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- .gitattributes +19 -0
- dog-run/30/tdmpc2_dog-run_s30/eval.csv +33 -0
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.gitattributes
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2025-07-17 20:19:12,020 INFO MainThread:3143751 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
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2025-07-17 20:19:12,021 INFO MainThread:3143751 [wandb_setup.py:_flush():76] Configure stats pid to 3143751
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2025-07-17 20:19:12,021 INFO MainThread:3143751 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
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2025-07-17 20:19:12,021 INFO MainThread:3143751 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-17/20-19-01/wandb/settings
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2025-07-17 20:19:12,021 INFO MainThread:3143751 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
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2025-07-17 20:19:12,022 INFO MainThread:3143751 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
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2025-07-17 20:19:12,022 INFO MainThread:3143751 [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'}
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2025-07-17 20:19:12,022 INFO MainThread:3143751 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-run/30/tdmpc2_dog-run_s30/wandb/offline-run-20250717_201912-cmsyvg39/logs/debug.log
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2025-07-17 20:19:12,022 INFO MainThread:3143751 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-run/30/tdmpc2_dog-run_s30/wandb/offline-run-20250717_201912-cmsyvg39/logs/debug-internal.log
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2025-07-17 20:19:12,023 INFO MainThread:3143751 [wandb_init.py:init():569] calling init triggers
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2025-07-17 20:19:12,023 INFO MainThread:3143751 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
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| 12 |
+
config: {'task': 'dog-run', '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-run_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': 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': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-run/30/tdmpc2_dog-run_s30'), 'task_title': 'Dog Run', 'multitask': False, 'tasks': ['dog-run'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
|
| 13 |
+
2025-07-17 20:19:12,023 INFO MainThread:3143751 [wandb_init.py:init():619] starting backend
|
| 14 |
+
2025-07-17 20:19:12,024 INFO MainThread:3143751 [wandb_init.py:init():623] setting up manager
|
| 15 |
+
2025-07-17 20:19:12,031 INFO MainThread:3143751 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
|
| 16 |
+
2025-07-17 20:19:12,034 INFO MainThread:3143751 [wandb_init.py:init():631] backend started and connected
|
| 17 |
+
2025-07-17 20:19:12,046 INFO MainThread:3143751 [wandb_init.py:init():720] updated telemetry
|
| 18 |
+
2025-07-17 20:19:12,141 INFO MainThread:3143751 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
|
| 19 |
+
2025-07-17 20:19:12,148 INFO MainThread:3143751 [wandb_init.py:init():804] starting run threads in backend
|
| 20 |
+
2025-07-17 20:19:16,425 INFO MainThread:3143751 [wandb_run.py:_console_start():2380] atexit reg
