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  1. .gitattributes +11 -0
  2. dog-stand/2/4o_dog-stand_s2/wandb/debug.log +24 -0
  3. dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/files/conda-environment.yaml +190 -0
  4. dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/files/wandb-metadata.json +642 -0
  5. dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/logs/debug.log +24 -0
  6. dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/files/conda-environment.yaml +190 -0
  7. dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/files/wandb-metadata.json +642 -0
  8. dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/logs/debug.log +24 -0
  9. dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/files/conda-environment.yaml +190 -0
  10. dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/files/wandb-metadata.json +641 -0
  11. dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/logs/debug.log +24 -0
  12. dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/files/conda-environment.yaml +190 -0
  13. dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/files/wandb-metadata.json +641 -0
  14. dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/logs/debug.log +24 -0
  15. dog-stand/30/4o_dog-stand_s30/eval.csv +10 -0
  16. dog-stand/30/4o_dog-stand_s30/wandb/debug.log +24 -0
  17. dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/files/conda-environment.yaml +190 -0
  18. dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/files/wandb-metadata.json +642 -0
  19. dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/logs/debug.log +24 -0
  20. dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/files/conda-environment.yaml +190 -0
  21. dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/files/wandb-metadata.json +642 -0
  22. dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/logs/debug.log +24 -0
  23. dog-stand/30/6o_dog-stand_s30/eval.csv +7 -0
  24. dog-stand/30/6o_dog-stand_s30/wandb/debug.log +24 -0
  25. dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/files/conda-environment.yaml +190 -0
  26. dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/files/wandb-metadata.json +642 -0
  27. dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/logs/debug.log +24 -0
  28. dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/files/conda-environment.yaml +190 -0
  29. dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/files/wandb-metadata.json +642 -0
  30. dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/logs/debug.log +24 -0
  31. dog-stand/30/tdmpc2_dog-stand_s30/eval.csv +27 -0
  32. dog-stand/30/tdmpc2_dog-stand_s30/wandb/debug.log +24 -0
  33. dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/files/conda-environment.yaml +190 -0
  34. dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/files/wandb-metadata.json +641 -0
  35. dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/logs/debug.log +24 -0
  36. dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/files/conda-environment.yaml +190 -0
  37. dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/files/wandb-metadata.json +641 -0
  38. dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/logs/debug.log +24 -0
  39. dog-stand/42/4o_dog-stand_s42/eval.csv +10 -0
  40. dog-stand/42/4o_dog-stand_s42/wandb/debug.log +24 -0
  41. dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/files/conda-environment.yaml +190 -0
  42. dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/files/wandb-metadata.json +642 -0
  43. dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/logs/debug.log +24 -0
  44. dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/files/conda-environment.yaml +190 -0
  45. dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/files/wandb-metadata.json +642 -0
  46. dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/logs/debug.log +24 -0
  47. dog-stand/42/6o_dog-stand_s42/eval.csv +6 -0
  48. dog-stand/42/6o_dog-stand_s42/wandb/debug.log +24 -0
  49. dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/files/conda-environment.yaml +190 -0
  50. dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/files/wandb-metadata.json +642 -0
.gitattributes CHANGED
@@ -59,3 +59,14 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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  *.webm filter=lfs diff=lfs merge=lfs -text
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  dog-trot/30/6o_dog-trot_s30/wandb/offline-run-20250712_123246-ejm5iszb/run-ejm5iszb.wandb filter=lfs diff=lfs merge=lfs -text
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  dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250711_103423-ggft6zvx/run-ggft6zvx.wandb filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
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  *.webm filter=lfs diff=lfs merge=lfs -text
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  dog-trot/30/6o_dog-trot_s30/wandb/offline-run-20250712_123246-ejm5iszb/run-ejm5iszb.wandb filter=lfs diff=lfs merge=lfs -text
