diff --git a/.gitattributes b/.gitattributes
index 76e94130cef3c215c0e46571690f73ac5fb01b59..e4f3ecf7afd216d9fe70e74c6895463c83272843 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -98,3 +98,8 @@ dog-walk/42/4o_dog-walk_s42/wandb/offline-run-20250717_201912-xp7xco6q/logs/debu
 humanoid-stand/30/tdmpc2_humanoid-stand_s30/wandb/offline-run-20250717_201912-ftc98dzf/run-ftc98dzf.wandb filter=lfs diff=lfs merge=lfs -text
 dog-walk/42/tdmpc2_dog-walk_s42/wandb/debug-internal.log filter=lfs diff=lfs merge=lfs -text
 humanoid-stand/30/4o_humanoid-stand_s30/wandb/offline-run-20250717_201912-u2um0936/run-u2um0936.wandb filter=lfs diff=lfs merge=lfs -text
+dog-walk/42/4o_dog-walk_s42/wandb/debug-internal.log filter=lfs diff=lfs merge=lfs -text
+dog-walk/42/tdmpc2_dog-walk_s42/wandb/offline-run-20250717_201912-30xt38u9/run-30xt38u9.wandb filter=lfs diff=lfs merge=lfs -text
+humanoid-stand/2/tdmpc2_humanoid-stand_s2/wandb/debug-internal.log filter=lfs diff=lfs merge=lfs -text
+dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/run-ieys56yw.wandb filter=lfs diff=lfs merge=lfs -text
+dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/logs/debug-internal.log filter=lfs diff=lfs merge=lfs -text
diff --git a/dog-walk/2/4o_dog-walk_s2/eval.csv b/dog-walk/2/4o_dog-walk_s2/eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f44077a6e65297b2bb0f411a9436f4748d29abdb
--- /dev/null
+++ b/dog-walk/2/4o_dog-walk_s2/eval.csv
@@ -0,0 +1,20 @@
+step,episode_reward
+0.0,8.364313125610352
+50000.0,30.149547576904297
+100000.0,85.90943145751953
+150000.0,113.87089538574219
+200000.0,192.4839324951172
+250000.0,273.6571350097656
+300000.0,275.1238708496094
+350000.0,367.3443298339844
+400000.0,395.8408508300781
+450000.0,513.2810668945312
+500000.0,454.10009765625
+550000.0,539.2607421875
+600000.0,527.2902221679688
+650000.0,561.8629150390625
+700000.0,557.4998779296875
+750000.0,584.7683715820312
+800000.0,569.1062622070312
+850000.0,546.2621459960938
+900000.0,571.9385375976562
diff --git a/dog-walk/2/4o_dog-walk_s2/wandb/debug.log b/dog-walk/2/4o_dog-walk_s2/wandb/debug.log
new file mode 100644
index 0000000000000000000000000000000000000000..cfc2de40b44f674652e3c7d667a30351304f0cb6
--- /dev/null
+++ b/dog-walk/2/4o_dog-walk_s2/wandb/debug.log
@@ -0,0 +1,24 @@
+2025-07-17 20:19:12,821 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-17 20:19:12,821 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Configure stats pid to 3143780
+2025-07-17 20:19:12,822 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-17 20:19:12,822 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-17/20-19-01/wandb/settings
+2025-07-17 20:19:12,822 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-17 20:19:12,822 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-17 20:19:12,823 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'}
+2025-07-17 20:19:12,823 INFO    MainThread:3143780 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/logs/debug.log
+2025-07-17 20:19:12,823 INFO    MainThread:3143780 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/logs/debug-internal.log
+2025-07-17 20:19:12,823 INFO    MainThread:3143780 [wandb_init.py:init():569] calling init triggers
+2025-07-17 20:19:12,824 INFO    MainThread:3143780 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_dog-walk_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'Dmcontrol', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': True, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/2/4o_dog-walk_s2'), 'task_title': 'Dog Walk', 'multitask': False, 'tasks': ['dog-walk'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-17 20:19:12,824 INFO    MainThread:3143780 [wandb_init.py:init():619] starting backend
+2025-07-17 20:19:12,824 INFO    MainThread:3143780 [wandb_init.py:init():623] setting up manager
+2025-07-17 20:19:12,831 INFO    MainThread:3143780 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-17 20:19:12,832 INFO    MainThread:3143780 [wandb_init.py:init():631] backend started and connected
+2025-07-17 20:19:12,844 INFO    MainThread:3143780 [wandb_init.py:init():720] updated telemetry
+2025-07-17 20:19:12,936 INFO    MainThread:3143780 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-17 20:19:12,944 INFO    MainThread:3143780 [wandb_init.py:init():804] starting run threads in backend
+2025-07-17 20:19:17,812 INFO    MainThread:3143780 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-17 20:19:17,812 INFO    MainThread:3143780 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-17 20:19:17,813 INFO    MainThread:3143780 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-17 20:19:17,813 INFO    MainThread:3143780 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-17 20:19:17,815 INFO    MainThread:3143780 [wandb_init.py:init():847] run started, returning control to user process
diff --git a/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/conda-environment.yaml b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/conda-environment.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5
--- /dev/null
+++ b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/conda-environment.yaml
@@ -0,0 +1,190 @@
+name: moore
+channels:
+  - conda-forge
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
+  - defaults
+dependencies:
+  - _libgcc_mutex=0.1=conda_forge
+  - _openmp_mutex=4.5=2_gnu
+  - bzip2=1.0.8=h4bc722e_7
+  - ca-certificates=2025.6.15=hbd8a1cb_0
+  - cloudpickle=3.1.1=pyhd8ed1ab_0
+  - gettext=0.24.1=h5888daf_0
+  - gettext-tools=0.24.1=h5888daf_0
+  - glew=2.2.0=hcfb9eae_1
+  - glib=2.78.4=hf2295e7_4
+  - glib-tools=2.78.4=hde27a5a_4
+  - gym=0.21.0=py39hef51801_2
+  - ld_impl_linux-64=2.43=h1423503_5
+  - libasprintf=0.24.1=h8e693c7_0
+  - libasprintf-devel=0.24.1=h8e693c7_0
+  - libblas=3.9.0=31_h59b9bed_openblas
+  - libcblas=3.9.0=31_he106b2a_openblas
+  - libegl=1.7.0=ha4b6fd6_2
+  - libexpat=2.7.0=h5888daf_0
+  - libffi=3.4.6=h2dba641_1
+  - libgcc=15.1.0=h767d61c_2
+  - libgcc-ng=15.1.0=h69a702a_2
+  - libgettextpo=0.24.1=h5888daf_0
+  - libgettextpo-devel=0.24.1=h5888daf_0
+  - libgfortran=15.1.0=h69a702a_2
+  - libgfortran5=15.1.0=hcea5267_2
+  - libgl=1.7.0=ha4b6fd6_2
+  - libglib=2.78.4=hf2295e7_4
+  - libglu=9.0.3=h5888daf_1
+  - libglvnd=1.7.0=ha4b6fd6_2
+  - libglx=1.7.0=ha4b6fd6_2
+  - libgomp=15.1.0=h767d61c_2
+  - libiconv=1.18=h4ce23a2_1
+  - liblapack=3.9.0=31_h7ac8fdf_openblas
+  - liblzma=5.8.1=hb9d3cd8_2
+  - libnsl=2.0.1=hd590300_0
+  - libopenblas=0.3.29=pthreads_h94d23a6_0
+  - libopengl=1.7.0=ha4b6fd6_2
+  - libsqlite=3.50.1=hee588c1_0
+  - libstdcxx=15.1.0=h8f9b012_2
+  - libstdcxx-ng=15.1.0=h4852527_2
+  - libuuid=2.38.1=h0b41bf4_0
+  - libxcb=1.17.0=h8a09558_0
+  - libxcrypt=4.4.36=hd590300_1
+  - libzlib=1.3.1=hb9d3cd8_2
+  - ncurses=6.5=h2d0b736_3
+  - openssl=3.5.0=h7b32b05_1
+  - pcre2=10.43=hcad00b1_0
+  - pip=24.0=pyhd8ed1ab_0
+  - pthread-stubs=0.4=hb9d3cd8_1002
+  - python=3.9.23=hc30ae73_0_cpython
+  - python_abi=3.9=7_cp39
+  - readline=8.2=h8c095d6_2
+  - setuptools=80.9.0=pyhff2d567_0
+  - tk=8.6.13=noxft_hd72426e_102
+  - wheel=0.45.1=pyhd8ed1ab_1
+  - xorg-libx11=1.8.12=h4f16b4b_0
+  - xorg-libxau=1.0.12=hb9d3cd8_0
+  - xorg-libxdmcp=1.1.5=hb9d3cd8_0
+  - pip:
+      - absl-py==2.3.0
+      - aiohappyeyeballs==2.6.1
+      - aiohttp==3.12.13
+      - aiosignal==1.3.2
+      - antlr4-python3-runtime==4.9.3
+      - async-timeout==5.0.1
+      - attrs==25.3.0
+      - certifi==2025.6.15
+      - charset-normalizer==3.4.2
+      - click==8.1.8
+      - contextlib2==21.6.0
+      - contourpy==1.3.0
+      - cycler==0.12.1
+      - decorator==4.4.2
+      - dm-control==1.0.16
+      - dm-env==1.6
+      - dm-tree==0.1.8
+      - docker-pycreds==0.4.0
+      - etils==1.5.2
+      - farama-notifications==0.0.4
+      - ffmpeg==1.4
+      - filelock==3.18.0
+      - fonttools==4.58.4
+      - frozenlist==1.7.0
+      - fsspec==2025.5.1
+      - gitdb==4.0.12
+      - gitpython==3.1.44
+      - glfw==2.7.0
+      - grpcio==1.73.0
+      - gymnasium==1.1.1
+      - h5py==3.11.0
+      - hf-xet==1.1.4
+      - huggingface-hub==0.33.0
+      - hydra-core==1.3.2
+      - hydra-submitit-launcher==1.2.0
+      - idna==3.10
+      - imageio==2.34.1
+      - imageio-ffmpeg==0.4.9
+      - importlib-metadata==8.7.0
+      - importlib-resources==6.5.2
+      - inquirerpy==0.3.4
+      - jinja2==3.1.6
+      - kiwisolver==1.4.7
+      - kornia==0.7.2
+      - kornia-rs==0.1.9
+      - labmaze==1.0.6
+      - lightning-utilities==0.14.3
+      - lxml==5.4.0
+      - markdown==3.8
+      - markupsafe==3.0.2
+      - matplotlib==3.9.4
+      - ml-collections==0.1.1
+      - mocapact==0.1
+      - moviepy==1.0.3
+      - mpmath==1.3.0
+      - mujoco==3.1.2
+      - multidict==6.4.4
+      - networkx==3.2.1
+      - numpy==1.24.4
+      - nvidia-cublas-cu12==12.6.4.1
+      - nvidia-cuda-cupti-cu12==12.6.80
+      - nvidia-cuda-nvrtc-cu12==12.6.77
+      - nvidia-cuda-runtime-cu12==12.6.77
+      - nvidia-cudnn-cu12==9.5.1.17
+      - nvidia-cufft-cu12==11.3.0.4
+      - nvidia-cufile-cu12==1.11.1.6
+      - nvidia-curand-cu12==10.3.7.77
+      - nvidia-cusolver-cu12==11.7.1.2
+      - nvidia-cusparse-cu12==12.5.4.2
+      - nvidia-cusparselt-cu12==0.6.3
+      - nvidia-nccl-cu12==2.26.2
+      - nvidia-nvjitlink-cu12==12.6.85
+      - nvidia-nvtx-cu12==12.6.77
+      - omegaconf==2.3.0
+      - orjson==3.10.18
+      - packaging==25.0
+      - pandas==2.0.3
+      - pfzy==0.3.4
+      - pillow==11.2.1
+      - platformdirs==4.3.8
+      - proglog==0.1.12
+      - prompt-toolkit==3.0.51
+      - propcache==0.3.2
+      - protobuf==3.20.1
+      - psutil==7.0.0
+      - pydeprecate==0.3.2
+      - pyopengl==3.1.9
+      - pyparsing==3.2.3
+      - python-dateutil==2.9.0.post0
+      - pytorch-lightning==1.6.5.post0
+      - pytz==2025.2
+      - pyyaml==6.0.2
+      - requests==2.32.4
+      - scipy==1.13.1
+      - sentry-sdk==2.30.0
+      - setproctitle==1.3.6
+      - shimmy==2.0.0
+      - six==1.17.0
+      - smmap==5.0.2
+      - stable-baselines3==2.6.0
+      - submitit==1.5.1
+      - sympy==1.14.0
+      - tensorboard==2.19.0
+      - tensorboard-data-server==0.7.2
+      - tensordict==0.8.3
+      - termcolor==2.4.0
+      - torch==2.7.1
+      - torchaudio==2.7.1+cu118
+      - torchmetrics==1.7.3
+      - torchrl==0.8.1
+      - torchvision==0.22.1+cu118
+      - tqdm==4.66.4
+      - triton==3.3.1
+      - typing-extensions==4.14.0
+      - tzdata==2025.2
+      - urllib3==2.4.0
+      - wandb==0.17.4
+      - wcwidth==0.2.13
+      - werkzeug==3.1.3
+      - yarl==1.20.1
+      - zipp==3.23.0
+prefix: /ceph/home/songchun01/miniconda3/envs/moore
diff --git a/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_449500_95ccb4b76e6af90a189d.mp4 b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_449500_95ccb4b76e6af90a189d.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..318f3bbfdb48d650455c5f35f9d12c754665296e
--- /dev/null
+++ b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_449500_95ccb4b76e6af90a189d.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95ccb4b76e6af90a189d3d42cd2b40572b37c8c6ccd37e7355e187f1ff9a0dff
+size 1493236
diff --git a/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_549500_8d4e57e3911365c5e2b6.mp4 b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_549500_8d4e57e3911365c5e2b6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1df99fca0068257c9d45b1ab442f42a2319768f1
--- /dev/null
+++ b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_549500_8d4e57e3911365c5e2b6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d4e57e3911365c5e2b68602cb6a66cbfb02cddd50aeba7f807deffe6035fc25
+size 1447082
diff --git a/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_599500_d378f0ab33b3072a2d18.mp4 b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_599500_d378f0ab33b3072a2d18.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55df9906cf1badeb4d58eebda6d96c6182d99292
--- /dev/null
+++ b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_599500_d378f0ab33b3072a2d18.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d378f0ab33b3072a2d189e9fbb2df6d70be9b3c1a75e4f80b33391cb95e20146
+size 1553180
diff --git a/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_699500_01def7231daad856cd13.mp4 b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_699500_01def7231daad856cd13.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8e670c8e49aa37efae07876c8e2d2a96d475157
--- /dev/null
+++ b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_699500_01def7231daad856cd13.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01def7231daad856cd136ec9fd42c25299a5c30f588624abafa8537e441729ac
+size 1448907
diff --git a/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_849500_2d627522fc8e19f28785.mp4 b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_849500_2d627522fc8e19f28785.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa5f666543668c1dc3e19c96f51b50af9a393a07
--- /dev/null
+++ b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_849500_2d627522fc8e19f28785.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d627522fc8e19f2878574bac2deabb4e1523eb12a13dc50a9ada8ee9e3394fc