|
| 21 |
+
2025-07-17 20:19:16,425 INFO MainThread:3143751 [wandb_run.py:_redirect():2235] redirect: wrap_raw
|
| 22 |
+
2025-07-17 20:19:16,426 INFO MainThread:3143751 [wandb_run.py:_redirect():2300] Wrapping output streams.
|
| 23 |
+
2025-07-17 20:19:16,426 INFO MainThread:3143751 [wandb_run.py:_redirect():2325] Redirects installed.
|
| 24 |
+
2025-07-17 20:19:16,430 INFO MainThread:3143751 [wandb_init.py:init():847] run started, returning control to user process
|
dog-run/30/tdmpc2_dog-run_s30/wandb/offline-run-20250717_201912-cmsyvg39/files/conda-environment.yaml
ADDED
|
@@ -0,0 +1,190 @@
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|
|
| 1 |
+
name: moore
|
| 2 |
+
channels:
|
| 3 |
+
- conda-forge
|
| 4 |
+
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
|
| 5 |
+
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/
|
| 6 |
+
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/
|
| 7 |
+
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
|
| 8 |
+
- defaults
|
| 9 |
+
dependencies:
|
| 10 |
+
- _libgcc_mutex=0.1=conda_forge
|
| 11 |
+
- _openmp_mutex=4.5=2_gnu
|
| 12 |
+
- bzip2=1.0.8=h4bc722e_7
|
| 13 |
+
- ca-certificates=2025.6.15=hbd8a1cb_0
|
| 14 |
+
- cloudpickle=3.1.1=pyhd8ed1ab_0
|
| 15 |
+
- gettext=0.24.1=h5888daf_0
|
| 16 |
+
- gettext-tools=0.24.1=h5888daf_0
|
| 17 |
+
- glew=2.2.0=hcfb9eae_1
|
| 18 |
+
- glib=2.78.4=hf2295e7_4
|
| 19 |
+
- glib-tools=2.78.4=hde27a5a_4
|
| 20 |
+
- gym=0.21.0=py39hef51801_2
|
| 21 |
+
- ld_impl_linux-64=2.43=h1423503_5
|
| 22 |
+
- libasprintf=0.24.1=h8e693c7_0
|
| 23 |
+
- libasprintf-devel=0.24.1=h8e693c7_0
|
| 24 |
+
- libblas=3.9.0=31_h59b9bed_openblas
|
| 25 |
+
- libcblas=3.9.0=31_he106b2a_openblas
|
| 26 |
+
- libegl=1.7.0=ha4b6fd6_2
|
| 27 |
+
- libexpat=2.7.0=h5888daf_0
|
| 28 |
+
- libffi=3.4.6=h2dba641_1
|
| 29 |
+
- libgcc=15.1.0=h767d61c_2
|
| 30 |
+
- libgcc-ng=15.1.0=h69a702a_2
|
| 31 |
+
- libgettextpo=0.24.1=h5888daf_0
|
| 32 |
+
- libgettextpo-devel=0.24.1=h5888daf_0
|
| 33 |
+
- libgfortran=15.1.0=h69a702a_2
|
| 34 |
+
- libgfortran5=15.1.0=hcea5267_2
|
| 35 |
+
- libgl=1.7.0=ha4b6fd6_2
|
| 36 |
+
- libglib=2.78.4=hf2295e7_4
|
| 37 |
+
- libglu=9.0.3=h5888daf_1
|
| 38 |
+
- libglvnd=1.7.0=ha4b6fd6_2
|
| 39 |
+
- libglx=1.7.0=ha4b6fd6_2
|
| 40 |
+
- libgomp=15.1.0=h767d61c_2
|
| 41 |
+
- libiconv=1.18=h4ce23a2_1
|
| 42 |
+
- liblapack=3.9.0=31_h7ac8fdf_openblas
|
| 43 |
+
- liblzma=5.8.1=hb9d3cd8_2
|
| 44 |
+
- libnsl=2.0.1=hd590300_0
|
| 45 |
+
- libopenblas=0.3.29=pthreads_h94d23a6_0
|
| 46 |
+
- libopengl=1.7.0=ha4b6fd6_2
|
| 47 |
+
- libsqlite=3.50.1=hee588c1_0
|
| 48 |
+
- libstdcxx=15.1.0=h8f9b012_2
|
| 49 |
+
- libstdcxx-ng=15.1.0=h4852527_2
|
| 50 |
+
- libuuid=2.38.1=h0b41bf4_0
|
| 51 |
+
- libxcb=1.17.0=h8a09558_0
|
| 52 |
+
- libxcrypt=4.4.36=hd590300_1
|
| 53 |
+
- libzlib=1.3.1=hb9d3cd8_2
|
| 54 |
+
- ncurses=6.5=h2d0b736_3
|
| 55 |
+
- openssl=3.5.0=h7b32b05_1
|
| 56 |
+
- pcre2=10.43=hcad00b1_0
|
| 57 |
+
- pip=24.0=pyhd8ed1ab_0
|
| 58 |
+
- pthread-stubs=0.4=hb9d3cd8_1002
|
| 59 |
+
- python=3.9.23=hc30ae73_0_cpython
|
| 60 |
+
- python_abi=3.9=7_cp39
|
| 61 |
+
- readline=8.2=h8c095d6_2
|
| 62 |
+
- setuptools=80.9.0=pyhff2d567_0
|
| 63 |
+
- tk=8.6.13=noxft_hd72426e_102
|
| 64 |
+
- wheel=0.45.1=pyhd8ed1ab_1
|
| 65 |
+
- xorg-libx11=1.8.12=h4f16b4b_0
|
| 66 |
+
- xorg-libxau=1.0.12=hb9d3cd8_0
|
| 67 |
+