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  dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250711_103423-ggft6zvx/run-ggft6zvx.wandb filter=lfs diff=lfs merge=lfs -text
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+ dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250712_123246-om54obxk/run-om54obxk.wandb filter=lfs diff=lfs merge=lfs -text
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+ dog-trot/42/6o_dog-trot_s42/wandb/offline-run-20250712_123246-tnyfie5t/logs/debug-internal.log filter=lfs diff=lfs merge=lfs -text
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+ dog-trot/42/6o_dog-trot_s42/wandb/offline-run-20250712_123246-tnyfie5t/run-tnyfie5t.wandb filter=lfs diff=lfs merge=lfs -text
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+ dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250711_103424-j2yk73bv/run-j2yk73bv.wandb filter=lfs diff=lfs merge=lfs -text
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+ dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/run-wkwl8r47.wandb filter=lfs diff=lfs merge=lfs -text
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+ dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250711_103419-aapdhvtc/run-aapdhvtc.wandb filter=lfs diff=lfs merge=lfs -text
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+ dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250712_123246-ux3mbuuu/run-ux3mbuuu.wandb filter=lfs diff=lfs merge=lfs -text
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+ dog-trot/30/4o_dog-trot_s30/wandb/offline-run-20250711_103424-kx3g3tss/run-kx3g3tss.wandb filter=lfs diff=lfs merge=lfs -text
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+ dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/logs/debug-internal.log filter=lfs diff=lfs merge=lfs -text
71
+ dog-trot/30/6o_dog-trot_s30/wandb/offline-run-20250712_123246-ejm5iszb/logs/debug-internal.log filter=lfs diff=lfs merge=lfs -text
72
+ dog-trot/42/4o_dog-trot_s42/wandb/debug-internal.log filter=lfs diff=lfs merge=lfs -text
dog-stand/2/4o_dog-stand_s2/wandb/debug.log ADDED
@@ -0,0 +1,24 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2025-07-12 12:32:46,485 INFO MainThread:77324 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
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+ 2025-07-12 12:32:46,486 INFO MainThread:77324 [wandb_setup.py:_flush():76] Configure stats pid to 77324
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+ 2025-07-12 12:32:46,486 INFO MainThread:77324 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
4
+ 2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
5
+ 2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
6
+ 2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
7
+ 2025-07-12 12:32:46,487 INFO MainThread:77324 [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
+ 2025-07-12 12:32:46,488 INFO MainThread:77324 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/logs/debug.log
9
+ 2025-07-12 12:32:46,488 INFO MainThread:77324 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/logs/debug-internal.log
10
+ 2025-07-12 12:32:46,488 INFO MainThread:77324 [wandb_init.py:init():569] calling init triggers
11
+ 2025-07-12 12:32:46,489 INFO MainThread:77324 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
12
+ config: {'task': 'dog-stand', '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-stand_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': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
13
+ 2025-07-12 12:32:46,489 INFO MainThread:77324 [wandb_init.py:init():619] starting backend
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+ 2025-07-12 12:32:46,489 INFO MainThread:77324 [wandb_init.py:init():623] setting up manager
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+ 2025-07-12 12:32:46,499 INFO MainThread:77324 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
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+ 2025-07-12 12:32:46,501 INFO MainThread:77324 [wandb_init.py:init():631] backend started and connected
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+ 2025-07-12 12:32:46,515 INFO MainThread:77324 [wandb_init.py:init():720] updated telemetry
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+ 2025-07-12 12:32:46,631 INFO MainThread:77324 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
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+ 2025-07-12 12:32:46,639 INFO MainThread:77324 [wandb_init.py:init():804] starting run threads in backend
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+ 2025-07-12 12:32:52,286 INFO MainThread:77324 [wandb_run.py:_console_start():2380] atexit reg
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+ 2025-07-12 12:32:52,287 INFO MainThread:77324 [wandb_run.py:_redirect():2235] redirect: wrap_raw
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+ 2025-07-12 12:32:52,287 INFO MainThread:77324 [wandb_run.py:_redirect():2300] Wrapping output streams.
