upload insert_tube_0812 real50 stage1 stage2 and policies

checkpoints/a800/insert_tube_0812_20260812/README.md

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+# insert_tube_0812_20260812
+
+Single-task real insert_tube training with 50 trajectories collected on 2026-08-12.
+
+Encoder: stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
+
+Policy test files per version: policy_best.ckpt + dataset_stats.pkl + matching yml under configs/.
+
+Policy versions:
+- rollout_train_config_actbaseline_insert_tube_0812_vision_kl7p5_lr1e-5_cs40_s16000
+- rollout_train_config_actbaseline_insert_tube_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000
+- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000
+- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000
+- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000
+- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000
+- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000
+- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000
+- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000
+- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000
+- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000
+- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000
+- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000
+- rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000

checkpoints/a800/insert_tube_0812_20260812/configs/actbaseline/rollout_train_config_actbaseline_insert_tube_0812_vision_kl7p5_lr1e-5_cs40_s16000.yml

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+state_dim: 8
+kl_weight: 7.5
+chunk_size: 40
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names: []
+lr_tactile_backbone: 0.0
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: false
+save_step_ckpts: false

checkpoints/a800/insert_tube_0812_20260812/configs/actbaseline/rollout_train_config_actbaseline_insert_tube_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000.yml

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+state_dim: 8
+kl_weight: 7.5
+chunk_size: 40
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: false
+save_step_ckpts: false

checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/manifest_insert_tube_0812_policy_sweep12_20260812.jsonl

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+{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs40_s16000", "chunk_size": 40, "kl": 7.5, "adapter_lr": 3e-05}
+{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs40_s16000", "chunk_size": 40, "kl": 7.5, "adapter_lr": 5e-05}
+{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000", "chunk_size": 40, "kl": 10.0, "adapter_lr": 3e-05}
+{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs40_s16000", "chunk_size": 40, "kl": 10.0, "adapter_lr": 5e-05}
+{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs45_s16000", "chunk_size": 45, "kl": 7.5, "adapter_lr": 3e-05}
+{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs45_s16000", "chunk_size": 45, "kl": 7.5, "adapter_lr": 5e-05}
+{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000", "chunk_size": 45, "kl": 10.0, "adapter_lr": 3e-05}
+{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs45_s16000", "chunk_size": 45, "kl": 10.0, "adapter_lr": 5e-05}
+{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr3e-5_cs50_s16000", "chunk_size": 50, "kl": 7.5, "adapter_lr": 3e-05}
+{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl7p5_plr1e-5_adaplr5e-5_cs50_s16000", "chunk_size": 50, "kl": 7.5, "adapter_lr": 5e-05}
+{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000", "chunk_size": 50, "kl": 10.0, "adapter_lr": 3e-05}
+{"task": "insert_tube", "name": "rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_policy_sweep12_20260812/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr5e-5_cs50_s16000", "chunk_size": 50, "kl": 10.0, "adapter_lr": 5e-05}
+{"task": "insert_tube", "name": "rollout_train_config_actbaseline_insert_tube_0812_vision_kl7p5_lr1e-5_cs40_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_actbaseline_20260812/rollout_train_config_actbaseline_insert_tube_0812_vision_kl7p5_lr1e-5_cs40_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_actbaseline_insert_tube_0812_vision_kl7p5_lr1e-5_cs40_s16000", "baseline": "actbaseline_vision", "chunk_size": 40, "kl": 7.5, "lr": 1e-05}
+{"task": "insert_tube", "name": "rollout_train_config_actbaseline_insert_tube_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000", "cfg": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/UniVTAC/policy/ACT/configs_insert_tube_0812_actbaseline_20260812/rollout_train_config_actbaseline_insert_tube_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000.yml", "ckpt_dir": "/pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/policy/act_ckpt/act-insert_tube/real-0812-50/rollout_train_config_actbaseline_insert_tube_0812_vision_tactile_kl7p5_lr1e-5_cs40_s16000", "baseline": "actbaseline_vision_tactile", "chunk_size": 40, "kl": 7.5, "lr": 1e-05}

checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs40_s16000.yml

@@ -0,0 +1,48 @@
+state_dim: 8
+kl_weight: 10.0
+chunk_size: 40
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812
+vitacdreamer_task_order:
+- insert_tube-real
+save_step_ckpts: false

checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs45_s16000.yml

@@ -0,0 +1,48 @@
+state_dim: 8
+kl_weight: 10.0
+chunk_size: 45
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/insert_tube_0812_20260812/stage2_prior512_hlen5_depthdelta_40train10val_b16_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/insert_tube/real-0812-50/vitacdreamer_features_insert_tube_0812_stage2_depthdelta_hlen5_20260812
+vitacdreamer_task_order:
+- insert_tube-real
+save_step_ckpts: false

checkpoints/a800/insert_tube_0812_20260812/configs/vitacdreamer_policy_sweep12/rollout_train_config_vitacdreamer_insert_tube_0812_stage2_depthdelta_kl10_plr1e-5_adaplr3e-5_cs50_s16000.yml

@@ -0,0 +1,48 @@
+state_dim: 8
+kl_weight: 10.0
+chunk_size: 50
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
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