Add files using upload-large-folder tool

4o_dog-stand_s30_gpu2.out

@@ -0,0 +1,3 @@
+wandb: Tracking run with wandb version 0.17.4
+wandb: W&B syncing is set to `offline` in this directory.  
+wandb: Run `wandb online` or set WANDB_MODE=online to enable cloud syncing.

4o_dog-trot_s30_gpu3.out

@@ -0,0 +1,5 @@
+wandb: Tracking run with wandb version 0.17.4
+wandb: W&B syncing is set to `offline` in this directory.  
+wandb: Run `wandb online` or set WANDB_MODE=online to enable cloud syncing.
+/ceph/home/songchun01/miniconda3/envs/moore/lib/python3.9/multiprocessing/resource_tracker.py:216: UserWarning: resource_tracker: There appear to be 3 leaked semaphore objects to clean up at shutdown
+  warnings.warn('resource_tracker: There appear to be %d '

4o_dog-walk_s2_gpu4.out

@@ -0,0 +1,5 @@
+wandb: Tracking run with wandb version 0.17.4
+wandb: W&B syncing is set to `offline` in this directory.  
+wandb: Run `wandb online` or set WANDB_MODE=online to enable cloud syncing.
+/ceph/home/songchun01/miniconda3/envs/moore/lib/python3.9/multiprocessing/resource_tracker.py:216: UserWarning: resource_tracker: There appear to be 3 leaked semaphore objects to clean up at shutdown
+  warnings.warn('resource_tracker: There appear to be %d '

4o_humanoid-stand_s30_gpu0.out

@@ -0,0 +1,5 @@
+wandb: Tracking run with wandb version 0.17.4
+wandb: W&B syncing is set to `offline` in this directory.  
+wandb: Run `wandb online` or set WANDB_MODE=online to enable cloud syncing.
+/ceph/home/songchun01/miniconda3/envs/moore/lib/python3.9/multiprocessing/resource_tracker.py:216: UserWarning: resource_tracker: There appear to be 3 leaked semaphore objects to clean up at shutdown
+  warnings.warn('resource_tracker: There appear to be %d '

6o_dog-stand_s30_gpu4.out

@@ -0,0 +1,5 @@
+wandb: Tracking run with wandb version 0.17.4
+wandb: W&B syncing is set to `offline` in this directory.  
+wandb: Run `wandb online` or set WANDB_MODE=online to enable cloud syncing.
+/ceph/home/songchun01/miniconda3/envs/moore/lib/python3.9/multiprocessing/resource_tracker.py:216: UserWarning: resource_tracker: There appear to be 3 leaked semaphore objects to clean up at shutdown
+  warnings.warn('resource_tracker: There appear to be %d '

6o_humanoid-stand_s30_gpu2.out

@@ -0,0 +1,30 @@
+wandb: Tracking run with wandb version 0.17.4
+wandb: W&B syncing is set to `offline` in this directory.  
+wandb: Run `wandb online` or set WANDB_MODE=online to enable cloud syncing.
+--- Logging error ---
+Traceback (most recent call last):
+  File "/ceph/home/songchun01/miniconda3/envs/moore/lib/python3.9/site-packages/wandb/sdk/internal/system/assets/interfaces.py", line 136, in monitor
+    metric.sample()
+  File "/ceph/home/songchun01/miniconda3/envs/moore/lib/python3.9/site-packages/wandb/sdk/internal/system/assets/disk.py", line 116, in sample
+    self.read_init = psutil.disk_io_counters().read_bytes
+AttributeError: 'NoneType' object has no attribute 'read_bytes'
+
+During handling of the above exception, another exception occurred:
+
+Traceback (most recent call last):
+  File "/ceph/home/songchun01/miniconda3/envs/moore/lib/python3.9/logging/__init__.py", line 1087, in emit
+    self.flush()
+  File "/ceph/home/songchun01/miniconda3/envs/moore/lib/python3.9/logging/__init__.py", line 1067, in flush
+    self.stream.flush()
+OSError: [Errno 70] Communication error on send
+Call stack:
+  File "/ceph/home/songchun01/miniconda3/envs/moore/lib/python3.9/threading.py", line 937, in _bootstrap
+    self._bootstrap_inner()
+  File "/ceph/home/songchun01/miniconda3/envs/moore/lib/python3.9/threading.py", line 980, in _bootstrap_inner
+    self.run()
+  File "/ceph/home/songchun01/miniconda3/envs/moore/lib/python3.9/threading.py", line 917, in run
+    self._target(*self._args, **self._kwargs)
+  File "/ceph/home/songchun01/miniconda3/envs/moore/lib/python3.9/site-packages/wandb/sdk/internal/system/assets/interfaces.py", line 142, in monitor
+    logger.error(f"Failed to sample metric: {e}")
+Message: "Failed to sample metric: 'NoneType' object has no attribute 'read_bytes'"
+Arguments: ()

dog-trot/2/4o_dog-trot_s2/eval.csv

@@ -0,0 +1,6 @@
+step,episode_reward
+0.0,7.614668369293213
+50000.0,18.435089111328125
+100000.0,68.14836120605469
+150000.0,97.0047836303711
+200000.0,116.65800476074219

dog-trot/2/4o_dog-trot_s2/wandb/debug.log

@@ -0,0 +1,24 @@
+2025-07-12 12:32:46,597 INFO    MainThread:77327 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-12 12:32:46,597 INFO    MainThread:77327 [wandb_setup.py:_flush():76] Configure stats pid to 77327
+2025-07-12 12:32:46,598 INFO    MainThread:77327 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-12 12:32:46,598 INFO    MainThread:77327 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
+2025-07-12 12:32:46,598 INFO    MainThread:77327 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-12 12:32:46,598 INFO    MainThread:77327 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-12 12:32:46,599 INFO    MainThread:77327 [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'}
+2025-07-12 12:32:46,599 INFO    MainThread:77327 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250712_123246-w5ivlh2v/logs/debug.log
+2025-07-12 12:32:46,599 INFO    MainThread:77327 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250712_123246-w5ivlh2v/logs/debug-internal.log
+2025-07-12 12:32:46,600 INFO    MainThread:77327 [wandb_init.py:init():569] calling init triggers
+2025-07-12 12:32:46,600 INFO    MainThread:77327 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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-trot/2/4o_dog-trot_s2'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-12 12:32:46,600 INFO    MainThread:77327 [wandb_init.py:init():619] starting backend
+2025-07-12 12:32:46,600 INFO    MainThread:77327 [wandb_init.py:init():623] setting up manager
+2025-07-12 12:32:46,609 INFO    MainThread:77327 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-12 12:32:46,612 INFO    MainThread:77327 [wandb_init.py:init():631] backend started and connected
+2025-07-12 12:32:46,628 INFO    MainThread:77327 [wandb_init.py:init():720] updated telemetry
+2025-07-12 12:32:46,748 INFO    MainThread:77327 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-12 12:32:46,757 INFO    MainThread:77327 [wandb_init.py:init():804] starting run threads in backend
+2025-07-12 12:32:52,552 INFO    MainThread:77327 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-12 12:32:52,553 INFO    MainThread:77327 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-12 12:32:52,553 INFO    MainThread:77327 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-12 12:32:52,554 INFO    MainThread:77327 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-12 12:32:52,557 INFO    MainThread:77327 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250711_103424-j2yk73bv/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

dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250711_103424-j2yk73bv/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": "2025-07-11T02:34:24.492948",
+    "startedAt": "2025-07-11T02:34:24.076284",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=dog-trot",
+        "use_moe=true",
+        "n_experts=4",
+        "seed=2",
+        "exp_name=4o_dog-trot_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": "467cca1d32da4cca3dd506435c2f5ceadfc564e0"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node007",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3302.0596249999994,
+        "min": 800.0,
+        "max": 3500.0
+    },
+    "cpu_freq_per_core": [
+        {
+            "current": 2956.429,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3028.798,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2960.067,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3025.084,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3001.234,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2990.065,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3006.884,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3024.875,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3027.454,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3024.847,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3000.632,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3024.251,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2996.87,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3021.702,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3022.319,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3018.615,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3024.546,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3000.868,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3004.353,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3025.135,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3029.255,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3028.51,
+            "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": 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": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3399.99,
+            "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": 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": 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": 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": 3013.523,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3014.189,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3011.478,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3034.938,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3015.699,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3023.082,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3014.266,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3016.45,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3023.264,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3013.665,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2973.42,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3030.563,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3022.52,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3025.483,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3020.789,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3014.357,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3021.346,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3020.773,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3014.874,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3025.968,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3015.911,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3007.127,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3030.49,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2990.044,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3025.951,
+            "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": 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": 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
+        }
+    ],
+    "disk": {
+        "/": {
+            "total": 100.0,
+            "used": 15.712200164794922
+        }
+    },
+    "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
+    }
+}

dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250711_103424-j2yk73bv/logs/debug.log

@@ -0,0 +1,24 @@
+2025-07-11 10:34:24,096 INFO    MainThread:4158556 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-11 10:34:24,097 INFO    MainThread:4158556 [wandb_setup.py:_flush():76] Configure stats pid to 4158556
+2025-07-11 10:34:24,097 INFO    MainThread:4158556 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-11 10:34:24,097 INFO    MainThread:4158556 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings
+2025-07-11 10:34:24,097 INFO    MainThread:4158556 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-11 10:34:24,097 INFO    MainThread:4158556 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-11 10:34:24,098 INFO    MainThread:4158556 [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'}
+2025-07-11 10:34:24,098 INFO    MainThread:4158556 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250711_103424-j2yk73bv/logs/debug.log
+2025-07-11 10:34:24,098 INFO    MainThread:4158556 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250711_103424-j2yk73bv/logs/debug-internal.log
+2025-07-11 10:34:24,099 INFO    MainThread:4158556 [wandb_init.py:init():569] calling init triggers
+2025-07-11 10:34:24,099 INFO    MainThread:4158556 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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-trot/2/4o_dog-trot_s2'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-11 10:34:24,099 INFO    MainThread:4158556 [wandb_init.py:init():619] starting backend
+2025-07-11 10:34:24,100 INFO    MainThread:4158556 [wandb_init.py:init():623] setting up manager
+2025-07-11 10:34:24,107 INFO    MainThread:4158556 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-11 10:34:24,109 INFO    MainThread:4158556 [wandb_init.py:init():631] backend started and connected
+2025-07-11 10:34:24,123 INFO    MainThread:4158556 [wandb_init.py:init():720] updated telemetry
+2025-07-11 10:34:24,239 INFO    MainThread:4158556 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-11 10:34:24,248 INFO    MainThread:4158556 [wandb_init.py:init():804] starting run threads in backend
+2025-07-11 10:34:29,675 INFO    MainThread:4158556 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-11 10:34:29,675 INFO    MainThread:4158556 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-11 10:34:29,675 INFO    MainThread:4158556 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-11 10:34:29,676 INFO    MainThread:4158556 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-11 10:34:29,679 INFO    MainThread:4158556 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250712_123246-w5ivlh2v/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

dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250712_123246-w5ivlh2v/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": "2025-07-12T04:32:46.937786",
+    "startedAt": "2025-07-12T04:32:46.578714",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=dog-trot",
+        "use_moe=true",
+        "n_experts=4",
+        "seed=2",
+        "exp_name=4o_dog-trot_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": "467cca1d32da4cca3dd506435c2f5ceadfc564e0"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node007",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3452.363839285714,
+        "min": 800.0,
+        "max": 3500.0
+    },
+    "cpu_freq_per_core": [
+        {
+            "current": 3331.098,
+            "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": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3311.635,
+            "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": 3399.996,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3352.562,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3364.673,
+            "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": 3346.038,
+            "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": 3400.006,
+            "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": 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": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.01,
+            "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": 3355.134,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3379.512,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3379.793,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3305.428,
+            "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": 3257.135,
+            "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": 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": 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": 100.0,
+            "used": 15.780120849609375
+        }
+    },
+    "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
+    }
+}

dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250712_123246-w5ivlh2v/logs/debug.log

@@ -0,0 +1,24 @@
+2025-07-12 12:32:46,597 INFO    MainThread:77327 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-12 12:32:46,597 INFO    MainThread:77327 [wandb_setup.py:_flush():76] Configure stats pid to 77327
+2025-07-12 12:32:46,598 INFO    MainThread:77327 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-12 12:32:46,598 INFO    MainThread:77327 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
+2025-07-12 12:32:46,598 INFO    MainThread:77327 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-12 12:32:46,598 INFO    MainThread:77327 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-12 12:32:46,599 INFO    MainThread:77327 [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'}
+2025-07-12 12:32:46,599 INFO    MainThread:77327 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250712_123246-w5ivlh2v/logs/debug.log
+2025-07-12 12:32:46,599 INFO    MainThread:77327 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250712_123246-w5ivlh2v/logs/debug-internal.log
+2025-07-12 12:32:46,600 INFO    MainThread:77327 [wandb_init.py:init():569] calling init triggers
+2025-07-12 12:32:46,600 INFO    MainThread:77327 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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-trot/2/4o_dog-trot_s2'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-12 12:32:46,600 INFO    MainThread:77327 [wandb_init.py:init():619] starting backend
+2025-07-12 12:32:46,600 INFO    MainThread:77327 [wandb_init.py:init():623] setting up manager
+2025-07-12 12:32:46,609 INFO    MainThread:77327 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-12 12:32:46,612 INFO    MainThread:77327 [wandb_init.py:init():631] backend started and connected
+2025-07-12 12:32:46,628 INFO    MainThread:77327 [wandb_init.py:init():720] updated telemetry
+2025-07-12 12:32:46,748 INFO    MainThread:77327 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-12 12:32:46,757 INFO    MainThread:77327 [wandb_init.py:init():804] starting run threads in backend
+2025-07-12 12:32:52,552 INFO    MainThread:77327 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-12 12:32:52,553 INFO    MainThread:77327 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-12 12:32:52,553 INFO    MainThread:77327 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-12 12:32:52,554 INFO    MainThread:77327 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-12 12:32:52,557 INFO    MainThread:77327 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/2/6o_dog-trot_s2/eval.csv