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+ 2025-07-12 12:32:52,287 INFO MainThread:77324 [wandb_run.py:_redirect():2325] Redirects installed.
24
+ 2025-07-12 12:32:52,291 INFO MainThread:77324 [wandb_init.py:init():847] run started, returning control to user process
dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/files/conda-environment.yaml ADDED
@@ -0,0 +1,190 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
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+ - gettext=0.24.1=h5888daf_0
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+ - gettext-tools=0.24.1=h5888daf_0
17
+ - glew=2.2.0=hcfb9eae_1
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+ - glib=2.78.4=hf2295e7_4
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+ - 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
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1
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8
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10
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12
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17
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dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/files/conda-environment.yaml ADDED
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+ name: moore
2
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3
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+ - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
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+ 2025-07-12 12:32:46,486 INFO MainThread:77324 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
4
+ 2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
5
+ 2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
6
+ 2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
7
+ 2025-07-12 12:32:46,487 INFO MainThread:77324 [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
+ 2025-07-12 12:32:46,488 INFO MainThread:77324 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/logs/debug.log
9
+ 2025-07-12 12:32:46,488 INFO MainThread:77324 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/logs/debug-internal.log
10
+ 2025-07-12 12:32:46,488 INFO MainThread:77324 [wandb_init.py:init():569] calling init triggers
11
+ 2025-07-12 12:32:46,489 INFO MainThread:77324 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
12
+ config: {'task': 'dog-stand', '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-stand_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': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
13
+ 2025-07-12 12:32:46,489 INFO MainThread:77324 [wandb_init.py:init():619] starting backend
14
+ 2025-07-12 12:32:46,489 INFO MainThread:77324 [wandb_init.py:init():623] setting up manager
15
+ 2025-07-12 12:32:46,499 INFO MainThread:77324 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
16
+ 2025-07-12 12:32:46,501 INFO MainThread:77324 [wandb_init.py:init():631] backend started and connected
17
+ 2025-07-12 12:32:46,515 INFO MainThread:77324 [wandb_init.py:init():720] updated telemetry
18
+ 2025-07-12 12:32:46,631 INFO MainThread:77324 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
19
+ 2025-07-12 12:32:46,639 INFO MainThread:77324 [wandb_init.py:init():804] starting run threads in backend
20
+ 2025-07-12 12:32:52,286 INFO MainThread:77324 [wandb_run.py:_console_start():2380] atexit reg
21
+ 2025-07-12 12:32:52,287 INFO MainThread:77324 [wandb_run.py:_redirect():2235] redirect: wrap_raw
22
+ 2025-07-12 12:32:52,287 INFO MainThread:77324 [wandb_run.py:_redirect():2300] Wrapping output streams.
23
+ 2025-07-12 12:32:52,287 INFO MainThread:77324 [wandb_run.py:_redirect():2325] Redirects installed.
24
+ 2025-07-12 12:32:52,291 INFO MainThread:77324 [wandb_init.py:init():847] run started, returning control to user process
dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/files/conda-environment.yaml ADDED
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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:
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+ - _libgcc_mutex=0.1=conda_forge
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+ - bzip2=1.0.8=h4bc722e_7
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143
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144
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145
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+ 2025-07-11 10:34:30,138 INFO MainThread:4158532 [wandb_run.py:_redirect():2325] Redirects installed.