+size 1498162
diff --git a/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_99500_2e7d1a97399659ac8b71.mp4 b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_99500_2e7d1a97399659ac8b71.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..077772eda3af1ae3801ae9bd22a1c91da8de2d7e
--- /dev/null
+++ b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/media/videos/results/video_99500_2e7d1a97399659ac8b71.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e7d1a97399659ac8b7179b7588496f89751e1f9fa6a8ec72e0392105bfe7e3f
+size 1479936
diff --git a/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/wandb-metadata.json b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/wandb-metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8b41155a02c5c548bb29c0eb20af232188167a2
--- /dev/null
+++ b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/files/wandb-metadata.json
@@ -0,0 +1,642 @@
+{
+    "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28",
+    "python": "3.9.23",
+    "heartbeatAt": "2025-07-17T12:19:13.320315",
+    "startedAt": "2025-07-17T12:19:12.805537",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=dog-walk",
+        "use_moe=true",
+        "n_experts=4",
+        "seed=2",
+        "exp_name=4o_dog-walk_s2"
+    ],
+    "state": "running",
+    "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py",
+    "codePathLocal": null,
+    "codePath": "tdmpc2/train.py",
+    "git": {
+        "remote": "https://github.com/SC-Levi/boya_tdmpc2.git",
+        "commit": "42f1ea1fbdcd2e95057d45c10e43882978629caf"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node001",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3470.200428571429,
+        "min": 800.0,
+        "max": 3500.0
+    },
+    "cpu_freq_per_core": [
+        {
+            "current": 3295.947,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3358.207,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3295.903,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3288.707,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3272.518,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3295.862,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3322.278,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3281.391,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3286.48,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3293.835,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3300.323,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3295.777,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3295.573,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.003,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3399.995,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3298.661,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3297.238,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3395.34,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3298.928,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3290.915,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3297.307,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3295.896,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3288.19,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3294.095,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3300.408,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3297.037,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3275.168,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3279.315,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3298.144,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3293.675,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        }
+    ],
+    "disk": {
+        "/": {
+            "total": 893.714771270752,
+            "used": 22.938514709472656
+        }
+    },
+    "gpu": "NVIDIA GeForce RTX 3090",
+    "gpu_count": 8,
+    "gpu_devices": [
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        }
+    ],
+    "memory": {
+        "total": 377.28556060791016
+    }
+}
diff --git a/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/logs/debug.log b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/logs/debug.log
new file mode 100644
index 0000000000000000000000000000000000000000..cfc2de40b44f674652e3c7d667a30351304f0cb6
--- /dev/null
+++ b/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/logs/debug.log
@@ -0,0 +1,24 @@
+2025-07-17 20:19:12,821 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-17 20:19:12,821 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Configure stats pid to 3143780
+2025-07-17 20:19:12,822 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-17 20:19:12,822 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-17/20-19-01/wandb/settings
+2025-07-17 20:19:12,822 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-17 20:19:12,822 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-17 20:19:12,823 INFO    MainThread:3143780 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'}
+2025-07-17 20:19:12,823 INFO    MainThread:3143780 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/logs/debug.log
+2025-07-17 20:19:12,823 INFO    MainThread:3143780 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/2/4o_dog-walk_s2/wandb/offline-run-20250717_201912-j0rzfv4q/logs/debug-internal.log
+2025-07-17 20:19:12,823 INFO    MainThread:3143780 [wandb_init.py:init():569] calling init triggers
+2025-07-17 20:19:12,824 INFO    MainThread:3143780 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_dog-walk_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'Dmcontrol', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': True, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/2/4o_dog-walk_s2'), 'task_title': 'Dog Walk', 'multitask': False, 'tasks': ['dog-walk'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-17 20:19:12,824 INFO    MainThread:3143780 [wandb_init.py:init():619] starting backend
+2025-07-17 20:19:12,824 INFO    MainThread:3143780 [wandb_init.py:init():623] setting up manager
+2025-07-17 20:19:12,831 INFO    MainThread:3143780 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-17 20:19:12,832 INFO    MainThread:3143780 [wandb_init.py:init():631] backend started and connected
+2025-07-17 20:19:12,844 INFO    MainThread:3143780 [wandb_init.py:init():720] updated telemetry
+2025-07-17 20:19:12,936 INFO    MainThread:3143780 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-17 20:19:12,944 INFO    MainThread:3143780 [wandb_init.py:init():804] starting run threads in backend
+2025-07-17 20:19:17,812 INFO    MainThread:3143780 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-17 20:19:17,812 INFO    MainThread:3143780 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-17 20:19:17,813 INFO    MainThread:3143780 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-17 20:19:17,813 INFO    MainThread:3143780 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-17 20:19:17,815 INFO    MainThread:3143780 [wandb_init.py:init():847] run started, returning control to user process
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/eval.csv b/dog-walk/2/tdmpc2_dog-walk_s2/eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1fa7a4ff0a073e8beeaa0b448bc2460f4b006e29
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/eval.csv
@@ -0,0 +1,46 @@
+step,episode_reward
+0.0,7.616844177246094
+50000.0,64.55769348144531
+100000.0,110.7359390258789
+150000.0,303.4580078125
+200000.0,393.3917541503906
+250000.0,549.8931884765625
+300000.0,544.4295654296875
+350000.0,581.218994140625
+400000.0,566.8963012695312
+450000.0,570.8277587890625
+500000.0,561.1163330078125
+550000.0,588.03857421875
+600000.0,576.4890747070312
+650000.0,588.1767578125
+700000.0,586.0338745117188
+750000.0,589.0985107421875
+800000.0,572.1983032226562
+850000.0,591.44384765625
+900000.0,573.0614013671875
+950000.0,590.1232299804688
+1000000.0,585.0018310546875
+1050000.0,600.6127319335938
+1100000.0,594.5737915039062
+1150000.0,569.3488159179688
+1200000.0,596.8424072265625
+1250000.0,616.0279541015625
+1300000.0,588.1107177734375
+1350000.0,528.2974853515625
+1400000.0,577.4085693359375
+1450000.0,590.8189697265625
+1500000.0,591.8863525390625
+1550000.0,614.5100708007812
+1600000.0,602.9336547851562
+1650000.0,614.006103515625
+1700000.0,606.9783935546875
+1750000.0,590.6564331054688
+1800000.0,592.2137451171875
+1850000.0,622.3240966796875
+1900000.0,626.8729248046875
+1950000.0,609.40869140625
+2000000.0,588.9791259765625
+2050000.0,603.4006958007812
+2100000.0,617.1356811523438
+2150000.0,604.6077880859375
+2200000.0,606.8665771484375
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/debug.log b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/debug.log
new file mode 100644
index 0000000000000000000000000000000000000000..a8ebfbb56c4b7613e7e5145ae91a936c9832038d
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/debug.log
@@ -0,0 +1,24 @@
+2025-07-17 20:19:12,754 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-17 20:19:12,755 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Configure stats pid to 3143759
+2025-07-17 20:19:12,755 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-17 20:19:12,755 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-17/20-19-01/wandb/settings
+2025-07-17 20:19:12,755 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-17 20:19:12,756 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-17 20:19:12,756 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'}
+2025-07-17 20:19:12,756 INFO    MainThread:3143759 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/logs/debug.log
+2025-07-17 20:19:12,756 INFO    MainThread:3143759 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/logs/debug-internal.log
+2025-07-17 20:19:12,757 INFO    MainThread:3143759 [wandb_init.py:init():569] calling init triggers
+2025-07-17 20:19:12,757 INFO    MainThread:3143759 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_dog-walk_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'Dmcontrol', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': True, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/2/tdmpc2_dog-walk_s2'), 'task_title': 'Dog Walk', 'multitask': False, 'tasks': ['dog-walk'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-17 20:19:12,757 INFO    MainThread:3143759 [wandb_init.py:init():619] starting backend
+2025-07-17 20:19:12,757 INFO    MainThread:3143759 [wandb_init.py:init():623] setting up manager
+2025-07-17 20:19:12,764 INFO    MainThread:3143759 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-17 20:19:12,765 INFO    MainThread:3143759 [wandb_init.py:init():631] backend started and connected
+2025-07-17 20:19:12,776 INFO    MainThread:3143759 [wandb_init.py:init():720] updated telemetry
+2025-07-17 20:19:12,879 INFO    MainThread:3143759 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-17 20:19:12,886 INFO    MainThread:3143759 [wandb_init.py:init():804] starting run threads in backend
+2025-07-17 20:19:17,406 INFO    MainThread:3143759 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-17 20:19:17,407 INFO    MainThread:3143759 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-17 20:19:17,407 INFO    MainThread:3143759 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-17 20:19:17,408 INFO    MainThread:3143759 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-17 20:19:17,411 INFO    MainThread:3143759 [wandb_init.py:init():847] run started, returning control to user process
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/conda-environment.yaml b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/conda-environment.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/conda-environment.yaml
@@ -0,0 +1,190 @@
+name: moore
+channels:
+  - conda-forge
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
+  - defaults
+dependencies:
+  - _libgcc_mutex=0.1=conda_forge
+  - _openmp_mutex=4.5=2_gnu
+  - bzip2=1.0.8=h4bc722e_7
+  - ca-certificates=2025.6.15=hbd8a1cb_0
+  - cloudpickle=3.1.1=pyhd8ed1ab_0
+  - gettext=0.24.1=h5888daf_0
+  - gettext-tools=0.24.1=h5888daf_0
+  - glew=2.2.0=hcfb9eae_1
+  - glib=2.78.4=hf2295e7_4
+  - glib-tools=2.78.4=hde27a5a_4
+  - gym=0.21.0=py39hef51801_2
+  - ld_impl_linux-64=2.43=h1423503_5
+  - libasprintf=0.24.1=h8e693c7_0
+  - libasprintf-devel=0.24.1=h8e693c7_0
+  - libblas=3.9.0=31_h59b9bed_openblas
+  - libcblas=3.9.0=31_he106b2a_openblas
+  - libegl=1.7.0=ha4b6fd6_2
+  - libexpat=2.7.0=h5888daf_0
+  - libffi=3.4.6=h2dba641_1
+  - libgcc=15.1.0=h767d61c_2
+  - libgcc-ng=15.1.0=h69a702a_2
+  - libgettextpo=0.24.1=h5888daf_0
+  - libgettextpo-devel=0.24.1=h5888daf_0
+  - libgfortran=15.1.0=h69a702a_2
+  - libgfortran5=15.1.0=hcea5267_2
+  - libgl=1.7.0=ha4b6fd6_2
+  - libglib=2.78.4=hf2295e7_4
+  - libglu=9.0.3=h5888daf_1
+  - libglvnd=1.7.0=ha4b6fd6_2
+  - libglx=1.7.0=ha4b6fd6_2
+  - libgomp=15.1.0=h767d61c_2
+  - libiconv=1.18=h4ce23a2_1
+  - liblapack=3.9.0=31_h7ac8fdf_openblas
+  - liblzma=5.8.1=hb9d3cd8_2
+  - libnsl=2.0.1=hd590300_0
+  - libopenblas=0.3.29=pthreads_h94d23a6_0
+  - libopengl=1.7.0=ha4b6fd6_2