@@ -0,0 +1,4 @@
+step,episode_reward
+0.0,7.275166988372803
+50000.0,13.711263656616211
+100000.0,36.83845901489258

dog-trot/2/6o_dog-trot_s2/wandb/debug.log

@@ -0,0 +1,24 @@
+2025-07-12 12:32:46,502 INFO    MainThread:77348 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-12 12:32:46,503 INFO    MainThread:77348 [wandb_setup.py:_flush():76] Configure stats pid to 77348
+2025-07-12 12:32:46,503 INFO    MainThread:77348 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-12 12:32:46,503 INFO    MainThread:77348 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
+2025-07-12 12:32:46,503 INFO    MainThread:77348 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-12 12:32:46,504 INFO    MainThread:77348 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-12 12:32:46,504 INFO    MainThread:77348 [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'}
+2025-07-12 12:32:46,504 INFO    MainThread:77348 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250712_123246-ux3mbuuu/logs/debug.log
+2025-07-12 12:32:46,505 INFO    MainThread:77348 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250712_123246-ux3mbuuu/logs/debug-internal.log
+2025-07-12 12:32:46,505 INFO    MainThread:77348 [wandb_init.py:init():569] calling init triggers
+2025-07-12 12:32:46,505 INFO    MainThread:77348 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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': 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': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/6o_dog-trot_s2'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-12 12:32:46,506 INFO    MainThread:77348 [wandb_init.py:init():619] starting backend
+2025-07-12 12:32:46,506 INFO    MainThread:77348 [wandb_init.py:init():623] setting up manager
+2025-07-12 12:32:46,516 INFO    MainThread:77348 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-12 12:32:46,519 INFO    MainThread:77348 [wandb_init.py:init():631] backend started and connected
+2025-07-12 12:32:46,533 INFO    MainThread:77348 [wandb_init.py:init():720] updated telemetry
+2025-07-12 12:32:46,650 INFO    MainThread:77348 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-12 12:32:46,659 INFO    MainThread:77348 [wandb_init.py:init():804] starting run threads in backend
+2025-07-12 12:32:52,266 INFO    MainThread:77348 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-12 12:32:52,266 INFO    MainThread:77348 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-12 12:32:52,266 INFO    MainThread:77348 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-12 12:32:52,267 INFO    MainThread:77348 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-12 12:32:52,270 INFO    MainThread:77348 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250711_103424-wf93lybr/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

dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250711_103424-wf93lybr/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": "2025-07-11T02:34:24.528000",
+    "startedAt": "2025-07-11T02:34:24.087115",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=dog-trot",
+        "use_moe=true",
+        "n_experts=6",
+        "seed=2",
+        "exp_name=6o_dog-trot_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": "467cca1d32da4cca3dd506435c2f5ceadfc564e0"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node007",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3297.774794642857,
+        "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": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2985.522,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3001.234,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3006.884,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2985.593,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2987.075,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2985.739,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3000.632,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2962.75,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2996.87,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2987.676,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2975.922,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3022.319,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3018.615,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2987.88,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3000.868,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2985.307,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2991.438,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2977.637,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2985.345,
+            "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": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3399.994,
+            "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": 3399.99,
+            "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": 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": 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": 3013.523,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2986.376,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3014.189,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3011.478,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3034.938,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3015.699,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2986.403,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3014.266,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3016.45,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3009.231,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3023.264,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3013.665,
+            "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": 3022.52,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3025.483,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3020.789,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3074.744,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3021.346,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3020.773,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2975.393,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2996.212,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3025.968,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3015.911,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2974.467,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3025.951,
+            "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": 3399.993,
+            "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": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        }
+    ],
+    "disk": {
+        "/": {
+            "total": 100.0,
+            "used": 15.712200164794922
+        }
+    },
+    "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
+    }
+}

dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250711_103424-wf93lybr/logs/debug.log

@@ -0,0 +1,24 @@
+2025-07-11 10:34:24,108 INFO    MainThread:4158577 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-11 10:34:24,108 INFO    MainThread:4158577 [wandb_setup.py:_flush():76] Configure stats pid to 4158577
+2025-07-11 10:34:24,109 INFO    MainThread:4158577 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-11 10:34:24,109 INFO    MainThread:4158577 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings
+2025-07-11 10:34:24,109 INFO    MainThread:4158577 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-11 10:34:24,109 INFO    MainThread:4158577 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-11 10:34:24,110 INFO    MainThread:4158577 [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'}
+2025-07-11 10:34:24,110 INFO    MainThread:4158577 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250711_103424-wf93lybr/logs/debug.log
+2025-07-11 10:34:24,110 INFO    MainThread:4158577 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250711_103424-wf93lybr/logs/debug-internal.log
+2025-07-11 10:34:24,110 INFO    MainThread:4158577 [wandb_init.py:init():569] calling init triggers
+2025-07-11 10:34:24,111 INFO    MainThread:4158577 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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': 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': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/6o_dog-trot_s2'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-11 10:34:24,111 INFO    MainThread:4158577 [wandb_init.py:init():619] starting backend
+2025-07-11 10:34:24,111 INFO    MainThread:4158577 [wandb_init.py:init():623] setting up manager
+2025-07-11 10:34:24,118 INFO    MainThread:4158577 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-11 10:34:24,120 INFO    MainThread:4158577 [wandb_init.py:init():631] backend started and connected
+2025-07-11 10:34:24,133 INFO    MainThread:4158577 [wandb_init.py:init():720] updated telemetry
+2025-07-11 10:34:24,239 INFO    MainThread:4158577 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-11 10:34:24,249 INFO    MainThread:4158577 [wandb_init.py:init():804] starting run threads in backend
+2025-07-11 10:34:30,180 INFO    MainThread:4158577 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-11 10:34:30,180 INFO    MainThread:4158577 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-11 10:34:30,181 INFO    MainThread:4158577 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-11 10:34:30,181 INFO    MainThread:4158577 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-11 10:34:30,184 INFO    MainThread:4158577 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250712_123246-ux3mbuuu/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

dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250712_123246-ux3mbuuu/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": "2025-07-12T04:32:46.785995",
+    "startedAt": "2025-07-12T04:32:46.483924",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=dog-trot",
+        "use_moe=true",
+        "n_experts=6",
+        "seed=2",
+        "exp_name=6o_dog-trot_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": "467cca1d32da4cca3dd506435c2f5ceadfc564e0"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node007",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3294.1177410714286,
+        "min": 800.0,
+        "max": 3500.0
+    },
+    "cpu_freq_per_core": [
+        {
+            "current": 2947.847,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3064.757,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3083.262,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3080.325,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3084.084,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3081.006,
+            "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": 2976.664,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3090.441,
+            "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": 3077.089,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3075.681,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3083.583,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3077.12,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3088.56,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3098.387,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3074.21,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3077.264,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3096.682,
+            "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": 3101.49,
+            "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": 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": 3399.995,
+            "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": 3400.006,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.003,
+            "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": 3399.989,
+            "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": 2981.547,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3083.492,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3082.813,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3103.677,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3079.616,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3106.827,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3077.377,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3063.843,
+            "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": 3096.186,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3089.752,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3069.097,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3081.508,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3102.5,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3104.196,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3102.864,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3102.343,
+            "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": 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": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        }
+    ],
+    "disk": {
+        "/": {
+            "total": 100.0,
+            "used": 15.780132293701172
+        }
+    },
+    "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
+    }
+}

dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250712_123246-ux3mbuuu/logs/debug.log