- xorg-libxdmcp=1.1.5=hb9d3cd8_0
|
| 68 |
+
- pip:
|
| 69 |
+
- absl-py==2.3.0
|
| 70 |
+
- aiohappyeyeballs==2.6.1
|
| 71 |
+
- aiohttp==3.12.13
|
| 72 |
+
- aiosignal==1.3.2
|
| 73 |
+
- antlr4-python3-runtime==4.9.3
|
| 74 |
+
- async-timeout==5.0.1
|
| 75 |
+
- attrs==25.3.0
|
| 76 |
+
- certifi==2025.6.15
|
| 77 |
+
- charset-normalizer==3.4.2
|
| 78 |
+
- click==8.1.8
|
| 79 |
+
- contextlib2==21.6.0
|
| 80 |
+
- contourpy==1.3.0
|
| 81 |
+
- cycler==0.12.1
|
| 82 |
+
- decorator==4.4.2
|
| 83 |
+
- dm-control==1.0.16
|
| 84 |
+
- dm-env==1.6
|
| 85 |
+
- dm-tree==0.1.8
|
| 86 |
+
- docker-pycreds==0.4.0
|
| 87 |
+
- etils==1.5.2
|
| 88 |
+
- farama-notifications==0.0.4
|
| 89 |
+
- ffmpeg==1.4
|
| 90 |
+
- filelock==3.18.0
|
| 91 |
+
- fonttools==4.58.4
|
| 92 |
+
- frozenlist==1.7.0
|
| 93 |
+
- fsspec==2025.5.1
|
| 94 |
+
- gitdb==4.0.12
|
| 95 |
+
- gitpython==3.1.44
|
| 96 |
+
- glfw==2.7.0
|
| 97 |
+
- grpcio==1.73.0
|
| 98 |
+
- gymnasium==1.1.1
|
| 99 |
+
- h5py==3.11.0
|
| 100 |
+
- hf-xet==1.1.4
|
| 101 |
+
- huggingface-hub==0.33.0
|
| 102 |
+
- hydra-core==1.3.2
|
| 103 |
+
- hydra-submitit-launcher==1.2.0
|
| 104 |
+
- idna==3.10
|
| 105 |
+
- imageio==2.34.1
|
| 106 |
+
- imageio-ffmpeg==0.4.9
|
| 107 |
+
- importlib-metadata==8.7.0
|
| 108 |
+
- importlib-resources==6.5.2
|
| 109 |
+
- inquirerpy==0.3.4
|
| 110 |
+
- jinja2==3.1.6
|
| 111 |
+
- kiwisolver==1.4.7
|
| 112 |
+
- kornia==0.7.2
|
| 113 |
+
- kornia-rs==0.1.9
|
| 114 |
+
- labmaze==1.0.6
|
| 115 |
+
- lightning-utilities==0.14.3
|
| 116 |
+
- lxml==5.4.0
|
| 117 |
+
- markdown==3.8
|
| 118 |
+
- markupsafe==3.0.2
|
| 119 |
+
- matplotlib==3.9.4
|
| 120 |
+
- ml-collections==0.1.1
|
| 121 |
+
- mocapact==0.1
|
| 122 |
+
- moviepy==1.0.3
|
| 123 |
+
- mpmath==1.3.0
|
| 124 |
+
- mujoco==3.1.2
|
| 125 |
+
- multidict==6.4.4
|
| 126 |
+
- networkx==3.2.1
|
| 127 |
+
- numpy==1.24.4
|
| 128 |
+
- nvidia-cublas-cu12==12.6.4.1
|
| 129 |
+
- nvidia-cuda-cupti-cu12==12.6.80
|
| 130 |
+
- nvidia-cuda-nvrtc-cu12==12.6.77
|
| 131 |
+
- nvidia-cuda-runtime-cu12==12.6.77
|
| 132 |
+
- nvidia-cudnn-cu12==9.5.1.17
|
| 133 |
+
- nvidia-cufft-cu12==11.3.0.4
|
| 134 |
+
- nvidia-cufile-cu12==1.11.1.6
|
| 135 |
+
- nvidia-curand-cu12==10.3.7.77
|
| 136 |
+
- nvidia-cusolver-cu12==11.7.1.2
|
| 137 |
+
- nvidia-cusparse-cu12==12.5.4.2
|
| 138 |
+
- nvidia-cusparselt-cu12==0.6.3
|
| 139 |
+
- nvidia-nccl-cu12==2.26.2
|
| 140 |
+
- nvidia-nvjitlink-cu12==12.6.85
|
| 141 |
+
- nvidia-nvtx-cu12==12.6.77
|
| 142 |
+
- omegaconf==2.3.0
|
| 143 |
+
- orjson==3.10.18
|
| 144 |
+
- packaging==25.0
|
| 145 |
+
- pandas==2.0.3
|
| 146 |
+
- pfzy==0.3.4
|
| 147 |
+
- pillow==11.2.1
|
| 148 |
+
- platformdirs==4.3.8
|
| 149 |
+
- proglog==0.1.12
|
| 150 |
+
- prompt-toolkit==3.0.51
|
| 151 |
+
- propcache==0.3.2
|
| 152 |
+
- protobuf==3.20.1
|
| 153 |
+
- psutil==7.0.0
|
| 154 |
+
- pydeprecate==0.3.2
|
| 155 |
+
- pyopengl==3.1.9
|
| 156 |
+
- pyparsing==3.2.3
|
| 157 |
+
- python-dateutil==2.9.0.post0
|
| 158 |
+
- pytorch-lightning==1.6.5.post0
|
| 159 |
+
- pytz==2025.2
|
| 160 |
+
- pyyaml==6.0.2
|
| 161 |
+
- requests==2.32.4
|
| 162 |
+
- scipy==1.13.1
|
| 163 |
+
- sentry-sdk==2.30.0
|
| 164 |
+
- setproctitle==1.3.6
|
| 165 |
+
- shimmy==2.0.0
|
| 166 |
+
- six==1.17.0
|
| 167 |
+
- smmap==5.0.2
|
| 168 |
+
- stable-baselines3==2.6.0
|
| 169 |
+
- submitit==1.5.1
|
| 170 |
+
- sympy==1.14.0
|
| 171 |
+