+  - libsqlite=3.50.1=hee588c1_0
+  - libstdcxx=15.1.0=h8f9b012_2
+  - libstdcxx-ng=15.1.0=h4852527_2
+  - libuuid=2.38.1=h0b41bf4_0
+  - libxcb=1.17.0=h8a09558_0
+  - libxcrypt=4.4.36=hd590300_1
+  - libzlib=1.3.1=hb9d3cd8_2
+  - ncurses=6.5=h2d0b736_3
+  - openssl=3.5.0=h7b32b05_1
+  - pcre2=10.43=hcad00b1_0
+  - pip=24.0=pyhd8ed1ab_0
+  - pthread-stubs=0.4=hb9d3cd8_1002
+  - python=3.9.23=hc30ae73_0_cpython
+  - python_abi=3.9=7_cp39
+  - readline=8.2=h8c095d6_2
+  - setuptools=80.9.0=pyhff2d567_0
+  - tk=8.6.13=noxft_hd72426e_102
+  - wheel=0.45.1=pyhd8ed1ab_1
+  - xorg-libx11=1.8.12=h4f16b4b_0
+  - xorg-libxau=1.0.12=hb9d3cd8_0
+  - xorg-libxdmcp=1.1.5=hb9d3cd8_0
+  - pip:
+      - absl-py==2.3.0
+      - aiohappyeyeballs==2.6.1
+      - aiohttp==3.12.13
+      - aiosignal==1.3.2
+      - antlr4-python3-runtime==4.9.3
+      - async-timeout==5.0.1
+      - attrs==25.3.0
+      - certifi==2025.6.15
+      - charset-normalizer==3.4.2
+      - click==8.1.8
+      - contextlib2==21.6.0
+      - contourpy==1.3.0
+      - cycler==0.12.1
+      - decorator==4.4.2
+      - dm-control==1.0.16
+      - dm-env==1.6
+      - dm-tree==0.1.8
+      - docker-pycreds==0.4.0
+      - etils==1.5.2
+      - farama-notifications==0.0.4
+      - ffmpeg==1.4
+      - filelock==3.18.0
+      - fonttools==4.58.4
+      - frozenlist==1.7.0
+      - fsspec==2025.5.1
+      - gitdb==4.0.12
+      - gitpython==3.1.44
+      - glfw==2.7.0
+      - grpcio==1.73.0
+      - gymnasium==1.1.1
+      - h5py==3.11.0
+      - hf-xet==1.1.4
+      - huggingface-hub==0.33.0
+      - hydra-core==1.3.2
+      - hydra-submitit-launcher==1.2.0
+      - idna==3.10
+      - imageio==2.34.1
+      - imageio-ffmpeg==0.4.9
+      - importlib-metadata==8.7.0
+      - importlib-resources==6.5.2
+      - inquirerpy==0.3.4
+      - jinja2==3.1.6
+      - kiwisolver==1.4.7
+      - kornia==0.7.2
+      - kornia-rs==0.1.9
+      - labmaze==1.0.6
+      - lightning-utilities==0.14.3
+      - lxml==5.4.0
+      - markdown==3.8
+      - markupsafe==3.0.2
+      - matplotlib==3.9.4
+      - ml-collections==0.1.1
+      - mocapact==0.1
+      - moviepy==1.0.3
+      - mpmath==1.3.0
+      - mujoco==3.1.2
+      - multidict==6.4.4
+      - networkx==3.2.1
+      - numpy==1.24.4
+      - nvidia-cublas-cu12==12.6.4.1
+      - nvidia-cuda-cupti-cu12==12.6.80
+      - nvidia-cuda-nvrtc-cu12==12.6.77
+      - nvidia-cuda-runtime-cu12==12.6.77
+      - nvidia-cudnn-cu12==9.5.1.17
+      - nvidia-cufft-cu12==11.3.0.4
+      - nvidia-cufile-cu12==1.11.1.6
+      - nvidia-curand-cu12==10.3.7.77
+      - nvidia-cusolver-cu12==11.7.1.2
+      - nvidia-cusparse-cu12==12.5.4.2
+      - nvidia-cusparselt-cu12==0.6.3
+      - nvidia-nccl-cu12==2.26.2
+      - nvidia-nvjitlink-cu12==12.6.85
+      - nvidia-nvtx-cu12==12.6.77
+      - omegaconf==2.3.0
+      - orjson==3.10.18
+      - packaging==25.0
+      - pandas==2.0.3
+      - pfzy==0.3.4
+      - pillow==11.2.1
+      - platformdirs==4.3.8
+      - proglog==0.1.12
+      - prompt-toolkit==3.0.51
+      - propcache==0.3.2
+      - protobuf==3.20.1
+      - psutil==7.0.0
+      - pydeprecate==0.3.2
+      - pyopengl==3.1.9
+      - pyparsing==3.2.3
+      - python-dateutil==2.9.0.post0
+      - pytorch-lightning==1.6.5.post0
+      - pytz==2025.2
+      - pyyaml==6.0.2
+      - requests==2.32.4
+      - scipy==1.13.1
+      - sentry-sdk==2.30.0
+      - setproctitle==1.3.6
+      - shimmy==2.0.0
+      - six==1.17.0
+      - smmap==5.0.2
+      - stable-baselines3==2.6.0
+      - submitit==1.5.1
+      - sympy==1.14.0
+      - tensorboard==2.19.0
+      - tensorboard-data-server==0.7.2
+      - tensordict==0.8.3
+      - termcolor==2.4.0
+      - torch==2.7.1
+      - torchaudio==2.7.1+cu118
+      - torchmetrics==1.7.3
+      - torchrl==0.8.1
+      - torchvision==0.22.1+cu118
+      - tqdm==4.66.4
+      - triton==3.3.1
+      - typing-extensions==4.14.0
+      - tzdata==2025.2
+      - urllib3==2.4.0
+      - wandb==0.17.4
+      - wcwidth==0.2.13
+      - werkzeug==3.1.3
+      - yarl==1.20.1
+      - zipp==3.23.0
+prefix: /ceph/home/songchun01/miniconda3/envs/moore
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_0_63050401e8cc1474bab2.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_0_63050401e8cc1474bab2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3853ff8b80eb9aad108c861c1d41af18bf2363ef
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_0_63050401e8cc1474bab2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63050401e8cc1474bab2aabda31f709a19229b45b656c83f40c7ba4e2f435fe6
+size 1513821
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1049500_5c69036e083ee2cfa19f.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1049500_5c69036e083ee2cfa19f.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06c1a7c77ecd6b5f37eacada1fbf9843a4514c1f
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1049500_5c69036e083ee2cfa19f.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c69036e083ee2cfa19f2de793cf15f927943a58584a7aa7ba5a3a1ef7354930
+size 1472864
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1099500_3f1aff6a994df5a7f93d.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1099500_3f1aff6a994df5a7f93d.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..abfea0874c54890b1b74a067148c9dcf16e16cf6
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1099500_3f1aff6a994df5a7f93d.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f1aff6a994df5a7f93d1ef31636eefbedaf47347a76bfe838f017ce61fe42e1
+size 1436342
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1149500_2baa237e5382b19969ae.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1149500_2baa237e5382b19969ae.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be7918110e67ea339e638ba00d65c1958c49718f
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1149500_2baa237e5382b19969ae.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2baa237e5382b19969aed9f621be32e3ed44325db1dcfd0506b7826d9102d27c
+size 1557167
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1249500_46e9609704a540545775.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1249500_46e9609704a540545775.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eda0e9c4c94b8a6cec86e85da658a3ba91a438e9
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1249500_46e9609704a540545775.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46e9609704a540545775b55e808a6d0dfec59324fbff4c7339e7565f95696f1b
+size 1466528
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1299500_24e96b8c842ad1332aba.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1299500_24e96b8c842ad1332aba.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69395aaf3143f5900995acfe0038b78157a95175
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1299500_24e96b8c842ad1332aba.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24e96b8c842ad1332aba74aafb603a69be1d97bc26fc7777ac0a85acaeb33ee1
+size 1462162
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1349500_8cc7a16b2c8fa7818e8a.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1349500_8cc7a16b2c8fa7818e8a.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e3b1d2857d14627bb9408c1ecf55c3ad1785d78
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1349500_8cc7a16b2c8fa7818e8a.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cc7a16b2c8fa7818e8a36985c27f5105e87858cb2af5a39e77524d12111d0e1
+size 1448313
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1449500_cb6d4994998a7cd9c8ad.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1449500_cb6d4994998a7cd9c8ad.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6be2b1ac2961032f154b7bff895c3316091118a
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1449500_cb6d4994998a7cd9c8ad.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb6d4994998a7cd9c8ad530b40342a016133b57e9c3e59ad960036020c04e355
+size 1547607
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_149500_bcf2f61d257a0561f23e.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_149500_bcf2f61d257a0561f23e.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e1b9218d5b8b43964109974bb5b592de9dd6ecc
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_149500_bcf2f61d257a0561f23e.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcf2f61d257a0561f23e80f1628dfd4320a6691b0a885ad90c6c4bc190e9c160
+size 1399125
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1499500_fab9de2ffa60b8d397f4.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1499500_fab9de2ffa60b8d397f4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08dbd9dfa40e7674510279e466f1ff361030b16b
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1499500_fab9de2ffa60b8d397f4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fab9de2ffa60b8d397f4620c46c4adcfdd5eee17ee093c02d5ebdcd3ca978715
+size 1497052
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1599500_9133eb7c60cbf2dc31df.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1599500_9133eb7c60cbf2dc31df.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3dc3f3ca3db2a43bb46aa38fe0026de2766d7b61
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1599500_9133eb7c60cbf2dc31df.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9133eb7c60cbf2dc31df9af2599d30bb4afaff6ce2ede68b5a94315198e335db
+size 1508485
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1749500_6323f66e7da9889091b8.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1749500_6323f66e7da9889091b8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b1c1ef04c397245881241c59d84b6b8da9371c99
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1749500_6323f66e7da9889091b8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6323f66e7da9889091b8902e80480ddf98df0e79835dc1326de37f72c6f180d5
+size 1510860
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1799500_73a3ec5fb57f1c8cf8b6.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1799500_73a3ec5fb57f1c8cf8b6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..537dd2b2d79df997c5bfb987d4ec48c695e02968
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1799500_73a3ec5fb57f1c8cf8b6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73a3ec5fb57f1c8cf8b6bf41aa0bedc0d6070555e3be166da72011e8dfc294ef
+size 1498804
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1849500_d1622e399b544a0f872d.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1849500_d1622e399b544a0f872d.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..19cd33a4f8ed3a7d723987d01a97d612f2fb47df
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1849500_d1622e399b544a0f872d.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1622e399b544a0f872ded53472827984d5ae4f47f1ab53a018d8f3b1ae8479a
+size 1520268
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1949500_9d6c1d393da69593410a.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1949500_9d6c1d393da69593410a.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1fa96c10358fed2ab212657e790257c32dba6ce
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1949500_9d6c1d393da69593410a.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d6c1d393da69593410ab60d8f9bd9ddb36e58fec882bf4e13cc94bc476db717
+size 1491413
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_199500_6349586707170c41bdeb.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_199500_6349586707170c41bdeb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..059323f2316b374ebec64940e5392b3defa77186
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_199500_6349586707170c41bdeb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6349586707170c41bdebbea3680b67def08cba6aef959ca9535b332c7ca85841
+size 1446973
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1999500_873e60f1d5473f1c2b5e.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1999500_873e60f1d5473f1c2b5e.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..947d48f19ba0addeafe15f4c7f163c199f52fa8f
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_1999500_873e60f1d5473f1c2b5e.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:873e60f1d5473f1c2b5ebaf26b7e372f25d20e483e6523dd7e6e70f16b50067b
+size 1477292
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_2049500_19633c180598379d259d.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_2049500_19633c180598379d259d.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cac1bee40a87b2cb71ec136e0263e9f741c05c79
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_2049500_19633c180598379d259d.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19633c180598379d259d850bf303b898a455a37854e03c60cc34634e84c047ba
+size 1487903
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_2099500_50047faf1ee444c8ba01.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_2099500_50047faf1ee444c8ba01.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2737fd5b756aea6314e155f3baa0355ff7d4a2a8
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_2099500_50047faf1ee444c8ba01.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50047faf1ee444c8ba01c697df049730a4435f0e3c294677b6b1c23c8e1bc59a
+size 1491563
