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.gitattributes +2 -0
_CHECKPOINT_METADATA +1 -1
config/metadata +1 -1
metadata/metadata +1 -1
train_state/_METADATA +0 -0
train_state/_sharding +1 -1
train_state/array_metadatas/process_0 +0 -0
train_state/d/d5f24832eb307a46ec2d279584229d43 +0 -0
train_state/manifest.ocdbt +0 -0
train_state/ocdbt.process_0/d/0e975dd3b1b39c80f790cb04d2f5b62d +0 -0
train_state/ocdbt.process_0/d/198dbe59f44fa1595c9d837b245e6bf2 +0 -0
train_state/ocdbt.process_0/d/2928aaf6e8dded2b1b1b8c45f20fa422 +0 -0
train_state/ocdbt.process_0/d/3d36206889e5b4cd8b97728c1db8faae +3 -0
train_state/ocdbt.process_0/d/612d74004d48b38079bba203291287bf +0 -0
train_state/ocdbt.process_0/d/7c1717555671a46f52ab46cc417fdaf7 +3 -0
train_state/ocdbt.process_0/d/c2f92f1dc83289a26c26eb2b45adb320 +0 -0
train_state/ocdbt.process_0/d/cabc8fb92c7ca6b4e5a23e418e9415ec +0 -0
train_state/ocdbt.process_0/manifest.ocdbt +0 -0

.gitattributes CHANGED Viewed

@@ -37,3 +37,5 @@ train_state/ocdbt.process_0/d/78d8c2bf66e574d6dc14d065e83d0cc9 filter=lfs diff=l
 train_state/ocdbt.process_0/d/dac1a25d9bb1525af4afac14e4aa6abf filter=lfs diff=lfs merge=lfs -text
 train_state/ocdbt.process_0/d/8ff81d5a6483071bf99ab3c212112f2a filter=lfs diff=lfs merge=lfs -text
 train_state/ocdbt.process_0/d/effc0e82e45ac765511235b199f94c17 filter=lfs diff=lfs merge=lfs -text

 train_state/ocdbt.process_0/d/dac1a25d9bb1525af4afac14e4aa6abf filter=lfs diff=lfs merge=lfs -text
 train_state/ocdbt.process_0/d/8ff81d5a6483071bf99ab3c212112f2a filter=lfs diff=lfs merge=lfs -text
 train_state/ocdbt.process_0/d/effc0e82e45ac765511235b199f94c17 filter=lfs diff=lfs merge=lfs -text
+train_state/ocdbt.process_0/d/3d36206889e5b4cd8b97728c1db8faae filter=lfs diff=lfs merge=lfs -text
+train_state/ocdbt.process_0/d/7c1717555671a46f52ab46cc417fdaf7 filter=lfs diff=lfs merge=lfs -text

_CHECKPOINT_METADATA CHANGED Viewed

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- {"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": ~~1765814872248567510~~, "commit_timestamp_nsecs": ~~1765814872687997508~~, "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": 1767296376523792993, "commit_timestamp_nsecs": 1767296377774864877, "custom_metadata": {}}

config/metadata CHANGED Viewed

@@ -1 +1 @@

- {"wandb": {"project": "musclemimic", "mode": "online", "tags": ["fullbody", "muscle observation ablation", "all_muscle_obs"]}, "experiment": {"task_factory": {"name": "ImitationFactory", "params": {"amass_dataset_conf": {"dataset_group": "~~KIT_KINESIS_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": 20, "total_timesteps": ~~49152000000~~, "update_epochs": 1, "proportion_env_reward": 0.0, "num_minibatches": ~~256~~, "gamma": 0.99, "gae_lambda": 0.95, "clip_eps": 0.3, "clip_eps_vf": 0.5, "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, "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/2025-12-11/11-46-52/checkpoints/~~251211T115556~~-~~pid221~~-~~f54312~~/~~checkpoint_11400~~", "async_checkpointing": false, "reset_logging_timestep": ~~true~~, "use_moe": ~~false~~, "moe_config": {"num_experts": 4, "moe_at_layers": [2, 3], "apply_moe_to": "both", "apply_moe_to_output": false, "expert_hidden_ratio": 0.5, "temperature": 0.7, "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": ~~2000~~, "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": ~~300000~~, "minibatch_size": ~~640~~, "validation_interval": ~~6000~~, "effective_utd": 0.~~0015625~~, "sample_reuse": 1.0, "checkpoint_dir": "/users/ckli/musclemimic_dev/outputs/2025-12-12/17-40-51/checkpoints/~~251212T174758~~-~~pid221~~-~~2ad7ab~~", "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": 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": {}}}}

metadata/metadata CHANGED Viewed

	@@ -1 +1 @@
1	- {"step": ~~13824000~~, "update_number": ~~54000~~, "global_timestep": ~~8847360000~~, "learning_rate": 3.9999998989515007e-05, "num_envs": 8192, "num_steps": 20, "num_minibatches": ~~256~~, "update_epochs": 1, "schema_version": "2.1", "algo_version": "PPOJax_v1", "backend": "warp", "env_name": "NormalizeVecReward"}


1	+ {"step": 26496000, "update_number": 828000, "global_timestep": 54263808000, "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"}

train_state/_METADATA CHANGED Viewed

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train_state/_sharding CHANGED Viewed

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