true
+  rkd_student_reconstruction_head_dim: 512
+  rkd_student_reconstruction_head_hidden_dim: 512
+  rkd_distance_loss_weight: 1.0
+  rkd_angle_loss_weight: 2.0
+  rkd_exclude_diagonal: true
+phases:
+- name: fm_rkdv3_timewarp_vae_da_aphead_fixed_0p5_120k
+  max_steps: 120000
+  save_steps: 60000
+  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
+resolved_sweep: {}