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_2149500_f39c32169077b748dbfb.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_2149500_f39c32169077b748dbfb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3849d7ae8588c5e5e644de920f123034370e398
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_2149500_f39c32169077b748dbfb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f39c32169077b748dbfb355ddf6bd5f872a9d4e6f2345f2d17ad6c5845faef63
+size 1500911
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_2199500_610ab53698c134dc3a10.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_2199500_610ab53698c134dc3a10.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30502654d84e2562e43113b8fec4162861f0d47b
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_2199500_610ab53698c134dc3a10.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:610ab53698c134dc3a10454ff2074cdb2ca48a3667e328609a90a874425a4c75
+size 1537327
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_249500_565911790d42f2cd7a74.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_249500_565911790d42f2cd7a74.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c32c02b9bc6643bb694431cf5c834a8b3408e0ae
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_249500_565911790d42f2cd7a74.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:565911790d42f2cd7a740e67199b66e4b9f9e8bf5ad0072f332639d964e450b0
+size 1499637
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_299500_eb2cc80b1adfdc63a109.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_299500_eb2cc80b1adfdc63a109.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52a7092a0cf80bf63fcd10ce35c3f98d3921d0f2
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_299500_eb2cc80b1adfdc63a109.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb2cc80b1adfdc63a109339cc7ec92222574dcf201536b22b798ab986e3cf6c0
+size 1497058
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_449500_789206b6d005569fba1d.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_449500_789206b6d005569fba1d.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ce234247ed2956bba07e9d850d5cf57bdee2abe
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_449500_789206b6d005569fba1d.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:789206b6d005569fba1d7eb30aec26c161049165085ece4d745ad75d90ea144d
+size 1478186
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_49500_ad7f55e7c3a3e2c90064.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_49500_ad7f55e7c3a3e2c90064.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e3d1038db7e705e82ebf59f042beb1f1687908c
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_49500_ad7f55e7c3a3e2c90064.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad7f55e7c3a3e2c900641db12b12b148f079af3d4c31f2e2b15be36446f82b97
+size 1406593
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_499500_ee08703a1aff2556430e.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_499500_ee08703a1aff2556430e.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01049a6a41bccfb1f54505ca3bc4f9dd9dedf1f8
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_499500_ee08703a1aff2556430e.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee08703a1aff2556430eba9e4a1107f470e538c82b2087255dfb094e6e1bb35f
+size 1465152
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_549500_e80cc8112cf0a6b62616.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_549500_e80cc8112cf0a6b62616.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..675d9283d7c29b51b7770a6d8313f5b5e26d40be
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_549500_e80cc8112cf0a6b62616.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e80cc8112cf0a6b62616ad2a79b82fe14feb0b861287f7bdf7e1281f22d1c641
+size 1435729
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_599500_dd47cc2b485f0a31a144.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_599500_dd47cc2b485f0a31a144.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33b3552f208745557dac08f0da5772c9950143cd
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_599500_dd47cc2b485f0a31a144.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd47cc2b485f0a31a144bede8c4bd43209f5b247659b0c5ec508637a5d3551f3
+size 1406854
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_649500_84666202cd2dfbf4a307.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_649500_84666202cd2dfbf4a307.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec4e8558e65fb16afd417b3889c4eb2a5252b308
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_649500_84666202cd2dfbf4a307.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84666202cd2dfbf4a307a2a24670a12941dd4a74c54364a5f4cf558a4d800d0c
+size 1443201
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_749500_3e742ff840898967797e.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_749500_3e742ff840898967797e.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..923e75a7b5e7588460266c910c54452db88090cf
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_749500_3e742ff840898967797e.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e742ff840898967797e706996fd68913152933c7dadec3bcf85ecf93f61bd71
+size 1438693
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_849500_f16509a476c7b6b6f596.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_849500_f16509a476c7b6b6f596.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..036b626167690b011310dea49dd4be4b6f5e3f2d
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_849500_f16509a476c7b6b6f596.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f16509a476c7b6b6f59667ab162b3156428505814752b3ab48d53838aa7ca3d1
+size 1380966
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_949500_52c052017573c2b59906.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_949500_52c052017573c2b59906.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d93ee9677f9fbafedd2142051b85c514bf85384
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_949500_52c052017573c2b59906.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c052017573c2b5990638acfe9811ee52b6d8cc753774e81403f717f9b14820
+size 1449360
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_99500_cd471c4becead28cdeae.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_99500_cd471c4becead28cdeae.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd52fdcfedbc5d4c3a6c00b1fbe2934e11b02643
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_99500_cd471c4becead28cdeae.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd471c4becead28cdeae6160260bb004882bdcee2cf2db63c3cac3507dd7b55c
+size 1367376
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_999500_47d39ea6e6167e6d6423.mp4 b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_999500_47d39ea6e6167e6d6423.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a8021e06d045848dee8e4344ca54ee4ad3e7380
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/media/videos/results/video_999500_47d39ea6e6167e6d6423.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47d39ea6e6167e6d64237bf40b23f2eec2ff74f0f871dd004599debd32f97bb7
+size 1433093
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/wandb-metadata.json b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/wandb-metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..29ea863f8d3064b8f5f0ec4d9c01f5c100675e59
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/files/wandb-metadata.json
@@ -0,0 +1,641 @@
+{
+    "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28",
+    "python": "3.9.23",
+    "heartbeatAt": "2025-07-17T12:19:13.043483",
+    "startedAt": "2025-07-17T12:19:12.737484",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=dog-walk",
+        "use_moe=false",
+        "seed=2",
+        "exp_name=tdmpc2_dog-walk_s2"
+    ],
+    "state": "running",
+    "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py",
+    "codePathLocal": null,
+    "codePath": "tdmpc2/train.py",
+    "git": {
+        "remote": "https://github.com/SC-Levi/boya_tdmpc2.git",
+        "commit": "42f1ea1fbdcd2e95057d45c10e43882978629caf"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node001",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3426.665758928571,
+        "min": 800.0,
+        "max": 3500.0
+    },
+    "cpu_freq_per_core": [
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3368.391,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3317.249,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3351.556,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3361.183,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3369.181,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3358.192,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3381.166,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3369.245,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3369.239,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3367.079,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3357.16,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3372.361,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3360.37,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3116.508,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3368.547,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3369.99,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3371.611,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3366.704,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3367.044,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3367.324,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3367.408,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3366.784,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3232.913,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3374.436,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3364.643,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.003,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3399.996,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3399.992,
+            "min": 800.0,
+            "max": 3500.0
+        }
+    ],
+    "disk": {
+        "/": {
+            "total": 893.714771270752,
+            "used": 22.938514709472656
+        }
+    },
+    "gpu": "NVIDIA GeForce RTX 3090",
+    "gpu_count": 8,
+    "gpu_devices": [
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        }
+    ],
+    "memory": {
+        "total": 377.28556060791016
+    }
+}
diff --git a/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/logs/debug.log b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/logs/debug.log
new file mode 100644
index 0000000000000000000000000000000000000000..a8ebfbb56c4b7613e7e5145ae91a936c9832038d
--- /dev/null
+++ b/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/logs/debug.log
@@ -0,0 +1,24 @@
+2025-07-17 20:19:12,754 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-17 20:19:12,755 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Configure stats pid to 3143759
+2025-07-17 20:19:12,755 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-17 20:19:12,755 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-17/20-19-01/wandb/settings
+2025-07-17 20:19:12,755 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-17 20:19:12,756 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-17 20:19:12,756 INFO    MainThread:3143759 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'}
+2025-07-17 20:19:12,756 INFO    MainThread:3143759 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/logs/debug.log
+2025-07-17 20:19:12,756 INFO    MainThread:3143759 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/2/tdmpc2_dog-walk_s2/wandb/offline-run-20250717_201912-747respc/logs/debug-internal.log
+2025-07-17 20:19:12,757 INFO    MainThread:3143759 [wandb_init.py:init():569] calling init triggers
+2025-07-17 20:19:12,757 INFO    MainThread:3143759 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_dog-walk_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'Dmcontrol', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': True, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/2/tdmpc2_dog-walk_s2'), 'task_title': 'Dog Walk', 'multitask': False, 'tasks': ['dog-walk'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-17 20:19:12,757 INFO    MainThread:3143759 [wandb_init.py:init():619] starting backend
+2025-07-17 20:19:12,757 INFO    MainThread:3143759 [wandb_init.py:init():623] setting up manager
+2025-07-17 20:19:12,764 INFO    MainThread:3143759 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-17 20:19:12,765 INFO    MainThread:3143759 [wandb_init.py:init():631] backend started and connected
+2025-07-17 20:19:12,776 INFO    MainThread:3143759 [wandb_init.py:init():720] updated telemetry
+2025-07-17 20:19:12,879 INFO    MainThread:3143759 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-17 20:19:12,886 INFO    MainThread:3143759 [wandb_init.py:init():804] starting run threads in backend
+2025-07-17 20:19:17,406 INFO    MainThread:3143759 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-17 20:19:17,407 INFO    MainThread:3143759 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-17 20:19:17,407 INFO    MainThread:3143759 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-17 20:19:17,408 INFO    MainThread:3143759 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-17 20:19:17,411 INFO    MainThread:3143759 [wandb_init.py:init():847] run started, returning control to user process