@@ -0,0 +1,24 @@
+2025-07-12 12:32:46,502 INFO    MainThread:77348 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-12 12:32:46,503 INFO    MainThread:77348 [wandb_setup.py:_flush():76] Configure stats pid to 77348
+2025-07-12 12:32:46,503 INFO    MainThread:77348 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-12 12:32:46,503 INFO    MainThread:77348 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
+2025-07-12 12:32:46,503 INFO    MainThread:77348 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-12 12:32:46,504 INFO    MainThread:77348 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-12 12:32:46,504 INFO    MainThread:77348 [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'}
+2025-07-12 12:32:46,504 INFO    MainThread:77348 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250712_123246-ux3mbuuu/logs/debug.log
+2025-07-12 12:32:46,505 INFO    MainThread:77348 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250712_123246-ux3mbuuu/logs/debug-internal.log
+2025-07-12 12:32:46,505 INFO    MainThread:77348 [wandb_init.py:init():569] calling init triggers
+2025-07-12 12:32:46,505 INFO    MainThread:77348 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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': 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': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/6o_dog-trot_s2'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-12 12:32:46,506 INFO    MainThread:77348 [wandb_init.py:init():619] starting backend
+2025-07-12 12:32:46,506 INFO    MainThread:77348 [wandb_init.py:init():623] setting up manager
+2025-07-12 12:32:46,516 INFO    MainThread:77348 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-12 12:32:46,519 INFO    MainThread:77348 [wandb_init.py:init():631] backend started and connected
+2025-07-12 12:32:46,533 INFO    MainThread:77348 [wandb_init.py:init():720] updated telemetry
+2025-07-12 12:32:46,650 INFO    MainThread:77348 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-12 12:32:46,659 INFO    MainThread:77348 [wandb_init.py:init():804] starting run threads in backend
+2025-07-12 12:32:52,266 INFO    MainThread:77348 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-12 12:32:52,266 INFO    MainThread:77348 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-12 12:32:52,266 INFO    MainThread:77348 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-12 12:32:52,267 INFO    MainThread:77348 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-12 12:32:52,270 INFO    MainThread:77348 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/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

dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/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": "2025-07-11T02:34:24.660390",
+    "startedAt": "2025-07-11T02:34:24.125823",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=dog-trot",
+        "use_moe=false",
+        "seed=2",
+        "exp_name=tdmpc2_dog-trot_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": "467cca1d32da4cca3dd506435c2f5ceadfc564e0"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node007",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3354.3486517857136,
+        "min": 800.0,
+        "max": 3500.0
+    },
+    "cpu_freq_per_core": [
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3067.898,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3046.342,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3046.091,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3075.805,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3042.931,
+            "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": 3040.959,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3050.138,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3052.893,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3067.182,
+            "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": 3072.931,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3044.468,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3113.676,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3074.412,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3047.637,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3073.013,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3074.256,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3043.31,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3098.151,
+            "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": 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": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.007,
+            "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": 3400.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3399.996,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.005,
+            "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": 3080.872,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3060.201,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3044.92,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3068.585,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3069.497,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3069.221,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3085.053,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3069.253,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3050.371,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3041.12,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3047.554,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3062.346,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3069.896,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3068.692,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3068.402,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3052.438,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3032.81,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3062.692,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3064.919,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3065.582,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3022.267,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3065.447,
+            "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": 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": 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": 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": 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": 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": 3400.0,
+            "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
+        }
+    ],
+    "disk": {
+        "/": {
+            "total": 100.0,
+            "used": 15.712200164794922
+        }
+    },
+    "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
+    }
+}

dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/logs/debug.log

@@ -0,0 +1,24 @@
+2025-07-11 10:34:24,146 INFO    MainThread:4158535 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-11 10:34:24,146 INFO    MainThread:4158535 [wandb_setup.py:_flush():76] Configure stats pid to 4158535
+2025-07-11 10:34:24,147 INFO    MainThread:4158535 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-11 10:34:24,147 INFO    MainThread:4158535 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings
+2025-07-11 10:34:24,147 INFO    MainThread:4158535 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-11 10:34:24,147 INFO    MainThread:4158535 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-11 10:34:24,148 INFO    MainThread:4158535 [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'}
+2025-07-11 10:34:24,148 INFO    MainThread:4158535 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/logs/debug.log
+2025-07-11 10:34:24,148 INFO    MainThread:4158535 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/logs/debug-internal.log
+2025-07-11 10:34:24,149 INFO    MainThread:4158535 [wandb_init.py:init():569] calling init triggers
+2025-07-11 10:34:24,149 INFO    MainThread:4158535 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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': '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-trot/2/tdmpc2_dog-trot_s2'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-11 10:34:24,149 INFO    MainThread:4158535 [wandb_init.py:init():619] starting backend
+2025-07-11 10:34:24,150 INFO    MainThread:4158535 [wandb_init.py:init():623] setting up manager
+2025-07-11 10:34:24,157 INFO    MainThread:4158535 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-11 10:34:24,159 INFO    MainThread:4158535 [wandb_init.py:init():631] backend started and connected
+2025-07-11 10:34:24,172 INFO    MainThread:4158535 [wandb_init.py:init():720] updated telemetry
+2025-07-11 10:34:24,283 INFO    MainThread:4158535 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-11 10:34:24,292 INFO    MainThread:4158535 [wandb_init.py:init():804] starting run threads in backend
+2025-07-11 10:34:30,102 INFO    MainThread:4158535 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-11 10:34:30,102 INFO    MainThread:4158535 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-11 10:34:30,103 INFO    MainThread:4158535 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-11 10:34:30,103 INFO    MainThread:4158535 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-11 10:34:30,106 INFO    MainThread:4158535 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250712_123245-krm5txf8/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

dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250712_123245-krm5txf8/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": "2025-07-12T04:32:46.154737",
+    "startedAt": "2025-07-12T04:32:45.864775",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=dog-trot",
+        "use_moe=false",
+        "seed=2",
+        "exp_name=tdmpc2_dog-trot_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": "467cca1d32da4cca3dd506435c2f5ceadfc564e0"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node007",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3255.614169642856,
+        "min": 800.0,
+        "max": 3500.0
+    },
+    "cpu_freq_per_core": [
+        {
+            "current": 2861.533,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2866.953,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2867.203,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2882.201,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2866.611,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2870.393,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2867.018,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2858.935,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2862.995,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2870.464,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2878.801,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2866.266,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2863.46,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2864.391,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2869.174,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2866.73,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2866.643,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2864.524,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2862.714,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2872.143,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2868.303,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2869.483,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2871.614,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2866.39,
+            "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
+        },
+        {
+            "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": 3399.983,
+            "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": 2866.841,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2870.411,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2871.788,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2861.514,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2861.926,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2872.172,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2875.289,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2871.507,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2870.726,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2870.017,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2869.579,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2864.648,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2863.105,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2875.416,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2871.078,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2871.115,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2869.152,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2871.036,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2873.677,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2871.305,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2861.336,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2869.154,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2871.487,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2870.293,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2870.541,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 2871.65,
+            "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": 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": 100.0,
+            "used": 15.78009033203125
+        }
+    },
+    "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
+    }
+}

dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250712_123245-krm5txf8/files/wandb-summary.json