- tensorboard==2.19.0
|
| 172 |
+
- tensorboard-data-server==0.7.2
|
| 173 |
+
- tensordict==0.8.3
|
| 174 |
+
- termcolor==2.4.0
|
| 175 |
+
- torch==2.7.1
|
| 176 |
+
- torchaudio==2.7.1+cu118
|
| 177 |
+
- torchmetrics==1.7.3
|
| 178 |
+
- torchrl==0.8.1
|
| 179 |
+
- torchvision==0.22.1+cu118
|
| 180 |
+
- tqdm==4.66.4
|
| 181 |
+
- triton==3.3.1
|
| 182 |
+
- typing-extensions==4.14.0
|
| 183 |
+
- tzdata==2025.2
|
| 184 |
+
- urllib3==2.4.0
|
| 185 |
+
- wandb==0.17.4
|
| 186 |
+
- wcwidth==0.2.13
|
| 187 |
+
- werkzeug==3.1.3
|
| 188 |
+
- yarl==1.20.1
|
| 189 |
+
- zipp==3.23.0
|
| 190 |
+
prefix: /ceph/home/songchun01/miniconda3/envs/moore
|
dog-run/30/tdmpc2_dog-run_s30/wandb/offline-run-20250717_201912-cmsyvg39/files/wandb-metadata.json
ADDED
|
@@ -0,0 +1,641 @@
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|
| 1 |
+
{
|
| 2 |
+
"os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28",
|
| 3 |
+
"python": "3.9.23",
|
| 4 |
+
"heartbeatAt": "2025-07-17T12:19:12.256944",
|
| 5 |
+
"startedAt": "2025-07-17T12:19:12.003358",
|
| 6 |
+
"docker": null,
|
| 7 |
+
"cuda": null,
|
| 8 |
+
"args": [
|
| 9 |
+
"task=dog-run",
|
| 10 |
+
"use_moe=false",
|
| 11 |
+
"seed=30",
|
| 12 |
+
"exp_name=tdmpc2_dog-run_s30"
|
| 13 |
+
],
|
| 14 |
+
"state": "running",
|
| 15 |
+
"program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py",
|
| 16 |
+
"codePathLocal": null,
|
| 17 |
+
"codePath": "tdmpc2/train.py",
|
| 18 |
+
"git": {
|
| 19 |
+
"remote": "https://github.com/SC-Levi/boya_tdmpc2.git",
|
| 20 |
+
"commit": "42f1ea1fbdcd2e95057d45c10e43882978629caf"
|
| 21 |
+
},
|
| 22 |
+
"email": "sc_levi@163.com",
|
| 23 |
+
"root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
|
| 24 |
+
"host": "node001",
|
| 25 |
+
"username": "songchun01",
|
| 26 |
+
"executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
|
| 27 |
+
"cpu_count": 56,
|
| 28 |
+
"cpu_count_logical": 112,
|
| 29 |
+
"cpu_freq": {
|
| 30 |
+
"current": 3462.9674375,
|
| 31 |
+
"min": 800.0,
|
| 32 |
+
"max": 3500.0
|
| 33 |
+
},
|
| 34 |
+
"cpu_freq_per_core": [
|
| 35 |
+
{
|
| 36 |
+
"current": 3400.0,
|
| 37 |
+
"min": 800.0,
|
| 38 |
+
"max": 3500.0
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"current": 3400.002,
|
| 42 |
+
"min": 800.0,
|
| 43 |
+
"max": 3500.0
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"current": 3500.0,
|
| 47 |
+
"min": 800.0,
|
| 48 |
+
"max": 3500.0
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"current": 3399.996,
|
| 52 |
+
"min": 800.0,
|
| 53 |
+
"max": 3500.0
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"current": 3400.003,
|
| 57 |
+
"min": 800.0,
|
| 58 |
+
"max": 3500.0
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"current": 3400.007,
|
| 62 |
+
"min": 800.0,
|
| 63 |
+
"max": 3500.0
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"current": 3400.0,
|
| 67 |
+
"min": 800.0,
|
| 68 |
+
"max": 3500.0
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"current": 3400.0,
|
| 72 |
+
"min": 800.0,
|
| 73 |
+
"max": 3500.0
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"current": 3500.0,
|
| 77 |
+
"min": 800.0,
|
| 78 |
+
"max": 3500.0
|
| 79 |
+
},
|
| 80 |
+
{
|
| 81 |
+
"current": 3400.003,
|
| 82 |
+
"min": 800.0,
|
| 83 |
+
"max": 3500.0
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"current": 3399.997,
|
| 87 |
+
"min": 800.0,
|
| 88 |
+
"max": 3500.0
