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@@ -39,3 +39,6 @@ train_state/ocdbt.process_0/d/8ff81d5a6483071bf99ab3c212112f2a filter=lfs diff=l
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_CHECKPOINT_METADATA

@@ -1 +1 @@
-{"item_handlers": {"config": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "metadata": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1767296376523792993, "commit_timestamp_nsecs": 1767296377774864877, "custom_metadata": {}}
+{"item_handlers": {"config": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "metadata": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1767349245761114187, "commit_timestamp_nsecs": 1767349247020865170, "custom_metadata": {}}

config/metadata

@@ -1 +1 @@
-{"wandb": {"project": "musclemimic", "mode": "online", "tags": ["fullbody", "muscle observation ablation", "all_muscle_obs", "moe", "layernorm"]}, "experiment": {"task_factory": {"name": "ImitationFactory", "params": {"amass_dataset_conf": {"dataset_group": "KIT_KINESIS_TRANSITION_TRAINING_MOTIONS"}}}, "env_params": {"env_name": "MjxMyoFullBody", "headless": true, "horizon": 1000, "disable_fingers": true, "mjx_backend": "warp", "num_envs": 8192, "enable_muscle_length_observations": true, "enable_muscle_velocity_observations": true, "enable_muscle_force_observations": true, "enable_muscle_activation_observations": true, "enable_touch_sensor_observations": true, "init_state_type": "TrajInitialStateHandler", "goal_type": "GoalTrajMimic", "goal_params": {"visualize_goal": true, "n_step_lookahead": 1, "upper_body_xml_name": "torso", "sites_for_mimic": ["pelvis_mimic", "upper_body_mimic", "head_mimic", "left_shoulder_mimic", "left_elbow_mimic", "left_hand_mimic", "right_shoulder_mimic", "right_elbow_mimic", "right_hand_mimic", "left_hip_mimic", "left_knee_mimic", "left_ankle_mimic", "left_toes_mimic", "right_hip_mimic", "right_knee_mimic", "right_ankle_mimic", "right_toes_mimic"]}, "control_type": "DefaultControl", "control_params": {}, "reward_type": "MimicReward", "reward_params": {"qpos_w_sum": 0.5, "qvel_w_sum": 0.1, "rpos_w_sum": 2.0, "rquat_w_sum": 0.3, "rvel_w_sum": 0.2, "use_mean_exp_reward": false, "sites_for_mimic": ["pelvis_mimic", "upper_body_mimic", "head_mimic", "left_shoulder_mimic", "left_elbow_mimic", "left_hand_mimic", "right_shoulder_mimic", "right_elbow_mimic", "right_hand_mimic", "left_hip_mimic", "left_knee_mimic", "left_ankle_mimic", "left_toes_mimic", "right_hip_mimic", "right_knee_mimic", "right_ankle_mimic", "right_toes_mimic"]}, "terminal_state_type": "MeanRelativeSiteDeviationTerminalStateHandler", "terminal_state_params": {"mean_site_deviation_threshold": 0.3, "enable_site_check": true}}, "actor_hidden_layers": [1024, 1024, 1024, 1024, 1024], "critic_hidden_layers": [1024, 1024, 1024, 1024, 1024], "lr": 4e-05, "num_envs": 8192, "num_steps": 8, "total_timesteps": 4915200000, "update_epochs": 1, "proportion_env_reward": 0.0, "num_minibatches": 32, "gamma": 0.99, "gae_lambda": 0.95, "clip_eps": 0.01, "clip_eps_vf": 0.01, "init_std": 1.0, "learnable_std": true, "ent_coef": 0.0, "vf_coef": 0.5, "max_grad_norm": 10, "activation": "silu", "anneal_lr": false, "lr_schedule_type": "linear", "warmup_steps": null, "min_lr_ratio": 0.1, "weight_decay": 0.001, "normalize_env": true, "debug": false, "n_seeds": 