@@ -0,0 +1 @@
+{"_wandb": {"runtime": 247755}}

dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250712_123245-krm5txf8/logs/debug.log

@@ -0,0 +1,25 @@
+2025-07-12 12:32:45,884 INFO    MainThread:77306 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-12 12:32:45,885 INFO    MainThread:77306 [wandb_setup.py:_flush():76] Configure stats pid to 77306
+2025-07-12 12:32:45,885 INFO    MainThread:77306 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-12 12:32:45,885 INFO    MainThread:77306 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
+2025-07-12 12:32:45,886 INFO    MainThread:77306 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-12 12:32:45,886 INFO    MainThread:77306 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-12 12:32:45,886 INFO    MainThread:77306 [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'}
+2025-07-12 12:32:45,886 INFO    MainThread:77306 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250712_123245-krm5txf8/logs/debug.log
+2025-07-12 12:32:45,887 INFO    MainThread:77306 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250712_123245-krm5txf8/logs/debug-internal.log
+2025-07-12 12:32:45,887 INFO    MainThread:77306 [wandb_init.py:init():569] calling init triggers
+2025-07-12 12:32:45,888 INFO    MainThread:77306 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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': '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-trot/2/tdmpc2_dog-trot_s2'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-12 12:32:45,888 INFO    MainThread:77306 [wandb_init.py:init():619] starting backend
+2025-07-12 12:32:45,888 INFO    MainThread:77306 [wandb_init.py:init():623] setting up manager
+2025-07-12 12:32:45,899 INFO    MainThread:77306 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-12 12:32:45,902 INFO    MainThread:77306 [wandb_init.py:init():631] backend started and connected
+2025-07-12 12:32:45,918 INFO    MainThread:77306 [wandb_init.py:init():720] updated telemetry
+2025-07-12 12:32:46,035 INFO    MainThread:77306 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-12 12:32:46,044 INFO    MainThread:77306 [wandb_init.py:init():804] starting run threads in backend
+2025-07-12 12:32:51,585 INFO    MainThread:77306 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-12 12:32:51,586 INFO    MainThread:77306 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-12 12:32:51,586 INFO    MainThread:77306 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-12 12:32:51,586 INFO    MainThread:77306 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-12 12:32:51,589 INFO    MainThread:77306 [wandb_init.py:init():847] run started, returning control to user process
+2025-07-15 09:22:05,262 WARNING MsgRouterThr:77306 [router.py:message_loop():77] message_loop has been closed

dog-trot/30/4o_dog-trot_s30/eval.csv

@@ -0,0 +1,7 @@
+step,episode_reward
+0.0,8.031551361083984
+50000.0,26.977123260498047
+100000.0,78.95657348632812
+150000.0,97.97359466552734
+200000.0,157.50112915039062
+250000.0,195.6798553466797

dog-trot/30/6o_dog-trot_s30/eval.csv

@@ -0,0 +1,4 @@
+step,episode_reward
+0.0,7.2089433670043945
+50000.0,24.111003875732422
+100000.0,59.99553680419922

dog-trot/30/6o_dog-trot_s30/wandb/debug.log

@@ -0,0 +1,24 @@
+2025-07-12 12:32:46,915 INFO    MainThread:77349 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-12 12:32:46,916 INFO    MainThread:77349 [wandb_setup.py:_flush():76] Configure stats pid to 77349
+2025-07-12 12:32:46,916 INFO    MainThread:77349 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-12 12:32:46,916 INFO    MainThread:77349 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
+2025-07-12 12:32:46,917 INFO    MainThread:77349 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-12 12:32:46,917 INFO    MainThread:77349 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-12 12:32:46,917 INFO    MainThread:77349 [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'}
+2025-07-12 12:32:46,918 INFO    MainThread:77349 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/30/6o_dog-trot_s30/wandb/offline-run-20250712_123246-ejm5iszb/logs/debug.log
+2025-07-12 12:32:46,918 INFO    MainThread:77349 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/30/6o_dog-trot_s30/wandb/offline-run-20250712_123246-ejm5iszb/logs/debug-internal.log
+2025-07-12 12:32:46,918 INFO    MainThread:77349 [wandb_init.py:init():569] calling init triggers
+2025-07-12 12:32:46,919 INFO    MainThread:77349 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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': 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': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/30/6o_dog-trot_s30'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-12 12:32:46,919 INFO    MainThread:77349 [wandb_init.py:init():619] starting backend
+2025-07-12 12:32:46,919 INFO    MainThread:77349 [wandb_init.py:init():623] setting up manager
+2025-07-12 12:32:46,928 INFO    MainThread:77349 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-12 12:32:46,930 INFO    MainThread:77349 [wandb_init.py:init():631] backend started and connected
+2025-07-12 12:32:46,949 INFO    MainThread:77349 [wandb_init.py:init():720] updated telemetry
+2025-07-12 12:32:47,071 INFO    MainThread:77349 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-12 12:32:47,082 INFO    MainThread:77349 [wandb_init.py:init():804] starting run threads in backend
+2025-07-12 12:32:52,805 INFO    MainThread:77349 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-12 12:32:52,806 INFO    MainThread:77349 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-12 12:32:52,806 INFO    MainThread:77349 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-12 12:32:52,807 INFO    MainThread:77349 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-12 12:32:52,809 INFO    MainThread:77349 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/30/6o_dog-trot_s30/wandb/offline-run-20250711_103424-gze9desq/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

dog-trot/30/tdmpc2_dog-trot_s30/eval.csv

@@ -0,0 +1,47 @@
+step,episode_reward
+0.0,7.55913782119751
+50000.0,71.16481018066406
+100000.0,116.17533111572266
+150000.0,112.11112976074219
+200000.0,122.0090560913086
+250000.0,127.49772644042969
+300000.0,151.10321044921875
+350000.0,178.60845947265625
+400000.0,209.5775909423828
+450000.0,211.9595947265625
+500000.0,231.4708251953125
+550000.0,232.3655242919922
+600000.0,255.2913055419922
+650000.0,253.5632781982422
+700000.0,270.64984130859375
+750000.0,286.3193054199219
+800000.0,287.24163818359375
+850000.0,275.285888671875
+900000.0,286.5011291503906
+950000.0,287.9498596191406
+1000000.0,286.1429748535156
+1050000.0,283.86029052734375
+1100000.0,281.16534423828125
+1150000.0,298.8265686035156
+1200000.0,294.5644836425781
+1250000.0,297.9039306640625
+1300000.0,300.2607116699219
+1350000.0,309.7344665527344
+1400000.0,304.8896789550781
+1450000.0,310.0976257324219
+1500000.0,306.6160583496094
+1550000.0,326.96697998046875
+1600000.0,315.53814697265625
+1650000.0,318.22821044921875
+1700000.0,315.6497497558594
+1750000.0,325.23211669921875
+1800000.0,313.61328125
+1850000.0,293.074951171875
+1900000.0,310.52471923828125
+1950000.0,304.7355651855469
+2000000.0,321.58203125
+2050000.0,314.51214599609375
+2100000.0,326.3552551269531
+2150000.0,356.88580322265625
+2200000.0,318.4239501953125
+2250000.0,369.3433532714844