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"current": 3399.996,
|
| 92 |
+
"min": 800.0,
|
| 93 |
+
"max": 3500.0
|
| 94 |
+
},
|
| 95 |
+
{
|
| 96 |
+
"current": 3500.0,
|
| 97 |
+
"min": 800.0,
|
| 98 |
+
"max": 3500.0
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"current": 3500.0,
|
| 102 |
+
"min": 800.0,
|
| 103 |
+
"max": 3500.0
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"current": 3400.0,
|
| 107 |
+
"min": 800.0,
|
| 108 |
+
"max": 3500.0
|
| 109 |
+
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| 2 |
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2025-07-17 20:19:12,754 INFO MainThread:3143752 [wandb_setup.py:_flush():76] Configure stats pid to 3143752
|
| 3 |
+
2025-07-17 20:19:12,754 INFO MainThread:3143752 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
|
| 4 |
+
2025-07-17 20:19:12,754 INFO MainThread:3143752 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-17/20-19-01/wandb/settings
|
| 5 |
+
2025-07-17 20:19:12,754 INFO MainThread:3143752 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
|
| 6 |
+
2025-07-17 20:19:12,755 INFO MainThread:3143752 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
|
| 7 |
+
2025-07-17 20:19:12,755 INFO MainThread:3143752 [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'}
|
| 8 |
+
2025-07-17 20:19:12,755 INFO MainThread:3143752 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-run/42/tdmpc2_dog-run_s42/wandb/offline-run-20250717_201912-yforvibh/logs/debug.log
|
| 9 |
+
2025-07-17 20:19:12,755 INFO MainThread:3143752 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-run/42/tdmpc2_dog-run_s42/wandb/offline-run-20250717_201912-yforvibh/logs/debug-internal.log
|
| 10 |
+
2025-07-17 20:19:12,756 INFO MainThread:3143752 [wandb_init.py:init():569] calling init triggers
|
| 11 |
+
2025-07-17 20:19:12,756 INFO MainThread:3143752 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
|
| 12 |
+
config: {'task': 'dog-run', '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-run_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/dog-run/42/tdmpc2_dog-run_s42'), 'task_title': 'Dog Run', 'multitask': False, 'tasks': ['dog-run'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
|
| 13 |
+
2025-07-17 20:19:12,756 INFO MainThread:3143752 [wandb_init.py:init():619] starting backend
|
| 14 |
+
2025-07-17 20:19:12,756 INFO MainThread:3143752 [wandb_init.py:init():623] setting up manager
|
| 15 |
+
2025-07-17 20:19:12,763 INFO MainThread:3143752 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
|
| 16 |
+
2025-07-17 20:19:12,765 INFO MainThread:3143752 [wandb_init.py:init():631] backend started and connected
|
| 17 |
+
2025-07-17 20:19:12,777 INFO MainThread:3143752 [wandb_init.py:init():720] updated telemetry
|
| 18 |
+
2025-07-17 20:19:12,879 INFO MainThread:3143752 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
|
| 19 |
+
2025-07-17 20:19:12,887 INFO MainThread:3143752 [wandb_init.py:init():804] starting run threads in backend
|
| 20 |
+
2025-07-17 20:19:17,321 INFO MainThread:3143752 [wandb_run.py:_console_start():2380] atexit reg
|
| 21 |
+
2025-07-17 20:19:17,321 INFO MainThread:3143752 [wandb_run.py:_redirect():2235] redirect: wrap_raw
|
| 22 |
+
2025-07-17 20:19:17,322 INFO MainThread:3143752 [wandb_run.py:_redirect():2300] Wrapping output streams.
|
| 23 |
+
2025-07-17 20:19:17,322 INFO MainThread:3143752 [wandb_run.py:_redirect():2325] Redirects installed.