diff --git a/dog-walk/30/4o_dog-walk_s30/eval.csv b/dog-walk/30/4o_dog-walk_s30/eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a8e06d71a28e33d56494c19fb5ba1c76d14f6f4
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/eval.csv
@@ -0,0 +1,20 @@
+step,episode_reward
+0.0,9.936908721923828
+50000.0,32.42967987060547
+100000.0,76.2313232421875
+150000.0,122.21234130859375
+200000.0,199.3398895263672
+250000.0,268.110595703125
+300000.0,351.74456787109375
+350000.0,424.984130859375
+400000.0,478.0481872558594
+450000.0,461.6424865722656
+500000.0,552.49560546875
+550000.0,542.1414184570312
+600000.0,554.6722412109375
+650000.0,542.1593017578125
+700000.0,586.1661376953125
+750000.0,574.438720703125
+800000.0,582.4706420898438
+850000.0,566.3206787109375
+900000.0,538.9609375
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/debug.log b/dog-walk/30/4o_dog-walk_s30/wandb/debug.log
new file mode 100644
index 0000000000000000000000000000000000000000..8fb9bad9891aa10a82154c9d77c36737f15d1c0a
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/debug.log
@@ -0,0 +1,24 @@
+2025-07-17 20:19:12,891 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-17 20:19:12,892 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Configure stats pid to 3143781
+2025-07-17 20:19:12,892 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-17 20:19:12,892 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-17/20-19-01/wandb/settings
+2025-07-17 20:19:12,892 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-17 20:19:12,893 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-17 20:19:12,893 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'}
+2025-07-17 20:19:12,893 INFO    MainThread:3143781 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/logs/debug.log
+2025-07-17 20:19:12,893 INFO    MainThread:3143781 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/logs/debug-internal.log
+2025-07-17 20:19:12,894 INFO    MainThread:3143781 [wandb_init.py:init():569] calling init triggers
+2025-07-17 20:19:12,894 INFO    MainThread:3143781 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_dog-walk_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'Dmcontrol', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': True, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/30/4o_dog-walk_s30'), 'task_title': 'Dog Walk', 'multitask': False, 'tasks': ['dog-walk'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-17 20:19:12,894 INFO    MainThread:3143781 [wandb_init.py:init():619] starting backend
+2025-07-17 20:19:12,894 INFO    MainThread:3143781 [wandb_init.py:init():623] setting up manager
+2025-07-17 20:19:12,900 INFO    MainThread:3143781 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-17 20:19:12,902 INFO    MainThread:3143781 [wandb_init.py:init():631] backend started and connected
+2025-07-17 20:19:12,913 INFO    MainThread:3143781 [wandb_init.py:init():720] updated telemetry
+2025-07-17 20:19:13,011 INFO    MainThread:3143781 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-17 20:19:13,017 INFO    MainThread:3143781 [wandb_init.py:init():804] starting run threads in backend
+2025-07-17 20:19:17,475 INFO    MainThread:3143781 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-17 20:19:17,476 INFO    MainThread:3143781 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-17 20:19:17,476 INFO    MainThread:3143781 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-17 20:19:17,476 INFO    MainThread:3143781 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-17 20:19:17,480 INFO    MainThread:3143781 [wandb_init.py:init():847] run started, returning control to user process
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/conda-environment.yaml b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/conda-environment.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/conda-environment.yaml
@@ -0,0 +1,190 @@
+name: moore
+channels:
+  - conda-forge
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
+  - defaults
+dependencies:
+  - _libgcc_mutex=0.1=conda_forge
+  - _openmp_mutex=4.5=2_gnu
+  - bzip2=1.0.8=h4bc722e_7
+  - ca-certificates=2025.6.15=hbd8a1cb_0
+  - cloudpickle=3.1.1=pyhd8ed1ab_0
+  - gettext=0.24.1=h5888daf_0
+  - gettext-tools=0.24.1=h5888daf_0
+  - glew=2.2.0=hcfb9eae_1
+  - glib=2.78.4=hf2295e7_4
+  - glib-tools=2.78.4=hde27a5a_4
+  - gym=0.21.0=py39hef51801_2
+  - ld_impl_linux-64=2.43=h1423503_5
+  - libasprintf=0.24.1=h8e693c7_0
+  - libasprintf-devel=0.24.1=h8e693c7_0
+  - libblas=3.9.0=31_h59b9bed_openblas
+  - libcblas=3.9.0=31_he106b2a_openblas
+  - libegl=1.7.0=ha4b6fd6_2
+  - libexpat=2.7.0=h5888daf_0
+  - libffi=3.4.6=h2dba641_1
+  - libgcc=15.1.0=h767d61c_2
+  - libgcc-ng=15.1.0=h69a702a_2
+  - libgettextpo=0.24.1=h5888daf_0
+  - libgettextpo-devel=0.24.1=h5888daf_0
+  - libgfortran=15.1.0=h69a702a_2
+  - libgfortran5=15.1.0=hcea5267_2
+  - libgl=1.7.0=ha4b6fd6_2
+  - libglib=2.78.4=hf2295e7_4
+  - libglu=9.0.3=h5888daf_1
+  - libglvnd=1.7.0=ha4b6fd6_2
+  - libglx=1.7.0=ha4b6fd6_2
+  - libgomp=15.1.0=h767d61c_2
+  - libiconv=1.18=h4ce23a2_1
+  - liblapack=3.9.0=31_h7ac8fdf_openblas
+  - liblzma=5.8.1=hb9d3cd8_2
+  - libnsl=2.0.1=hd590300_0
+  - libopenblas=0.3.29=pthreads_h94d23a6_0
+  - libopengl=1.7.0=ha4b6fd6_2
+  - libsqlite=3.50.1=hee588c1_0
+  - libstdcxx=15.1.0=h8f9b012_2
+  - libstdcxx-ng=15.1.0=h4852527_2
+  - libuuid=2.38.1=h0b41bf4_0
+  - libxcb=1.17.0=h8a09558_0
+  - libxcrypt=4.4.36=hd590300_1
+  - libzlib=1.3.1=hb9d3cd8_2
+  - ncurses=6.5=h2d0b736_3
+  - openssl=3.5.0=h7b32b05_1
+  - pcre2=10.43=hcad00b1_0
+  - pip=24.0=pyhd8ed1ab_0
+  - pthread-stubs=0.4=hb9d3cd8_1002
+  - python=3.9.23=hc30ae73_0_cpython
+  - python_abi=3.9=7_cp39
+  - readline=8.2=h8c095d6_2
+  - setuptools=80.9.0=pyhff2d567_0
+  - tk=8.6.13=noxft_hd72426e_102
+  - wheel=0.45.1=pyhd8ed1ab_1
+  - xorg-libx11=1.8.12=h4f16b4b_0
+  - xorg-libxau=1.0.12=hb9d3cd8_0
+  - xorg-libxdmcp=1.1.5=hb9d3cd8_0
+  - pip:
+      - absl-py==2.3.0
+      - aiohappyeyeballs==2.6.1
+      - aiohttp==3.12.13
+      - aiosignal==1.3.2
+      - antlr4-python3-runtime==4.9.3
+      - async-timeout==5.0.1
+      - attrs==25.3.0
+      - certifi==2025.6.15
+      - charset-normalizer==3.4.2
+      - click==8.1.8
+      - contextlib2==21.6.0
+      - contourpy==1.3.0
+      - cycler==0.12.1
+      - decorator==4.4.2
+      - dm-control==1.0.16
+      - dm-env==1.6
+      - dm-tree==0.1.8
+      - docker-pycreds==0.4.0
+      - etils==1.5.2
+      - farama-notifications==0.0.4
+      - ffmpeg==1.4
+      - filelock==3.18.0
+      - fonttools==4.58.4
+      - frozenlist==1.7.0
+      - fsspec==2025.5.1
+      - gitdb==4.0.12
+      - gitpython==3.1.44
+      - glfw==2.7.0
+      - grpcio==1.73.0
+      - gymnasium==1.1.1
+      - h5py==3.11.0
+      - hf-xet==1.1.4
+      - huggingface-hub==0.33.0
+      - hydra-core==1.3.2
+      - hydra-submitit-launcher==1.2.0
+      - idna==3.10
+      - imageio==2.34.1
+      - imageio-ffmpeg==0.4.9
+      - importlib-metadata==8.7.0
+      - importlib-resources==6.5.2
+      - inquirerpy==0.3.4
+      - jinja2==3.1.6
+      - kiwisolver==1.4.7
+      - kornia==0.7.2
+      - kornia-rs==0.1.9
+      - labmaze==1.0.6
+      - lightning-utilities==0.14.3
+      - lxml==5.4.0
+      - markdown==3.8
+      - markupsafe==3.0.2
+      - matplotlib==3.9.4
+      - ml-collections==0.1.1
+      - mocapact==0.1
+      - moviepy==1.0.3
+      - mpmath==1.3.0
+      - mujoco==3.1.2
+      - multidict==6.4.4
+      - networkx==3.2.1
+      - numpy==1.24.4
+      - nvidia-cublas-cu12==12.6.4.1
+      - nvidia-cuda-cupti-cu12==12.6.80
+      - nvidia-cuda-nvrtc-cu12==12.6.77
+      - nvidia-cuda-runtime-cu12==12.6.77
+      - nvidia-cudnn-cu12==9.5.1.17
+      - nvidia-cufft-cu12==11.3.0.4
+      - nvidia-cufile-cu12==1.11.1.6
+      - nvidia-curand-cu12==10.3.7.77
+      - nvidia-cusolver-cu12==11.7.1.2
+      - nvidia-cusparse-cu12==12.5.4.2
+      - nvidia-cusparselt-cu12==0.6.3
+      - nvidia-nccl-cu12==2.26.2
+      - nvidia-nvjitlink-cu12==12.6.85
+      - nvidia-nvtx-cu12==12.6.77
+      - omegaconf==2.3.0
+      - orjson==3.10.18
+      - packaging==25.0
+      - pandas==2.0.3
+      - pfzy==0.3.4
+      - pillow==11.2.1
+      - platformdirs==4.3.8
+      - proglog==0.1.12
+      - prompt-toolkit==3.0.51
+      - propcache==0.3.2
+      - protobuf==3.20.1
+      - psutil==7.0.0
+      - pydeprecate==0.3.2
+      - pyopengl==3.1.9
+      - pyparsing==3.2.3
+      - python-dateutil==2.9.0.post0
+      - pytorch-lightning==1.6.5.post0
+      - pytz==2025.2
+      - pyyaml==6.0.2
+      - requests==2.32.4
+      - scipy==1.13.1
+      - sentry-sdk==2.30.0
+      - setproctitle==1.3.6
+      - shimmy==2.0.0
+      - six==1.17.0
+      - smmap==5.0.2
+      - stable-baselines3==2.6.0
+      - submitit==1.5.1
+      - sympy==1.14.0
+      - tensorboard==2.19.0
+      - tensorboard-data-server==0.7.2
+      - tensordict==0.8.3
+      - termcolor==2.4.0
+      - torch==2.7.1
+      - torchaudio==2.7.1+cu118
+      - torchmetrics==1.7.3
+      - torchrl==0.8.1
+      - torchvision==0.22.1+cu118
+      - tqdm==4.66.4
+      - triton==3.3.1
+      - typing-extensions==4.14.0
+      - tzdata==2025.2
+      - urllib3==2.4.0
+      - wandb==0.17.4
+      - wcwidth==0.2.13
+      - werkzeug==3.1.3
+      - yarl==1.20.1
+      - zipp==3.23.0
+prefix: /ceph/home/songchun01/miniconda3/envs/moore
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_0_8d6f93c6b87bc3c59cef.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_0_8d6f93c6b87bc3c59cef.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d49f0d4b96ba0262391e87598fc1cbbc309f408
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_0_8d6f93c6b87bc3c59cef.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d6f93c6b87bc3c59cefa13c4428228b43ad2a4e81496f5fa8d7b55307995610
+size 1581430
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_149500_1e04d60004cc5097b53e.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_149500_1e04d60004cc5097b53e.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf0da9a62df83a23361810e223d60ba1d24fa26d
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_149500_1e04d60004cc5097b53e.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e04d60004cc5097b53e7559aadef36dc6a51ab8d567a6b1a227e30303d026f4
+size 1283502
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_199500_5f469f034bf4a8e475db.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_199500_5f469f034bf4a8e475db.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2d5836d20a257a98633a10eb11f37de660f8f93
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_199500_5f469f034bf4a8e475db.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f469f034bf4a8e475db6369d2f7bca7461a616d8015e1d523207906d7ce8e37
+size 1498400
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_249500_8c7918f92c98f0e27685.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_249500_8c7918f92c98f0e27685.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05c96504fc6f157c39ae51d3279cb2974edaee74
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_249500_8c7918f92c98f0e27685.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c7918f92c98f0e27685e35ab73645c3ad0b9d04833b2a52e9b7e67f531350a4
+size 1402638
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_299500_5cd6372edaae26162e03.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_299500_5cd6372edaae26162e03.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8c70d48a83bf2ce708829190aa94610088b6754
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_299500_5cd6372edaae26162e03.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cd6372edaae26162e0340dcad029ea7ee40debec0b2317a1f4fd5a6f39da739
+size 1369909
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_349500_51e375a171d143130d84.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_349500_51e375a171d143130d84.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb986e1294bdfd0424218e92dba39fa23872045a
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_349500_51e375a171d143130d84.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51e375a171d143130d84fd2c57ee56b668d11f9c5e3098384a2682bcee75a4fb
+size 1479269
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_399500_148f6cac8189af8f8c35.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_399500_148f6cac8189af8f8c35.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae55d0c72cacbd0c912765b01feade8309c897c2
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_399500_148f6cac8189af8f8c35.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:148f6cac8189af8f8c35aed1772dd1ff139d143c06f2767d912984d52e49578b
+size 1441561
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_449500_cbcbdc4162203542c2a7.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_449500_cbcbdc4162203542c2a7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..368854a50745d406a10160c1e7122af0251047e5