dog-trot/30/tdmpc2_dog-trot_s30/wandb/debug.log

@@ -0,0 +1,24 @@
+2025-07-12 12:32:46,270 INFO    MainThread:77307 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-12 12:32:46,271 INFO    MainThread:77307 [wandb_setup.py:_flush():76] Configure stats pid to 77307
+2025-07-12 12:32:46,271 INFO    MainThread:77307 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-12 12:32:46,272 INFO    MainThread:77307 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
+2025-07-12 12:32:46,272 INFO    MainThread:77307 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-12 12:32:46,272 INFO    MainThread:77307 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-12 12:32:46,272 INFO    MainThread:77307 [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'}
+2025-07-12 12:32:46,273 INFO    MainThread:77307 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250712_123246-04kz0qt7/logs/debug.log
+2025-07-12 12:32:46,273 INFO    MainThread:77307 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250712_123246-04kz0qt7/logs/debug-internal.log
+2025-07-12 12:32:46,273 INFO    MainThread:77307 [wandb_init.py:init():569] calling init triggers
+2025-07-12 12:32:46,274 INFO    MainThread:77307 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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': '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-trot/30/tdmpc2_dog-trot_s30'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-12 12:32:46,274 INFO    MainThread:77307 [wandb_init.py:init():619] starting backend
+2025-07-12 12:32:46,274 INFO    MainThread:77307 [wandb_init.py:init():623] setting up manager
+2025-07-12 12:32:46,284 INFO    MainThread:77307 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-12 12:32:46,286 INFO    MainThread:77307 [wandb_init.py:init():631] backend started and connected
+2025-07-12 12:32:46,303 INFO    MainThread:77307 [wandb_init.py:init():720] updated telemetry
+2025-07-12 12:32:46,422 INFO    MainThread:77307 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-12 12:32:46,429 INFO    MainThread:77307 [wandb_init.py:init():804] starting run threads in backend
+2025-07-12 12:32:52,660 INFO    MainThread:77307 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-12 12:32:52,661 INFO    MainThread:77307 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-12 12:32:52,661 INFO    MainThread:77307 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-12 12:32:52,661 INFO    MainThread:77307 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-12 12:32:52,665 INFO    MainThread:77307 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250711_103419-aapdhvtc/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

dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250711_103419-aapdhvtc/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": "2025-07-11T02:34:20.800009",
+    "startedAt": "2025-07-11T02:34:19.628304",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=dog-trot",
+        "use_moe=false",
+        "seed=30",
+        "exp_name=tdmpc2_dog-trot_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": "467cca1d32da4cca3dd506435c2f5ceadfc564e0"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node007",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3381.707116071428,
+        "min": 800.0,
+        "max": 3500.0
+    },
+    "cpu_freq_per_core": [
+        {
+            "current": 3219.924,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3219.406,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3221.028,
+            "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": 3217.882,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3219.45,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3218.159,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3218.385,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3217.413,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3234.667,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3217.065,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3216.803,
+            "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": 3214.693,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3216.1,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3216.013,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3214.945,
+            "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": 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": 3214.245,
+            "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": 3210.351,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3203.132,
+            "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": 3214.694,
+            "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": 3213.774,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3214.86,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3214.924,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3215.007,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3215.125,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3215.1,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3215.127,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3217.04,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3215.305,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3215.379,
+            "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": 3400.002,
+            "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": 100.0,
+            "used": 15.712200164794922
+        }
+    },
+    "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
+    }
+}

dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250711_103419-aapdhvtc/logs/debug.log

@@ -0,0 +1,24 @@
+2025-07-11 10:34:19,652 INFO    MainThread:4158536 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-11 10:34:19,653 INFO    MainThread:4158536 [wandb_setup.py:_flush():76] Configure stats pid to 4158536
+2025-07-11 10:34:19,653 INFO    MainThread:4158536 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-11 10:34:19,654 INFO    MainThread:4158536 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings
+2025-07-11 10:34:19,654 INFO    MainThread:4158536 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-11 10:34:19,654 INFO    MainThread:4158536 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-11 10:34:19,654 INFO    MainThread:4158536 [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'}
+2025-07-11 10:34:19,654 INFO    MainThread:4158536 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250711_103419-aapdhvtc/logs/debug.log
+2025-07-11 10:34:19,655 INFO    MainThread:4158536 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250711_103419-aapdhvtc/logs/debug-internal.log
+2025-07-11 10:34:19,655 INFO    MainThread:4158536 [wandb_init.py:init():569] calling init triggers
+2025-07-11 10:34:19,655 INFO    MainThread:4158536 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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': '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-trot/30/tdmpc2_dog-trot_s30'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-11 10:34:19,656 INFO    MainThread:4158536 [wandb_init.py:init():619] starting backend
+2025-07-11 10:34:19,656 INFO    MainThread:4158536 [wandb_init.py:init():623] setting up manager
+2025-07-11 10:34:19,666 INFO    MainThread:4158536 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-11 10:34:19,668 INFO    MainThread:4158536 [wandb_init.py:init():631] backend started and connected
+2025-07-11 10:34:19,682 INFO    MainThread:4158536 [wandb_init.py:init():720] updated telemetry
+2025-07-11 10:34:19,784 INFO    MainThread:4158536 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-11 10:34:19,793 INFO    MainThread:4158536 [wandb_init.py:init():804] starting run threads in backend
+2025-07-11 10:34:25,572 INFO    MainThread:4158536 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-11 10:34:25,572 INFO    MainThread:4158536 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-11 10:34:25,573 INFO    MainThread:4158536 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-11 10:34:25,573 INFO    MainThread:4158536 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-11 10:34:25,577 INFO    MainThread:4158536 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250712_123246-04kz0qt7/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

dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250712_123246-04kz0qt7/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": "2025-07-12T04:32:46.556921",
+    "startedAt": "2025-07-12T04:32:46.250268",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=dog-trot",
+        "use_moe=false",
+        "seed=30",
+        "exp_name=tdmpc2_dog-trot_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": "467cca1d32da4cca3dd506435c2f5ceadfc564e0"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node007",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3338.435303571429,
+        "min": 800.0,
+        "max": 3500.0
+    },
+    "cpu_freq_per_core": [
+        {
+            "current": 3054.219,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3051.073,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3046.744,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3045.461,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3052.006,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3043.614,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3051.569,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3055.41,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3059.599,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3044.746,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3051.679,
+            "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": 3049.414,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3054.99,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3050.719,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3058.143,
+            "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": 3052.651,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3051.678,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3058.457,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3052.595,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3053.166,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3050.108,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3053.201,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3052.679,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3400.002,
+            "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": 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": 3050.125,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3055.217,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3043.901,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3053.302,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3055.133,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3056.524,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3049.832,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3055.299,
+            "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": 3055.533,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3048.984,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3042.346,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3059.308,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3060.762,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3048.61,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3045.83,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3050.407,
+            "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": 3058.087,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3048.65,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3050.338,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3027.875,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3057.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3056.568,
+            "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": 3400.002,
+            "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
+        }
+    ],
+    "disk": {
+        "/": {
+            "total": 100.0,
+            "used": 15.780105590820312
+        }
+    },
+    "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
+    }
+}

dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250712_123246-04kz0qt7/logs/debug.log