|
| 24 |
+
2025-07-17 20:19:17,325 INFO MainThread:3143752 [wandb_init.py:init():847] run started, returning control to user process
|
dog-run/42/tdmpc2_dog-run_s42/wandb/offline-run-20250717_201912-yforvibh/files/conda-environment.yaml
ADDED
|
@@ -0,0 +1,190 @@
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|
|
| 1 |
+
name: moore
|
| 2 |
+
channels:
|
| 3 |
+
- conda-forge
|
| 4 |
+
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
|
| 5 |
+
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/
|
| 6 |
+
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/
|
| 7 |
+
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
|
| 8 |
+
- defaults
|
| 9 |
+
dependencies:
|
| 10 |
+
- _libgcc_mutex=0.1=conda_forge
|
| 11 |
+
- _openmp_mutex=4.5=2_gnu
|
| 12 |
+
- bzip2=1.0.8=h4bc722e_7
|
| 13 |
+
- ca-certificates=2025.6.15=hbd8a1cb_0
|
| 14 |
+
- cloudpickle=3.1.1=pyhd8ed1ab_0
|
| 15 |
+
- gettext=0.24.1=h5888daf_0
|
| 16 |
+
- gettext-tools=0.24.1=h5888daf_0
|
| 17 |
+
- glew=2.2.0=hcfb9eae_1
|
| 18 |
+
- glib=2.78.4=hf2295e7_4
|
| 19 |
+
- glib-tools=2.78.4=hde27a5a_4
|
| 20 |
+
- gym=0.21.0=py39hef51801_2
|
| 21 |
+
- ld_impl_linux-64=2.43=h1423503_5
|
| 22 |
+
- libasprintf=0.24.1=h8e693c7_0
|
| 23 |
+
- libasprintf-devel=0.24.1=h8e693c7_0
|
| 24 |
+
- libblas=3.9.0=31_h59b9bed_openblas
|
| 25 |
+
- libcblas=3.9.0=31_he106b2a_openblas
|
| 26 |
+
- libegl=1.7.0=ha4b6fd6_2
|
| 27 |
+
- libexpat=2.7.0=h5888daf_0
|
| 28 |
+
- libffi=3.4.6=h2dba641_1
|
| 29 |
+
- libgcc=15.1.0=h767d61c_2
|
| 30 |
+
- libgcc-ng=15.1.0=h69a702a_2
|
| 31 |
+
- libgettextpo=0.24.1=h5888daf_0
|
| 32 |
+
- libgettextpo-devel=0.24.1=h5888daf_0
|
| 33 |
+
- libgfortran=15.1.0=h69a702a_2
|
| 34 |
+
- libgfortran5=15.1.0=hcea5267_2
|
| 35 |
+
- libgl=1.7.0=ha4b6fd6_2
|
| 36 |
+
- libglib=2.78.4=hf2295e7_4
|
| 37 |
+
- libglu=9.0.3=h5888daf_1
|
| 38 |
+
- libglvnd=1.7.0=ha4b6fd6_2
|
| 39 |
+
- libglx=1.7.0=ha4b6fd6_2
|
| 40 |
+
- libgomp=15.1.0=h767d61c_2
|
| 41 |
+
- libiconv=1.18=h4ce23a2_1
|
| 42 |
+
- liblapack=3.9.0=31_h7ac8fdf_openblas
|
| 43 |
+
- liblzma=5.8.1=hb9d3cd8_2
|
| 44 |
+
- libnsl=2.0.1=hd590300_0
|
| 45 |
+
- libopenblas=0.3.29=pthreads_h94d23a6_0
|
| 46 |
+
- libopengl=1.7.0=ha4b6fd6_2
|
| 47 |
+
- libsqlite=3.50.1=hee588c1_0
|
| 48 |
+
- libstdcxx=15.1.0=h8f9b012_2
|
| 49 |
+
- libstdcxx-ng=15.1.0=h4852527_2
|
| 50 |
+
- libuuid=2.38.1=h0b41bf4_0
|
| 51 |
+
- libxcb=1.17.0=h8a09558_0
|
| 52 |
+
- libxcrypt=4.4.36=hd590300_1
|
| 53 |
+
- libzlib=1.3.1=hb9d3cd8_2
|
| 54 |
+
- ncurses=6.5=h2d0b736_3
|
| 55 |
+
- openssl=3.5.0=h7b32b05_1
|
| 56 |
+
- pcre2=10.43=hcad00b1_0
|
| 57 |
+
- pip=24.0=pyhd8ed1ab_0
|
| 58 |
+
- pthread-stubs=0.4=hb9d3cd8_1002
|
| 59 |
+
- python=3.9.23=hc30ae73_0_cpython
|
| 60 |
+
- python_abi=3.9=7_cp39
|
| 61 |
+
- readline=8.2=h8c095d6_2
|
| 62 |
+
- setuptools=80.9.0=pyhff2d567_0
|
| 63 |
+
- tk=8.6.13=noxft_hd72426e_102
|
| 64 |
+
- wheel=0.45.1=pyhd8ed1ab_1
|
| 65 |
+
- xorg-libx11=1.8.12=h4f16b4b_0
|
| 66 |
+
- xorg-libxau=1.0.12=hb9d3cd8_0
|
| 67 |
+
- xorg-libxdmcp=1.1.5=hb9d3cd8_0
|
| 68 |
+
- pip:
|
| 69 |
+
- absl-py==2.3.0
|
| 70 |
+