24
+ 2025-07-11 10:34:30,140 INFO MainThread:4158532 [wandb_init.py:init():847] run started, returning control to user process
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1
+ name: moore
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+ channels:
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+ - conda-forge
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+ - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
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+ - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/
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+ - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/
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+ config: {'task': 'dog-stand', '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-stand_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': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/4o_dog-stand_s30'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
13
+ 2025-07-12 12:32:46,583 INFO MainThread:77325 [wandb_init.py:init():619] starting backend
14
+ 2025-07-12 12:32:46,584 INFO MainThread:77325 [wandb_init.py:init():623] setting up manager
15
+ 2025-07-12 12:32:46,592 INFO MainThread:77325 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
16
+ 2025-07-12 12:32:46,595 INFO MainThread:77325 [wandb_init.py:init():631] backend started and connected
17
+ 2025-07-12 12:32:46,610 INFO MainThread:77325 [wandb_init.py:init():720] updated telemetry
18
+ 2025-07-12 12:32:46,729 INFO MainThread:77325 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
19
+ 2025-07-12 12:32:46,740 INFO MainThread:77325 [wandb_init.py:init():804] starting run threads in backend
20
+ 2025-07-12 12:32:52,569 INFO MainThread:77325 [wandb_run.py:_console_start():2380] atexit reg
21
+ 2025-07-12 12:32:52,570 INFO MainThread:77325 [wandb_run.py:_redirect():2235] redirect: wrap_raw
22
+ 2025-07-12 12:32:52,570 INFO MainThread:77325 [wandb_run.py:_redirect():2300] Wrapping output streams.
23
+ 2025-07-12 12:32:52,570 INFO MainThread:77325 [wandb_run.py:_redirect():2325] Redirects installed.
24
+ 2025-07-12 12:32:52,573 INFO MainThread:77325 [wandb_init.py:init():847] run started, returning control to user process
dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/files/conda-environment.yaml ADDED
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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
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dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/files/conda-environment.yaml ADDED
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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:
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dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/files/conda-environment.yaml ADDED
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dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/files/conda-environment.yaml ADDED
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dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/files/conda-environment.yaml ADDED
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1
+ name: moore
2
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+ - conda-forge
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+ 2025-07-12 12:32:41,860 INFO MainThread:77326 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
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+ 2025-07-12 12:32:41,860 INFO MainThread:77326 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
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+ 2025-07-12 12:32:41,860 INFO MainThread:77326 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
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+ 2025-07-12 12:32:41,861 INFO MainThread:77326 [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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+ 2025-07-12 12:32:41,861 INFO MainThread:77326 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/logs/debug-internal.log
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13
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20
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24
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dog-stand/42/6o_dog-stand_s42/eval.csv ADDED
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1
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2
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dog-stand/42/6o_dog-stand_s42/wandb/debug.log ADDED
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1
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+ 2025-07-12 12:32:46,594 INFO MainThread:77347 [wandb_setup.py:_flush():76] Configure stats pid to 77347
3
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4
+ 2025-07-12 12:32:46,594 INFO MainThread:77347 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
5
+ 2025-07-12 12:32:46,595 INFO MainThread:77347 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
6
+ 2025-07-12 12:32:46,595 INFO MainThread:77347 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
7
+ 2025-07-12 12:32:46,595 INFO MainThread:77347 [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
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9
+ 2025-07-12 12:32:46,596 INFO MainThread:77347 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/logs/debug-internal.log
10
+ 2025-07-12 12:32:46,596 INFO MainThread:77347 [wandb_init.py:init():569] calling init triggers
11
+ 2025-07-12 12:32:46,597 INFO MainThread:77347 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
12
+ config: {'task': 'dog-stand', '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': '6o_dog-stand_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': True, 'n_experts': 6, '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': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/6o_dog-stand_s42'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
13
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14
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15
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17
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18
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23
+ 2025-07-12 12:32:52,593 INFO MainThread:77347 [wandb_run.py:_redirect():2325] Redirects installed.
24
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dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/files/conda-environment.yaml ADDED
@@ -0,0 +1,190 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
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21
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48
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51
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52
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54
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55
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56
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57
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58
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59
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60
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61
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62
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71
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131
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132
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133
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134
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135
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136
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137
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138
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139
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140
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141
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142
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143
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144
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145
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146
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147
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148
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150
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151
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152
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159
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190
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