@@ -0,0 +1,24 @@
+2025-07-12 12:32:46,270 INFO    MainThread:77307 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-12 12:32:46,271 INFO    MainThread:77307 [wandb_setup.py:_flush():76] Configure stats pid to 77307
+2025-07-12 12:32:46,271 INFO    MainThread:77307 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-12 12:32:46,272 INFO    MainThread:77307 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
+2025-07-12 12:32:46,272 INFO    MainThread:77307 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-12 12:32:46,272 INFO    MainThread:77307 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-12 12:32:46,272 INFO    MainThread:77307 [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'}
+2025-07-12 12:32:46,273 INFO    MainThread:77307 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250712_123246-04kz0qt7/logs/debug.log
+2025-07-12 12:32:46,273 INFO    MainThread:77307 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250712_123246-04kz0qt7/logs/debug-internal.log
+2025-07-12 12:32:46,273 INFO    MainThread:77307 [wandb_init.py:init():569] calling init triggers
+2025-07-12 12:32:46,274 INFO    MainThread:77307 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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': '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-trot/30/tdmpc2_dog-trot_s30'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-12 12:32:46,274 INFO    MainThread:77307 [wandb_init.py:init():619] starting backend
+2025-07-12 12:32:46,274 INFO    MainThread:77307 [wandb_init.py:init():623] setting up manager
+2025-07-12 12:32:46,284 INFO    MainThread:77307 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-12 12:32:46,286 INFO    MainThread:77307 [wandb_init.py:init():631] backend started and connected
+2025-07-12 12:32:46,303 INFO    MainThread:77307 [wandb_init.py:init():720] updated telemetry
+2025-07-12 12:32:46,422 INFO    MainThread:77307 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-12 12:32:46,429 INFO    MainThread:77307 [wandb_init.py:init():804] starting run threads in backend
+2025-07-12 12:32:52,660 INFO    MainThread:77307 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-12 12:32:52,661 INFO    MainThread:77307 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-12 12:32:52,661 INFO    MainThread:77307 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-12 12:32:52,661 INFO    MainThread:77307 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-12 12:32:52,665 INFO    MainThread:77307 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/42/4o_dog-trot_s42/eval.csv

@@ -0,0 +1,6 @@
+step,episode_reward
+0.0,5.569649696350098
+50000.0,24.008014678955078
+100000.0,68.22142028808594
+150000.0,106.1635971069336
+200000.0,120.0175552368164

dog-trot/42/4o_dog-trot_s42/wandb/debug.log

@@ -0,0 +1,24 @@
+2025-07-12 12:32:46,924 INFO    MainThread:77329 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-12 12:32:46,925 INFO    MainThread:77329 [wandb_setup.py:_flush():76] Configure stats pid to 77329
+2025-07-12 12:32:46,925 INFO    MainThread:77329 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-12 12:32:46,925 INFO    MainThread:77329 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
+2025-07-12 12:32:46,926 INFO    MainThread:77329 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-12 12:32:46,926 INFO    MainThread:77329 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-12 12:32:46,926 INFO    MainThread:77329 [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'}
+2025-07-12 12:32:46,927 INFO    MainThread:77329 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250712_123246-om54obxk/logs/debug.log
+2025-07-12 12:32:46,927 INFO    MainThread:77329 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250712_123246-om54obxk/logs/debug-internal.log
+2025-07-12 12:32:46,927 INFO    MainThread:77329 [wandb_init.py:init():569] calling init triggers
+2025-07-12 12:32:46,928 INFO    MainThread:77329 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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': 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': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/42/4o_dog-trot_s42'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-12 12:32:46,928 INFO    MainThread:77329 [wandb_init.py:init():619] starting backend
+2025-07-12 12:32:46,928 INFO    MainThread:77329 [wandb_init.py:init():623] setting up manager
+2025-07-12 12:32:46,940 INFO    MainThread:77329 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-12 12:32:46,941 INFO    MainThread:77329 [wandb_init.py:init():631] backend started and connected
+2025-07-12 12:32:46,957 INFO    MainThread:77329 [wandb_init.py:init():720] updated telemetry
+2025-07-12 12:32:47,066 INFO    MainThread:77329 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-12 12:32:47,076 INFO    MainThread:77329 [wandb_init.py:init():804] starting run threads in backend
+2025-07-12 12:32:52,842 INFO    MainThread:77329 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-12 12:32:52,843 INFO    MainThread:77329 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-12 12:32:52,843 INFO    MainThread:77329 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-12 12:32:52,843 INFO    MainThread:77329 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-12 12:32:52,847 INFO    MainThread:77329 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250711_103423-ggft6zvx/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

dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250711_103423-ggft6zvx/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": "2025-07-11T02:34:24.232634",
+    "startedAt": "2025-07-11T02:34:23.873002",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=dog-trot",
+        "use_moe=true",
+        "n_experts=4",
+        "seed=42",
+        "exp_name=4o_dog-trot_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": "467cca1d32da4cca3dd506435c2f5ceadfc564e0"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node007",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3351.208732142856,
+        "min": 800.0,
+        "max": 3500.0
+    },
+    "cpu_freq_per_core": [
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3060.219,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3062.118,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3082.406,
+            "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": 3057.854,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3036.068,
+            "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": 3056.925,
+            "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": 3079.589,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3071.242,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3060.635,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3055.954,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3055.66,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3068.137,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3052.978,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3055.557,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3076.422,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3079.425,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3054.668,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3057.581,
+            "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": 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": 3399.986,
+            "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": 3400.002,
+            "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": 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": 3055.198,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3063.901,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3062.365,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3055.641,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3054.641,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3095.702,
+            "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": 3051.194,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3052.351,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3049.698,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3063.617,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3062.311,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3054.956,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3055.804,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3065.556,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3067.173,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3088.429,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3058.975,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3064.907,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3059.505,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3065.677,
+            "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": 3053.75,
+            "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": 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": 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
+        }
+    ],
+    "disk": {
+        "/": {
+            "total": 100.0,
+            "used": 15.712215423583984
+        }
+    },
+    "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
+    }
+}

dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250711_103423-ggft6zvx/logs/debug.log