- aiohappyeyeballs==2.6.1
|
| 71 |
+
- aiohttp==3.12.13
|
| 72 |
+
- aiosignal==1.3.2
|
| 73 |
+
- antlr4-python3-runtime==4.9.3
|
| 74 |
+
- async-timeout==5.0.1
|
| 75 |
+
- attrs==25.3.0
|
| 76 |
+
- certifi==2025.6.15
|
| 77 |
+
- charset-normalizer==3.4.2
|
| 78 |
+
- click==8.1.8
|
| 79 |
+
- contextlib2==21.6.0
|
| 80 |
+
- contourpy==1.3.0
|
| 81 |
+
- cycler==0.12.1
|
| 82 |
+
- decorator==4.4.2
|
| 83 |
+
- dm-control==1.0.16
|
| 84 |
+
- dm-env==1.6
|
| 85 |
+
- dm-tree==0.1.8
|
| 86 |
+
- docker-pycreds==0.4.0
|
| 87 |
+
- etils==1.5.2
|
| 88 |
+
- farama-notifications==0.0.4
|
| 89 |
+
- ffmpeg==1.4
|
| 90 |
+
- filelock==3.18.0
|
| 91 |
+
- fonttools==4.58.4
|
| 92 |
+
- frozenlist==1.7.0
|
| 93 |
+
- fsspec==2025.5.1
|
| 94 |
+
- gitdb==4.0.12
|
| 95 |
+
- gitpython==3.1.44
|
| 96 |
+
- glfw==2.7.0
|
| 97 |
+
- grpcio==1.73.0
|
| 98 |
+
- gymnasium==1.1.1
|
| 99 |
+
- h5py==3.11.0
|
| 100 |
+
- hf-xet==1.1.4
|
| 101 |
+
- huggingface-hub==0.33.0
|
| 102 |
+
- hydra-core==1.3.2
|
| 103 |
+
- hydra-submitit-launcher==1.2.0
|
| 104 |
+
- idna==3.10
|
| 105 |
+
- imageio==2.34.1
|
| 106 |
+
- imageio-ffmpeg==0.4.9
|
| 107 |
+
- importlib-metadata==8.7.0
|
| 108 |
+
- importlib-resources==6.5.2
|
| 109 |
+
- inquirerpy==0.3.4
|
| 110 |
+
- jinja2==3.1.6
|
| 111 |
+
- kiwisolver==1.4.7
|
| 112 |
+
- kornia==0.7.2
|
| 113 |
+
- kornia-rs==0.1.9
|
| 114 |
+
- labmaze==1.0.6
|
| 115 |
+
- lightning-utilities==0.14.3
|
| 116 |
+
- lxml==5.4.0
|
| 117 |
+
- markdown==3.8
|
| 118 |
+
- markupsafe==3.0.2
|
| 119 |
+
- matplotlib==3.9.4
|
| 120 |
+
- ml-collections==0.1.1
|
| 121 |
+
- mocapact==0.1
|
| 122 |
+
- moviepy==1.0.3
|
| 123 |
+
- mpmath==1.3.0
|
| 124 |
+
- mujoco==3.1.2
|
| 125 |
+
- multidict==6.4.4
|
| 126 |
+
- networkx==3.2.1
|
| 127 |
+
- numpy==1.24.4
|
| 128 |
+
- nvidia-cublas-cu12==12.6.4.1
|
| 129 |
+
- nvidia-cuda-cupti-cu12==12.6.80
|
| 130 |
+
- nvidia-cuda-nvrtc-cu12==12.6.77
|
| 131 |
+
- nvidia-cuda-runtime-cu12==12.6.77
|
| 132 |
+
- nvidia-cudnn-cu12==9.5.1.17
|
| 133 |
+
- nvidia-cufft-cu12==11.3.0.4
|
| 134 |
+
- nvidia-cufile-cu12==1.11.1.6
|
| 135 |
+
- nvidia-curand-cu12==10.3.7.77
|
| 136 |
+
- nvidia-cusolver-cu12==11.7.1.2
|
| 137 |
+
- nvidia-cusparse-cu12==12.5.4.2
|
| 138 |
+
- nvidia-cusparselt-cu12==0.6.3
|
| 139 |
+
- nvidia-nccl-cu12==2.26.2
|
| 140 |
+
- nvidia-nvjitlink-cu12==12.6.85
|
| 141 |
+
- nvidia-nvtx-cu12==12.6.77
|
| 142 |
+
- omegaconf==2.3.0
|
| 143 |
+
- orjson==3.10.18
|
| 144 |
+
- packaging==25.0
|
| 145 |
+
- pandas==2.0.3
|
| 146 |
+
- pfzy==0.3.4
|
| 147 |
+
- pillow==11.2.1
|
| 148 |
+
- platformdirs==4.3.8
|
| 149 |
+
- proglog==0.1.12
|
| 150 |
+
- prompt-toolkit==3.0.51
|
| 151 |
+
- propcache==0.3.2
|
| 152 |
+
- protobuf==3.20.1
|
| 153 |
+
- psutil==7.0.0
|
| 154 |
+
- pydeprecate==0.3.2
|
| 155 |
+
- pyopengl==3.1.9
|
| 156 |
+
- pyparsing==3.2.3
|
| 157 |
+
- python-dateutil==2.9.0.post0
|
| 158 |
+
- pytorch-lightning==1.6.5.post0
|
| 159 |
+
- pytz==2025.2
|
| 160 |
+
- pyyaml==6.0.2
|
| 161 |
+
- requests==2.32.4
|
| 162 |
+
- scipy==1.13.1
|
| 163 |
+
- sentry-sdk==2.30.0
|
| 164 |
+
- setproctitle==1.3.6