1, "seeds": null, "vmap_across_seeds": false, "save_checkpoints": true, "max_checkpoints_to_keep": 10, "checkpoints_on_validation": true, "resume_from": "outputs/2025-12-19/18-18-07/checkpoints/251219T182618-pid157-1f082a/checkpoint_48000", "async_checkpointing": false, "reset_logging_timestep": false, "use_moe": true, "use_layernorm": true, "layernorm_eps": 1e-05, "moe_config": {"num_experts": 16, "moe_at_layers": [3], "apply_moe_to": "both", "apply_moe_to_output": false, "expert_hidden_ratio": 0.5, "temperature": 0.5, "load_balance_loss_weight": 0.01, "gate_init_std": 0.01}, "validation": {"active": true, "deterministic": false, "num_steps": 1000, "num_envs": 20, "num": 50, "video_length": 3000, "video_frequency": 1, "video_fps": 60, "quantities": ["JointPosition", "JointVelocity", "RelSitePosition", "RelSiteVelocity", "RelSiteOrientation", "BodyPosition"], "measures": ["EuclideanDistance", "DynamicTimeWarping", "DiscreteFrechetDistance"], "rel_site_names": ["pelvis_mimic", "upper_body_mimic", "head_mimic", "left_shoulder_mimic", "left_elbow_mimic", "left_hand_mimic", "right_shoulder_mimic", "right_elbow_mimic", "right_hand_mimic", "left_hip_mimic", "left_knee_mimic", "left_ankle_mimic", "left_toes_mimic", "right_hip_mimic", "right_knee_mimic", "right_ankle_mimic", "right_toes_mimic"]}, "num_updates": 75000, "minibatch_size": 2048, "validation_interval": 1500, "effective_utd": 0.00048828125, "sample_reuse": 1.0, "unrolls_per_1m": 15.2587890625, "updates_per_1m": 15.2587890625, "grad_steps_per_1m": 488.28125, "checkpoint_dir": "/users/ckli/musclemimic_dev/outputs/2025-12-27/22-01-18/checkpoints/251227T220917-pid116-b893d5", "resume_lr_override": 3.9999998989515007e-05}, "control_config": {"torque_control": {"control_type": "DefaultControl", "control_params": {}}}}
+{"wandb": {"project": "musclemimic", "mode": "online", "tags": ["fullbody", "muscle observation ablation", "all_muscle_obs", "moe", "layernorm"]}, "experiment": {"task_factory": {"name": "ImitationFactory", "params": {"amass_dataset_conf": {"dataset_group": "KIT_KINESIS_TRANSITION_TRAINING_MOTIONS"}}}, "env_params": {"env_name": "MjxMyoFullBody", "headless": true, "horizon": 1000, "disable_fingers": true, "mjx_backend": "warp", "num_envs": 8192, "enable_muscle_length_observations": true, "enable_muscle_velocity_observations": true, "enable_muscle_force_observations": true, "enable_muscle_activation_observations": false, "enable_touch_sensor_observations": true, "init_state_type": "TrajInitialStateHandler", "goal_type": "GoalTrajMimic", "goal_params": {"visualize_goal": true, "n_step_lookahead": 1, "upper_body_xml_name": "torso", "sites_for_mimic": ["pelvis_mimic", "upper_body_mimic", "head_mimic", "left_shoulder_mimic", "left_elbow_mimic", "left_hand_mimic", "right_shoulder_mimic", "right_elbow_mimic", "right_hand_mimic", "left_hip_mimic", "left_knee_mimic", "left_ankle_mimic", "left_toes_mimic", "right_hip_mimic", "right_knee_mimic", "right_ankle_mimic", "right_toes_mimic"]}, "control_type": "DefaultControl", "control_params": {}, "reward_type": "MimicReward", "reward_params": {"qpos_w_sum": 0.5, "qvel_w_sum": 0.1, "rpos_w_sum": 2.0, "rquat_w_sum": 0.3, "rvel_w_sum": 