@@ -0,0 +1,24 @@
+2025-07-11 10:34:23,893 INFO    MainThread:4158558 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-11 10:34:23,893 INFO    MainThread:4158558 [wandb_setup.py:_flush():76] Configure stats pid to 4158558
+2025-07-11 10:34:23,894 INFO    MainThread:4158558 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-11 10:34:23,894 INFO    MainThread:4158558 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings
+2025-07-11 10:34:23,894 INFO    MainThread:4158558 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-11 10:34:23,895 INFO    MainThread:4158558 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-11 10:34:23,895 INFO    MainThread:4158558 [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'}
+2025-07-11 10:34:23,895 INFO    MainThread:4158558 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250711_103423-ggft6zvx/logs/debug.log
+2025-07-11 10:34:23,896 INFO    MainThread:4158558 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250711_103423-ggft6zvx/logs/debug-internal.log
+2025-07-11 10:34:23,896 INFO    MainThread:4158558 [wandb_init.py:init():569] calling init triggers
+2025-07-11 10:34:23,896 INFO    MainThread:4158558 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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': 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': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/42/4o_dog-trot_s42'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-11 10:34:23,897 INFO    MainThread:4158558 [wandb_init.py:init():619] starting backend
+2025-07-11 10:34:23,897 INFO    MainThread:4158558 [wandb_init.py:init():623] setting up manager
+2025-07-11 10:34:23,905 INFO    MainThread:4158558 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-11 10:34:23,907 INFO    MainThread:4158558 [wandb_init.py:init():631] backend started and connected
+2025-07-11 10:34:23,922 INFO    MainThread:4158558 [wandb_init.py:init():720] updated telemetry
+2025-07-11 10:34:24,036 INFO    MainThread:4158558 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-11 10:34:24,046 INFO    MainThread:4158558 [wandb_init.py:init():804] starting run threads in backend
+2025-07-11 10:34:29,786 INFO    MainThread:4158558 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-11 10:34:29,786 INFO    MainThread:4158558 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-11 10:34:29,787 INFO    MainThread:4158558 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-11 10:34:29,787 INFO    MainThread:4158558 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-11 10:34:29,790 INFO    MainThread:4158558 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250712_123246-om54obxk/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

dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250712_123246-om54obxk/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": "2025-07-12T04:32:47.237860",
+    "startedAt": "2025-07-12T04:32:46.897793",
+    "docker": null,
+    "cuda": null,
+    "args": [
+        "task=dog-trot",
+        "use_moe=true",
+        "n_experts=4",
+        "seed=42",
+        "exp_name=4o_dog-trot_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": "467cca1d32da4cca3dd506435c2f5ceadfc564e0"
+    },
+    "email": "sc_levi@163.com",
+    "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2",
+    "host": "node007",
+    "username": "songchun01",
+    "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python",
+    "cpu_count": 56,
+    "cpu_count_logical": 112,
+    "cpu_freq": {
+        "current": 3300.242133928571,
+        "min": 800.0,
+        "max": 3500.0
+    },
+    "cpu_freq_per_core": [
+        {
+            "current": 3318.65,
+            "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": 3318.66,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3318.663,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3320.742,
+            "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": 3321.821,
+            "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": 3298.855,
+            "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": 3327.141,
+            "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": 3400.003,
+            "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": 3399.997,
+            "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": 3400.006,
+            "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": 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": 3312.687,
+            "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": 3313.323,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3037.181,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3313.277,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3090.879,
+            "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": 3101.727,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3076.216,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3309.201,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3314.502,
+            "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": 3056.21,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3024.901,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3312.545,
+            "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": 3400.005,
+            "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
+        },
+        {
+            "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": 3399.995,
+            "min": 800.0,
+            "max": 3500.0
+        },
+        {
+            "current": 3500.0,
+            "min": 800.0,
+            "max": 3500.0
+        }
+    ],
+    "disk": {
+        "/": {
+            "total": 100.0,
+            "used": 15.78009033203125
+        }
+    },
+    "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
+    }
+}

dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250712_123246-om54obxk/logs/debug.log

@@ -0,0 +1,24 @@
+2025-07-12 12:32:46,924 INFO    MainThread:77329 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4
+2025-07-12 12:32:46,925 INFO    MainThread:77329 [wandb_setup.py:_flush():76] Configure stats pid to 77329
+2025-07-12 12:32:46,925 INFO    MainThread:77329 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings
+2025-07-12 12:32:46,925 INFO    MainThread:77329 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings
+2025-07-12 12:32:46,926 INFO    MainThread:77329 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'}
+2025-07-12 12:32:46,926 INFO    MainThread:77329 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False}
+2025-07-12 12:32:46,926 INFO    MainThread:77329 [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'}
+2025-07-12 12:32:46,927 INFO    MainThread:77329 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250712_123246-om54obxk/logs/debug.log
+2025-07-12 12:32:46,927 INFO    MainThread:77329 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250712_123246-om54obxk/logs/debug-internal.log
+2025-07-12 12:32:46,927 INFO    MainThread:77329 [wandb_init.py:init():569] calling init triggers
+2025-07-12 12:32:46,928 INFO    MainThread:77329 [wandb_init.py:init():576] wandb.init called with sweep_config: {}
+config: {'task': 'dog-trot', '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-trot_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': 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': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-trot/42/4o_dog-trot_s42'), 'task_title': 'Dog Trot', 'multitask': False, 'tasks': ['dog-trot'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2}
+2025-07-12 12:32:46,928 INFO    MainThread:77329 [wandb_init.py:init():619] starting backend
+2025-07-12 12:32:46,928 INFO    MainThread:77329 [wandb_init.py:init():623] setting up manager
+2025-07-12 12:32:46,940 INFO    MainThread:77329 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-07-12 12:32:46,941 INFO    MainThread:77329 [wandb_init.py:init():631] backend started and connected
+2025-07-12 12:32:46,957 INFO    MainThread:77329 [wandb_init.py:init():720] updated telemetry
+2025-07-12 12:32:47,066 INFO    MainThread:77329 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout
+2025-07-12 12:32:47,076 INFO    MainThread:77329 [wandb_init.py:init():804] starting run threads in backend
+2025-07-12 12:32:52,842 INFO    MainThread:77329 [wandb_run.py:_console_start():2380] atexit reg
+2025-07-12 12:32:52,843 INFO    MainThread:77329 [wandb_run.py:_redirect():2235] redirect: wrap_raw
+2025-07-12 12:32:52,843 INFO    MainThread:77329 [wandb_run.py:_redirect():2300] Wrapping output streams.
+2025-07-12 12:32:52,843 INFO    MainThread:77329 [wandb_run.py:_redirect():2325] Redirects installed.
+2025-07-12 12:32:52,847 INFO    MainThread:77329 [wandb_init.py:init():847] run started, returning control to user process

dog-trot/42/6o_dog-trot_s42/eval.csv

@@ -0,0 +1,5 @@
+step,episode_reward
+0.0,7.041892051696777
+50000.0,25.589153289794922
+100000.0,56.706382751464844
+150000.0,90.61968231201172