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_449500_cbcbdc4162203542c2a7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbcbdc4162203542c2a7800f9f691e6a096e5944ccfee9f551981d5ff18cd7bf
+size 1496625
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_49500_2c81b50aa7d506b6d7ba.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_49500_2c81b50aa7d506b6d7ba.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8052aaf0221a2e8fc31005c2768ccd5a0f88dec4
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_49500_2c81b50aa7d506b6d7ba.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c81b50aa7d506b6d7ba930d9c64d4ed372d3d6ec4288bdf79a8b211cb29dfd6
+size 1364815
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_499500_b3b136e660b2af3a54cd.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_499500_b3b136e660b2af3a54cd.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e527ad5dc7a54129d8e2044369f57d265df31f4b
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_499500_b3b136e660b2af3a54cd.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3b136e660b2af3a54cde401d2c0a6a4dae4007354ae3104f77800ca48f4a619
+size 1433407
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_549500_cd3dcd58ad397247df42.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_549500_cd3dcd58ad397247df42.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..35d371d74ed68580765a1f6980c6dd25754750fc
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_549500_cd3dcd58ad397247df42.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd3dcd58ad397247df427e3f5d93be5abf98c17bf8736589f6d309fe49e14485
+size 1451420
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_599500_f2f8898f727bb0db4168.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_599500_f2f8898f727bb0db4168.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd483b9954d317eb9016489e1b38c33439bab403
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_599500_f2f8898f727bb0db4168.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2f8898f727bb0db4168e1bf34855b70681a85e6f6ce8a8fa4cc18e8b063e1bd
+size 1478613
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_649500_7227c8deabd24c1c1cdc.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_649500_7227c8deabd24c1c1cdc.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d04c750592617b2d774cb8de296b10b7d39084e5
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_649500_7227c8deabd24c1c1cdc.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7227c8deabd24c1c1cdcdba02a11b0ad27555e9512dd1b7650ba61d4c53ce103
+size 1465996
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_699500_957061b346989d0cfc30.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_699500_957061b346989d0cfc30.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..048e91d7644d3b93bc6e3df60b39ac894fa1987a
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_699500_957061b346989d0cfc30.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:957061b346989d0cfc30543c7fa769e1151b2f38396a37025c6ad0c851f9bfdc
+size 1457740
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_799500_4db032378c248eacf0e0.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_799500_4db032378c248eacf0e0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90df21df6df201613e107f1884b7a6c99978fb62
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_799500_4db032378c248eacf0e0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4db032378c248eacf0e0c75f1f5640999648b93bdfac97ccd8a17803f9578334
+size 1504880
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_849500_80d8c24c45dbaedf591b.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_849500_80d8c24c45dbaedf591b.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40ab514538881cd10412adb5e575f37a682a0f0a
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_849500_80d8c24c45dbaedf591b.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80d8c24c45dbaedf591b6bc66b030d631a8b84060c79f4fc73a6335903846be4
+size 1496336
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_899500_3e8ed43ad611c9eb1d2c.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_899500_3e8ed43ad611c9eb1d2c.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a88e5621e1456950fa49dc722d6c3c3383ed0720
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_899500_3e8ed43ad611c9eb1d2c.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e8ed43ad611c9eb1d2cfbdeb73cab6388b6be382ffc798f7493ce81fd7ca3a4
+size 1517897
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_99500_50e0a79b15664af605cb.mp4 b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_99500_50e0a79b15664af605cb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ae75366e12099d1cdfcf58a8d383ea6c3fc23ff
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/media/videos/results/video_99500_50e0a79b15664af605cb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50e0a79b15664af605cb581b118c0b3af38e3bec3073d0d5543ba27ee8cb735c
+size 1296326
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/wandb-metadata.json b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/wandb-metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..66366d0bff0c9db08754afc341c00f89bfd593b7
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/files/wandb-metadata.json
@@ -0,0 +1,642 @@
+{
+    "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28",
+    "python": "3.9.23",
+    "heartbeatAt": "2025-07-17T12:19:13.478530",
+    "startedAt": "2025-07-17T12:19:12.876345",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=dog-walk",
+        "use_moe=true",
+        "n_experts=4",
+        "seed=30",
+        "exp_name=4o_dog-walk_s30"
+    ],
+    "state": "running",
+    "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py",
+    "codePathLocal": null,
+    "codePath": "tdmpc2/train.py",
+    "git": {
+        "remote": "https://github.com/SC-Levi/boya_tdmpc2.git",
+        "commit": "42f1ea1fbdcd2e95057d45c10e43882978629caf"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node001",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3402.5372857142866,
+        "min": 800.0,
+        "max": 3500.0
+    },
+    "cpu_freq_per_core": [
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3162.918,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3183.335,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3158.225,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3172.287,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3178.773,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3209.19,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3173.774,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3162.443,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3162.696,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3208.974,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3162.631,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3162.967,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3163.062,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3166.286,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3163.182,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.003,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3161.77,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3164.698,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3164.695,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3233.842,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3165.1,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3160.382,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3164.693,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3165.138,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3169.218,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3164.991,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3147.8,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3164.693,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3324.669,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3164.697,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3166.018,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3179.122,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3164.696,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3164.698,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3399.996,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3399.996,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3399.996,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        }
+    ],
+    "disk": {
+        "/": {
+            "total": 893.714771270752,
+            "used": 22.938514709472656
+        }
+    },
+    "gpu": "NVIDIA GeForce RTX 3090",
+    "gpu_count": 8,
+    "gpu_devices": [
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        }
+    ],
+    "memory": {
+        "total": 377.28556060791016
+    }
+}
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/logs/debug-internal.log b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/logs/debug-internal.log
new file mode 100644
index 0000000000000000000000000000000000000000..f1f940eb04760256784cf44688e221d4df279937
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/logs/debug-internal.log
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c3ac316c0509bff938226015840a8b75ad16c3014f0bb6f3af4849173a2df0f
+size 16371931
diff --git a/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/logs/debug.log b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/logs/debug.log
new file mode 100644
index 0000000000000000000000000000000000000000..8fb9bad9891aa10a82154c9d77c36737f15d1c0a
--- /dev/null
+++ b/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/logs/debug.log
@@ -0,0 +1,24 @@
+2025-07-17 20:19:12,891 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-17 20:19:12,892 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Configure stats pid to 3143781
+2025-07-17 20:19:12,892 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-17 20:19:12,892 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-17/20-19-01/wandb/settings
+2025-07-17 20:19:12,892 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-17 20:19:12,893 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-17 20:19:12,893 INFO    MainThread:3143781 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'}
+2025-07-17 20:19:12,893 INFO    MainThread:3143781 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/logs/debug.log
+2025-07-17 20:19:12,893 INFO    MainThread:3143781 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/30/4o_dog-walk_s30/wandb/offline-run-20250717_201912-rcqrgcll/logs/debug-internal.log
+2025-07-17 20:19:12,894 INFO    MainThread:3143781 [wandb_init.py:init():569] calling init triggers
+2025-07-17 20:19:12,894 INFO    MainThread:3143781 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_dog-walk_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'Dmcontrol', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': True, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-walk/30/4o_dog-walk_s30'), 'task_title': 'Dog Walk', 'multitask': False, 'tasks': ['dog-walk'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-17 20:19:12,894 INFO    MainThread:3143781 [wandb_init.py:init():619] starting backend
+2025-07-17 20:19:12,894 INFO    MainThread:3143781 [wandb_init.py:init():623] setting up manager
+2025-07-17 20:19:12,900 INFO    MainThread:3143781 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-17 20:19:12,902 INFO    MainThread:3143781 [wandb_init.py:init():631] backend started and connected
+2025-07-17 20:19:12,913 INFO    MainThread:3143781 [wandb_init.py:init():720] updated telemetry
+2025-07-17 20:19:13,011 INFO    MainThread:3143781 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-17 20:19:13,017 INFO    MainThread:3143781 [wandb_init.py:init():804] starting run threads in backend
+2025-07-17 20:19:17,475 INFO    MainThread:3143781 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-17 20:19:17,476 INFO    MainThread:3143781 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-17 20:19:17,476 INFO    MainThread:3143781 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-17 20:19:17,476 INFO    MainThread:3143781 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-17 20:19:17,480 INFO    MainThread:3143781 [wandb_init.py:init():847] run started, returning control to user process
diff --git a/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_1949500_5e9e054187e65550eda1.mp4 b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_1949500_5e9e054187e65550eda1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e52d625f22e75f195bd6419512a113498e9f785
--- /dev/null
+++ b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_1949500_5e9e054187e65550eda1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e9e054187e65550eda1f6379b582563de444cd2a959046288bd65b3ab093848
+size 1473323
diff --git a/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_2149500_b896b9ff7b46288f0782.mp4 b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_2149500_b896b9ff7b46288f0782.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99165cbb6abeccf5942789d734f66c866817a970