1.5, "use_mean_exp_reward": false, "sites_for_mimic": ["pelvis_mimic", "upper_body_mimic", "head_mimic", "left_shoulder_mimic", "left_elbow_mimic", "left_hand_mimic", "right_shoulder_mimic", "right_elbow_mimic", "right_hand_mimic", "left_hip_mimic", "left_knee_mimic", "left_ankle_mimic", "left_toes_mimic", "right_hip_mimic", "right_knee_mimic", "right_ankle_mimic", "right_toes_mimic"]}, "terminal_state_type": "MeanRelativeSiteDeviationTerminalStateHandler", "terminal_state_params": {"mean_site_deviation_threshold": 0.3, "enable_site_check": true}, "enable_muscle_excitation_observations": true}, "actor_hidden_layers": [1024, 1024, 1024, 1024, 1024], "critic_hidden_layers": [1024, 1024, 1024, 1024, 1024], "lr": 4e-05, "num_envs": 8192, "num_steps": 8, "total_timesteps": 4915200000, "update_epochs": 1, "proportion_env_reward": 0.0, "num_minibatches": 32, "gamma": 0.99, "gae_lambda": 0.95, "clip_eps": 0.01, "clip_eps_vf": 0.01, "init_std": 1.0, "learnable_std": true, "ent_coef": 0.0, "vf_coef": 0.5, "max_grad_norm": 10, "activation": "silu", "anneal_lr": false, "lr_schedule_type": "linear", "warmup_steps": null, "min_lr_ratio": 0.1, "weight_decay": 0.001, "normalize_env": true, "debug": false, "n_seeds": 1, "seeds": null, "vmap_across_seeds": false, "save_checkpoints": true, "max_checkpoints_to_keep": 10, "checkpoints_on_validation": true, "resume_from": "outputs/2025-12-19/18-18-07/checkpoints/251219T182618-pid157-1f082a/checkpoint_48000", "async_checkpointing": false, "reset_logging_timestep": false, "use_moe": true, "use_layernorm": true, "layernorm_eps": 1e-05, "moe_config": {"num_experts": 16, "moe_at_layers": [3], "apply_moe_to": "both", "apply_moe_to_output": false, "expert_hidden_ratio": 0.5, "temperature": 0.5, "load_balance_loss_weight": 0.01, "gate_init_std": 0.01}, "validation": {"active": true, "deterministic": false, "num_steps": 1000, "num_envs": 20, "num": 50, "video_length": 3000, "video_frequency": 1, "video_fps": 60, "quantities": ["JointPosition", "JointVelocity", "RelSitePosition", "RelSiteVelocity", "RelSiteOrientation", "BodyPosition"], "measures": ["EuclideanDistance", "DynamicTimeWarping", "DiscreteFrechetDistance"], "rel_site_names": ["pelvis_mimic", "upper_body_mimic", "head_mimic", "left_shoulder_mimic", "left_elbow_mimic", "left_hand_mimic", "right_shoulder_mimic", "right_elbow_mimic", "right_hand_mimic", "left_hip_mimic", "left_knee_mimic", "left_ankle_mimic", "left_toes_mimic", "right_hip_mimic", "right_knee_mimic", "right_ankle_mimic", "right_toes_mimic"]}, "num_updates": 75000, "minibatch_size": 2048, "validation_interval": 1500, "effective_utd": 0.00048828125, "sample_reuse": 1.0, "unrolls_per_1m": 15.2587890625, "updates_per_1m": 15.2587890625, "grad_steps_per_1m": 488.28125, "checkpoint_dir": "/users/ckli/musclemimic_dev/outputs/2025-12-27/22-01-18/checkpoints/251227T220917-pid116-b893d5", "resume_lr_override": 3.9999998989515007e-05}, "control_config": {"torque_control": {"control_type": "DefaultControl", "control_params": {}}}}

metadata/metadata

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+{"step": 26736000, "update_number": 835500, "global_timestep": 7569408000, "learning_rate": 3.9999998989515007e-05, "num_envs": 8192, "num_steps": 8, "num_minibatches": 32, "update_epochs": 1, "schema_version": "2.1", "algo_version": "PPOJax_v1", "backend": "warp", "env_name": "NormalizeVecReward"}

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