|
| 165 |
+
- shimmy==2.0.0
|
| 166 |
+
- six==1.17.0
|
| 167 |
+
- smmap==5.0.2
|
| 168 |
+
- stable-baselines3==2.6.0
|
| 169 |
+
- submitit==1.5.1
|
| 170 |
+
- sympy==1.14.0
|
| 171 |
+
- tensorboard==2.19.0
|
| 172 |
+
- tensorboard-data-server==0.7.2
|
| 173 |
+
- tensordict==0.8.3
|
| 174 |
+
- termcolor==2.4.0
|
| 175 |
+
- torch==2.7.1
|
| 176 |
+
- torchaudio==2.7.1+cu118
|
| 177 |
+
- torchmetrics==1.7.3
|
| 178 |
+
- torchrl==0.8.1
|
| 179 |
+
- torchvision==0.22.1+cu118
|
| 180 |
+
- tqdm==4.66.4
|
| 181 |
+
- triton==3.3.1
|
| 182 |
+
- typing-extensions==4.14.0
|
| 183 |
+
- tzdata==2025.2
|
| 184 |
+
- urllib3==2.4.0
|
| 185 |
+
- wandb==0.17.4
|
| 186 |
+
- wcwidth==0.2.13
|
| 187 |
+
- werkzeug==3.1.3
|
| 188 |
+
- yarl==1.20.1
|
| 189 |
+
- zipp==3.23.0
|
| 190 |
+
prefix: /ceph/home/songchun01/miniconda3/envs/moore
|
dog-run/42/tdmpc2_dog-run_s42/wandb/offline-run-20250717_201912-yforvibh/files/wandb-metadata.json
ADDED
|
@@ -0,0 +1,641 @@
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|
| 1 |
+
{
|
| 2 |
+
"os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28",
|
| 3 |
+
"python": "3.9.23",
|
| 4 |
+
"heartbeatAt": "2025-07-17T12:19:13.060839",
|
| 5 |
+
"startedAt": "2025-07-17T12:19:12.737894",
|
| 6 |
+
"docker": null,
|
| 7 |
+
"cuda": null,
|
| 8 |
+
"args": [
|
| 9 |
+
"task=dog-run",
|
| 10 |
+
"use_moe=false",
|
| 11 |
+
"seed=42",
|
| 12 |
+
"exp_name=tdmpc2_dog-run_s42"
|
| 13 |
+
],
|
| 14 |
+
"state": "running",
|
| 15 |
+
"program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py",
|
| 16 |
+
"codePathLocal": null,
|
| 17 |
+
"codePath": "tdmpc2/train.py",
|
| 18 |
+
"git": {
|
| 19 |
+
"remote": "https://github.com/SC-Levi/boya_tdmpc2.git",
|
| 20 |
+
"commit": "42f1ea1fbdcd2e95057d45c10e43882978629caf"
|
| 21 |
+
},
|
| 22 |
+
"email": "sc_levi@163.com",
|
| 23 |
+
"root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
|
| 24 |
+
"host": "node001",
|
| 25 |
+
"username": "songchun01",
|
| 26 |
+
"executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
|
| 27 |
+
"cpu_count": 56,
|
| 28 |
+
"cpu_count_logical": 112,
|
| 29 |
+
"cpu_freq": {
|
| 30 |
+
"current": 3423.874535714286,
|
| 31 |
+
"min": 800.0,
|
| 32 |
+
"max": 3500.0
|
| 33 |
+
},
|
| 34 |
+
"cpu_freq_per_core": [
|
| 35 |
+
{
|
| 36 |
+
"current": 3500.0,
|
| 37 |
+
"min": 800.0,
|
| 38 |
+
"max": 3500.0
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"current": 3500.0,
|
| 42 |
+
"min": 800.0,
|
| 43 |
+
"max": 3500.0
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"current": 3500.0,
|
| 47 |
+
"min": 800.0,
|
| 48 |
+
"max": 3500.0
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"current": 3500.0,
|
| 52 |
+
"min": 800.0,
|
| 53 |
+
"max": 3500.0
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"current": 3500.0,
|
| 57 |
+
"min": 800.0,
|
| 58 |
+
"max": 3500.0
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
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2025-07-17 20:19:12,753 INFO MainThread:3143752 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
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