--- /dev/null
+++ b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_2149500_b896b9ff7b46288f0782.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b896b9ff7b46288f07824948b69c71215371ae81a088dabf0f06dd13d9922a88
+size 1486065
diff --git a/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_299500_b79fe347463254d706a9.mp4 b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_299500_b79fe347463254d706a9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54278aff8547861d9b7fee3f94256210f0d4974b
--- /dev/null
+++ b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_299500_b79fe347463254d706a9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b79fe347463254d706a90c83cceb70b7885976fe32f4a66af74a24e75d1287f5
+size 1501964
diff --git a/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_449500_61916660f8bd4caed68f.mp4 b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_449500_61916660f8bd4caed68f.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd794a219a432e87095ade823f8358bd2befc52c
--- /dev/null
+++ b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_449500_61916660f8bd4caed68f.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61916660f8bd4caed68f589aa5418a2ba2b8eee960103e1a1027dbff98e47392
+size 1505666
diff --git a/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_49500_cb00f56dec8ef0812429.mp4 b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_49500_cb00f56dec8ef0812429.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4bce71d94abe668877503e0554dd09fdcd6e9d94
--- /dev/null
+++ b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_49500_cb00f56dec8ef0812429.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb00f56dec8ef081242991a5d7e06660c7ec124b716e120218113bff8607d9be
+size 1357489
diff --git a/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_599500_df460643a9078c4c16b3.mp4 b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_599500_df460643a9078c4c16b3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5120bd8a027b61c1b573d4860e476fd65f64232
--- /dev/null
+++ b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/files/media/videos/results/video_599500_df460643a9078c4c16b3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df460643a9078c4c16b3a1a37a6792fba553d309c2481575d54acb5340f404a2
+size 1458424
diff --git a/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/run-ieys56yw.wandb b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/run-ieys56yw.wandb
new file mode 100644
index 0000000000000000000000000000000000000000..c950aefe4a078a197df3fd5ea5f68d8579b0d4e9
--- /dev/null
+++ b/dog-walk/30/tdmpc2_dog-walk_s30/wandb/offline-run-20250717_201912-ieys56yw/run-ieys56yw.wandb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10e274f41a3dfcfb47772d8a6e36d041f162b4872a9ca156c3678920aca392e2
+size 45385444
diff --git a/dog-walk/42/4o_dog-walk_s42/wandb/debug-internal.log b/dog-walk/42/4o_dog-walk_s42/wandb/debug-internal.log
new file mode 100644
index 0000000000000000000000000000000000000000..2307bf2598807d0d2dd81051fe929f37d0ea85e2
--- /dev/null
+++ b/dog-walk/42/4o_dog-walk_s42/wandb/debug-internal.log
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a46bd169f9be2cbaeeb2960be943a626864d74598e387cd8b31bf69d6db9e035
+size 16448730
diff --git a/dog-walk/42/tdmpc2_dog-walk_s42/models/step_1000000.pt b/dog-walk/42/tdmpc2_dog-walk_s42/models/step_1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..7e6952cbc86f1954432d44dd2466f978e10888b2
--- /dev/null
+++ b/dog-walk/42/tdmpc2_dog-walk_s42/models/step_1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5921dc4495ff2de0adac53e279f18a8694a764a557cc5297ee7f2302eb1dbd58
+size 32663041
diff --git a/dog-walk/42/tdmpc2_dog-walk_s42/models/step_1500000.pt b/dog-walk/42/tdmpc2_dog-walk_s42/models/step_1500000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..b0f3af798eee8c946cc2c641f51511227d54074c
--- /dev/null
+++ b/dog-walk/42/tdmpc2_dog-walk_s42/models/step_1500000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f3b0d9e8914afd1f5373f83a10ccab3a80e5c4fda9b61b723d9e415872963fc
+size 32663041
diff --git a/dog-walk/42/tdmpc2_dog-walk_s42/models/step_2000000.pt b/dog-walk/42/tdmpc2_dog-walk_s42/models/step_2000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..f3a21c0c37e0efa67585cb9d6549605ad7a8f65b
--- /dev/null
+++ b/dog-walk/42/tdmpc2_dog-walk_s42/models/step_2000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f316e0f95cac8c6eff9cb8fc7a3e0fa5e3ae52370a0ca4cc3de123421d9489c4
+size 32663041
diff --git a/dog-walk/42/tdmpc2_dog-walk_s42/models/step_500000.pt b/dog-walk/42/tdmpc2_dog-walk_s42/models/step_500000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..f03020fcc75a37bd2b7cf23f3eb1fc7b8df6cce1
--- /dev/null
+++ b/dog-walk/42/tdmpc2_dog-walk_s42/models/step_500000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c44b4b1f44fe8ef8f5b5ca144dba5426be204187a56dc1716c77b5a5c8f8461
+size 32662895
diff --git a/dog-walk/42/tdmpc2_dog-walk_s42/wandb/offline-run-20250717_201912-30xt38u9/run-30xt38u9.wandb b/dog-walk/42/tdmpc2_dog-walk_s42/wandb/offline-run-20250717_201912-30xt38u9/run-30xt38u9.wandb
new file mode 100644
index 0000000000000000000000000000000000000000..d267872dd3af816dcf7e27b863b2659b6fbf1c86
--- /dev/null
+++ b/dog-walk/42/tdmpc2_dog-walk_s42/wandb/offline-run-20250717_201912-30xt38u9/run-30xt38u9.wandb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a322247be5136e25c35957a02ef696674cf4e022f27737697ed9c59d1a1b964
+size 45419385
diff --git a/humanoid-run/2/4o_humanoid-run_s2/models/step_500000.pt b/humanoid-run/2/4o_humanoid-run_s2/models/step_500000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..296c94a8c7b71efc2c4412246d1355b979032068
--- /dev/null
+++ b/humanoid-run/2/4o_humanoid-run_s2/models/step_500000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e3a8865e99db07be730341687dd41df82994825ce447dc71abd54446cea3e00
+size 49281151
diff --git a/humanoid-run/2/tdmpc2_humanoid-run_s2/models/step_1500000.pt b/humanoid-run/2/tdmpc2_humanoid-run_s2/models/step_1500000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..80cc57c50cc2ad21505de8fad13c6c1c60cc1901
--- /dev/null
+++ b/humanoid-run/2/tdmpc2_humanoid-run_s2/models/step_1500000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e94dd26f1c069d63f40c4bd99e96a58f75cb518d755c41c15c332f920c5fec9e
+size 32015745
diff --git a/humanoid-stand/2/4o_humanoid-stand_s2/models/step_500000.pt b/humanoid-stand/2/4o_humanoid-stand_s2/models/step_500000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..68cc883eba3cf1dc53fd683e94e579665bea705d
--- /dev/null
+++ b/humanoid-stand/2/4o_humanoid-stand_s2/models/step_500000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18a09513fee995a620f5a79e3dea032969d392f947fa98eb2bf1804836bfc862
+size 49281151
diff --git a/humanoid-stand/2/tdmpc2_humanoid-stand_s2/models/step_2000000.pt b/humanoid-stand/2/tdmpc2_humanoid-stand_s2/models/step_2000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..36bcb524fe5d6b3f95e1854a5409aa7079903da8
--- /dev/null
+++ b/humanoid-stand/2/tdmpc2_humanoid-stand_s2/models/step_2000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af2b742c3744901f4c9bf5595242308580292fb9a915617883af12966553c4e7
+size 32015745
diff --git a/humanoid-stand/2/tdmpc2_humanoid-stand_s2/models/step_500000.pt b/humanoid-stand/2/tdmpc2_humanoid-stand_s2/models/step_500000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..76e2f8a30f4f83ca9400a7266960221222d040c2
--- /dev/null
+++ b/humanoid-stand/2/tdmpc2_humanoid-stand_s2/models/step_500000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8ef1a9e1e8660315537c0ecf48c4dd9d60519183ae1946984bcb07663cf921f
+size 32015599
diff --git a/humanoid-stand/2/tdmpc2_humanoid-stand_s2/wandb/debug-internal.log b/humanoid-stand/2/tdmpc2_humanoid-stand_s2/wandb/debug-internal.log
new file mode 100644
index 0000000000000000000000000000000000000000..e5387843882504e874f5e2b6bfe0e82e6ce32657
--- /dev/null
+++ b/humanoid-stand/2/tdmpc2_humanoid-stand_s2/wandb/debug-internal.log
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfb6b9575eabe4afa4b646c8cbaf8b8b24de84fbdbc196d12851bc5f849d6856
+size 22681489
diff --git a/humanoid-stand/30/tdmpc2_humanoid-stand_s30/models/step_1000000.pt b/humanoid-stand/30/tdmpc2_humanoid-stand_s30/models/step_1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..9895bfd0c96ea1fb0ca2620a29744db4e77b61c2
--- /dev/null
+++ b/humanoid-stand/30/tdmpc2_humanoid-stand_s30/models/step_1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d70994e404bdc19f92e94eb92fccae2b7091aa0908da8e61720a5840217d2e21
+size 32015745
diff --git a/humanoid-stand/30/tdmpc2_humanoid-stand_s30/models/step_500000.pt b/humanoid-stand/30/tdmpc2_humanoid-stand_s30/models/step_500000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..900c5848c16b85567758b007f73211a7ac56a318
--- /dev/null
+++ b/humanoid-stand/30/tdmpc2_humanoid-stand_s30/models/step_500000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e75449deef08d34d9abc43fd0ec9817484c6fe4027c7f665d7ac3efbe53e8be
+size 32015599
diff --git a/humanoid-walk/42/tdmpc2_humanoid-walk_s42/eval.csv b/humanoid-walk/42/tdmpc2_humanoid-walk_s42/eval.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9587b469df97062540ad277016d616b1f90642e5
--- /dev/null
+++ b/humanoid-walk/42/tdmpc2_humanoid-walk_s42/eval.csv
@@ -0,0 +1,39 @@
+step,episode_reward
+0.0,0.8478426933288574
+50000.0,1.2359681129455566
+100000.0,1.6180146932601929
+150000.0,1.8808568716049194
+200000.0,8.804807662963867
+250000.0,28.323261260986328
+300000.0,70.95170593261719
+350000.0,124.2593994140625
+400000.0,215.5917510986328
+450000.0,241.89566040039062
+500000.0,301.2642822265625
+550000.0,359.03643798828125
+600000.0,453.76861572265625
+650000.0,479.2789611816406
+700000.0,540.2557373046875
+750000.0,556.6468505859375
+800000.0,530.9483032226562
+850000.0,587.8324584960938
+900000.0,594.419189453125
+950000.0,627.316650390625
+1000000.0,632.1880493164062
+1050000.0,624.1943359375
+1100000.0,669.408203125
+1150000.0,675.7153930664062
+1200000.0,704.6937255859375
+1250000.0,712.8153686523438
+1300000.0,723.9163818359375
+1350000.0,761.3760986328125
+1400000.0,721.8380737304688
+1450000.0,743.2543334960938
+1500000.0,746.6617431640625
+1550000.0,781.794189453125
+1600000.0,769.4464111328125
+1650000.0,801.6900634765625
+1700000.0,803.9608154296875
+1750000.0,809.0318603515625
+1800000.0,795.1549072265625
+1850000.0,764.458984375
diff --git a/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/debug.log b/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/debug.log
new file mode 100644
index 0000000000000000000000000000000000000000..94cbc089bf0a309a95ccbc0f1e77e9cfd129e7b7
--- /dev/null
+++ b/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/debug.log
@@ -0,0 +1,24 @@
+2025-07-17 20:19:12,779 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-17 20:19:12,780 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Configure stats pid to 3143770
+2025-07-17 20:19:12,780 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-17 20:19:12,780 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-17/20-19-01/wandb/settings
+2025-07-17 20:19:12,780 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-17 20:19:12,781 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-17 20:19:12,781 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'}
+2025-07-17 20:19:12,781 INFO    MainThread:3143770 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/offline-run-20250717_201912-8kukc922/logs/debug.log
+2025-07-17 20:19:12,781 INFO    MainThread:3143770 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/offline-run-20250717_201912-8kukc922/logs/debug-internal.log
+2025-07-17 20:19:12,782 INFO    MainThread:3143770 [wandb_init.py:init():569] calling init triggers
+2025-07-17 20:19:12,782 INFO    MainThread:3143770 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_humanoid-walk_s42', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'Dmcontrol', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': True, 'save_agent': True, 'seed': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/42/tdmpc2_humanoid-walk_s42'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-17 20:19:12,782 INFO    MainThread:3143770 [wandb_init.py:init():619] starting backend
+2025-07-17 20:19:12,783 INFO    MainThread:3143770 [wandb_init.py:init():623] setting up manager
+2025-07-17 20:19:12,788 INFO    MainThread:3143770 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-17 20:19:12,790 INFO    MainThread:3143770 [wandb_init.py:init():631] backend started and connected
+2025-07-17 20:19:12,799 INFO    MainThread:3143770 [wandb_init.py:init():720] updated telemetry
+2025-07-17 20:19:12,893 INFO    MainThread:3143770 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-17 20:19:12,900 INFO    MainThread:3143770 [wandb_init.py:init():804] starting run threads in backend
+2025-07-17 20:19:17,821 INFO    MainThread:3143770 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-17 20:19:17,822 INFO    MainThread:3143770 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-17 20:19:17,822 INFO    MainThread:3143770 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-17 20:19:17,822 INFO    MainThread:3143770 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-17 20:19:17,826 INFO    MainThread:3143770 [wandb_init.py:init():847] run started, returning control to user process
diff --git a/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/offline-run-20250717_201912-8kukc922/files/conda-environment.yaml b/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/offline-run-20250717_201912-8kukc922/files/conda-environment.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5
--- /dev/null
+++ b/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/offline-run-20250717_201912-8kukc922/files/conda-environment.yaml
@@ -0,0 +1,190 @@
+name: moore
+channels:
+  - conda-forge
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
+  - defaults
+dependencies:
+  - _libgcc_mutex=0.1=conda_forge
+  - _openmp_mutex=4.5=2_gnu
+  - bzip2=1.0.8=h4bc722e_7
+  - ca-certificates=2025.6.15=hbd8a1cb_0
+  - cloudpickle=3.1.1=pyhd8ed1ab_0
+  - gettext=0.24.1=h5888daf_0
+  - gettext-tools=0.24.1=h5888daf_0
+  - glew=2.2.0=hcfb9eae_1
+  - glib=2.78.4=hf2295e7_4
+  - glib-tools=2.78.4=hde27a5a_4
+  - gym=0.21.0=py39hef51801_2
+  - ld_impl_linux-64=2.43=h1423503_5
+  - libasprintf=0.24.1=h8e693c7_0
+  - libasprintf-devel=0.24.1=h8e693c7_0
+  - libblas=3.9.0=31_h59b9bed_openblas
+  - libcblas=3.9.0=31_he106b2a_openblas
+  - libegl=1.7.0=ha4b6fd6_2
+  - libexpat=2.7.0=h5888daf_0
+  - libffi=3.4.6=h2dba641_1
+  - libgcc=15.1.0=h767d61c_2
+  - libgcc-ng=15.1.0=h69a702a_2
+  - libgettextpo=0.24.1=h5888daf_0
+  - libgettextpo-devel=0.24.1=h5888daf_0
+  - libgfortran=15.1.0=h69a702a_2
+  - libgfortran5=15.1.0=hcea5267_2
+  - libgl=1.7.0=ha4b6fd6_2
+  - libglib=2.78.4=hf2295e7_4
+  - libglu=9.0.3=h5888daf_1
+  - libglvnd=1.7.0=ha4b6fd6_2
+  - libglx=1.7.0=ha4b6fd6_2
+  - libgomp=15.1.0=h767d61c_2
+  - libiconv=1.18=h4ce23a2_1
+  - liblapack=3.9.0=31_h7ac8fdf_openblas
+  - liblzma=5.8.1=hb9d3cd8_2
+  - libnsl=2.0.1=hd590300_0
+  - libopenblas=0.3.29=pthreads_h94d23a6_0
+  - libopengl=1.7.0=ha4b6fd6_2
+  - libsqlite=3.50.1=hee588c1_0
+  - libstdcxx=15.1.0=h8f9b012_2
+  - libstdcxx-ng=15.1.0=h4852527_2
+  - libuuid=2.38.1=h0b41bf4_0
+  - libxcb=1.17.0=h8a09558_0
+  - libxcrypt=4.4.36=hd590300_1
+  - libzlib=1.3.1=hb9d3cd8_2
+  - ncurses=6.5=h2d0b736_3
+  - openssl=3.5.0=h7b32b05_1
+  - pcre2=10.43=hcad00b1_0
+  - pip=24.0=pyhd8ed1ab_0
+  - pthread-stubs=0.4=hb9d3cd8_1002
+  - python=3.9.23=hc30ae73_0_cpython
+  - python_abi=3.9=7_cp39
+  - readline=8.2=h8c095d6_2
+  - setuptools=80.9.0=pyhff2d567_0
+  - tk=8.6.13=noxft_hd72426e_102
+  - wheel=0.45.1=pyhd8ed1ab_1
+  - xorg-libx11=1.8.12=h4f16b4b_0
+  - xorg-libxau=1.0.12=hb9d3cd8_0
+  - xorg-libxdmcp=1.1.5=hb9d3cd8_0
+  - pip:
+      - absl-py==2.3.0
+      - aiohappyeyeballs==2.6.1
+      - aiohttp==3.12.13
+      - aiosignal==1.3.2
+      - antlr4-python3-runtime==4.9.3
+      - async-timeout==5.0.1
+      - attrs==25.3.0
+      - certifi==2025.6.15
+      - charset-normalizer==3.4.2
+      - click==8.1.8
+      - contextlib2==21.6.0
+      - contourpy==1.3.0
+      - cycler==0.12.1
+      - decorator==4.4.2
+      - dm-control==1.0.16
+      - dm-env==1.6
+      - dm-tree==0.1.8
+      - docker-pycreds==0.4.0
+      - etils==1.5.2
+      - farama-notifications==0.0.4
+      - ffmpeg==1.4
+      - filelock==3.18.0
+      - fonttools==4.58.4
+      - frozenlist==1.7.0
+      - fsspec==2025.5.1
+      - gitdb==4.0.12
+      - gitpython==3.1.44
+      - glfw==2.7.0
+      - grpcio==1.73.0
+      - gymnasium==1.1.1
+      - h5py==3.11.0
+      - hf-xet==1.1.4
+      - huggingface-hub==0.33.0
+      - hydra-core==1.3.2
+      - hydra-submitit-launcher==1.2.0
+      - idna==3.10
+      - imageio==2.34.1
+      - imageio-ffmpeg==0.4.9
+      - importlib-metadata==8.7.0
+      - importlib-resources==6.5.2
+      - inquirerpy==0.3.4
+      - jinja2==3.1.6
+      - kiwisolver==1.4.7
+      - kornia==0.7.2
+      - kornia-rs==0.1.9
+      - labmaze==1.0.6
+      - lightning-utilities==0.14.3
+      - lxml==5.4.0
+      - markdown==3.8
+      - markupsafe==3.0.2
+      - matplotlib==3.9.4
+      - ml-collections==0.1.1
+      - mocapact==0.1
+      - moviepy==1.0.3
+      - mpmath==1.3.0
+      - mujoco==3.1.2
+      - multidict==6.4.4
+      - networkx==3.2.1
+      - numpy==1.24.4
+      - nvidia-cublas-cu12==12.6.4.1
+      - nvidia-cuda-cupti-cu12==12.6.80
+      - nvidia-cuda-nvrtc-cu12==12.6.77
+      - nvidia-cuda-runtime-cu12==12.6.77
+      - nvidia-cudnn-cu12==9.5.1.17
+      - nvidia-cufft-cu12==11.3.0.4
+      - nvidia-cufile-cu12==1.11.1.6
+      - nvidia-curand-cu12==10.3.7.77
+      - nvidia-cusolver-cu12==11.7.1.2
+      - nvidia-cusparse-cu12==12.5.4.2
+      - nvidia-cusparselt-cu12==0.6.3
+      - nvidia-nccl-cu12==2.26.2
+      - nvidia-nvjitlink-cu12==12.6.85
+      - nvidia-nvtx-cu12==12.6.77
+      - omegaconf==2.3.0
+      - orjson==3.10.18
+      - packaging==25.0
+      - pandas==2.0.3
+      - pfzy==0.3.4
+      - pillow==11.2.1
+      - platformdirs==4.3.8
+      - proglog==0.1.12
+      - prompt-toolkit==3.0.51
+      - propcache==0.3.2
+      - protobuf==3.20.1
+      - psutil==7.0.0
+      - pydeprecate==0.3.2
+      - pyopengl==3.1.9
+      - pyparsing==3.2.3
+      - python-dateutil==2.9.0.post0
+      - pytorch-lightning==1.6.5.post0
+      - pytz==2025.2
+      - pyyaml==6.0.2
+      - requests==2.32.4
+      - scipy==1.13.1
+      - sentry-sdk==2.30.0
+      - setproctitle==1.3.6
+      - shimmy==2.0.0
+      - six==1.17.0
+      - smmap==5.0.2
+      - stable-baselines3==2.6.0
+      - submitit==1.5.1
+      - sympy==1.14.0
+      - tensorboard==2.19.0
+      - tensorboard-data-server==0.7.2
+      - tensordict==0.8.3
+      - termcolor==2.4.0
+      - torch==2.7.1
+      - torchaudio==2.7.1+cu118
+      - torchmetrics==1.7.3
+      - torchrl==0.8.1
+      - torchvision==0.22.1+cu118
+      - tqdm==4.66.4
+      - triton==3.3.1
+      - typing-extensions==4.14.0
+      - tzdata==2025.2
+      - urllib3==2.4.0
+      - wandb==0.17.4
+      - wcwidth==0.2.13
+      - werkzeug==3.1.3
+      - yarl==1.20.1
+      - zipp==3.23.0
+prefix: /ceph/home/songchun01/miniconda3/envs/moore
diff --git a/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/offline-run-20250717_201912-8kukc922/files/wandb-metadata.json b/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/offline-run-20250717_201912-8kukc922/files/wandb-metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2474e34176b08b05c94e9d0aea0765b0f08b3ceb
--- /dev/null
+++ b/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/offline-run-20250717_201912-8kukc922/files/wandb-metadata.json
@@ -0,0 +1,641 @@
+{
+    "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28",
+    "python": "3.9.23",
+    "heartbeatAt": "2025-07-17T12:19:13.076913",
+    "startedAt": "2025-07-17T12:19:12.764439",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=humanoid-walk",
+        "use_moe=false",
+        "seed=42",
+        "exp_name=tdmpc2_humanoid-walk_s42"
+    ],
+    "state": "running",
+    "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py",
+    "codePathLocal": null,
+    "codePath": "tdmpc2/train.py",
+    "git": {
+        "remote": "https://github.com/SC-Levi/boya_tdmpc2.git",
+        "commit": "42f1ea1fbdcd2e95057d45c10e43882978629caf"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node001",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3396.4947767857143,
+        "min": 800.0,
+        "max": 3500.0
+    },
+    "cpu_freq_per_core": [
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3374.76,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3368.391,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3317.249,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3222.137,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3248.11,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3187.063,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3370.436,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3369.181,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3242.172,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3265.113,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3381.166,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3369.245,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3369.239,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3367.079,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3399.991,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3268.355,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3277.919,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3372.361,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3360.37,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3116.508,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3057.916,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3369.99,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3371.611,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3366.704,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3367.044,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3367.324,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3367.408,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3252.201,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3374.436,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3364.643,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.003,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        }
+    ],
+    "disk": {
+        "/": {
+            "total": 893.714771270752,
+            "used": 22.938514709472656
+        }
+    },
+    "gpu": "NVIDIA GeForce RTX 3090",
+    "gpu_count": 8,
+    "gpu_devices": [
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        },
+        {
+            "name": "NVIDIA GeForce RTX 3090",
+            "memory_total": 25769803776
+        }
+    ],
+    "memory": {
+        "total": 377.28556060791016
+    }
+}
diff --git a/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/offline-run-20250717_201912-8kukc922/logs/debug.log b/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/offline-run-20250717_201912-8kukc922/logs/debug.log
new file mode 100644
index 0000000000000000000000000000000000000000..94cbc089bf0a309a95ccbc0f1e77e9cfd129e7b7
--- /dev/null
+++ b/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/offline-run-20250717_201912-8kukc922/logs/debug.log
@@ -0,0 +1,24 @@
+2025-07-17 20:19:12,779 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-17 20:19:12,780 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Configure stats pid to 3143770
+2025-07-17 20:19:12,780 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-17 20:19:12,780 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-17/20-19-01/wandb/settings
+2025-07-17 20:19:12,780 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-17 20:19:12,781 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-17 20:19:12,781 INFO    MainThread:3143770 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'}
+2025-07-17 20:19:12,781 INFO    MainThread:3143770 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/offline-run-20250717_201912-8kukc922/logs/debug.log
+2025-07-17 20:19:12,781 INFO    MainThread:3143770 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/42/tdmpc2_humanoid-walk_s42/wandb/offline-run-20250717_201912-8kukc922/logs/debug-internal.log
+2025-07-17 20:19:12,782 INFO    MainThread:3143770 [wandb_init.py:init():569] calling init triggers
+2025-07-17 20:19:12,782 INFO    MainThread:3143770 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_humanoid-walk_s42', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'Dmcontrol', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': True, 'save_agent': True, 'seed': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/42/tdmpc2_humanoid-walk_s42'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-17 20:19:12,782 INFO    MainThread:3143770 [wandb_init.py:init():619] starting backend
+2025-07-17 20:19:12,783 INFO    MainThread:3143770 [wandb_init.py:init():623] setting up manager
+2025-07-17 20:19:12,788 INFO    MainThread:3143770 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-17 20:19:12,790 INFO    MainThread:3143770 [wandb_init.py:init():631] backend started and connected
+2025-07-17 20:19:12,799 INFO    MainThread:3143770 [wandb_init.py:init():720] updated telemetry
+2025-07-17 20:19:12,893 INFO    MainThread:3143770 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-17 20:19:12,900 INFO    MainThread:3143770 [wandb_init.py:init():804] starting run threads in backend
+2025-07-17 20:19:17,821 INFO    MainThread:3143770 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-17 20:19:17,822 INFO    MainThread:3143770 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-17 20:19:17,822 INFO    MainThread:3143770 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-17 20:19:17,822 INFO    MainThread:3143770 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-17 20:19:17,826 INFO    MainThread:3143770 [wandb_init.py:init():847] run started, returning control to user process