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2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/.hydra/config.yaml

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+demos: 100
+num_train_steps: 50000
+batch_size: 128
+lr: 0.0001
+lr_backbone: 1.0e-05
+weight_decay: 0.0001
+update_every_steps: 1
+eval_every_steps: 10000
+log_eval_video: true
+vis_every_steps: 2000
+save_every_steps: 10000
+num_eval_episodes: 25
+action_sequence: 50
+execution_length: 1
+inference_mode: TE
+alpha: 0.25
+convergence_threshold: 0.05
+final_len: 5
+normalize_action: min_max
+wandb:
+  use: true
+  project: CoA
+  name: null
+  save_dir: ${exp_root}
+  mode: offline
+seed: 1
+num_gpus: 1
+log_every_steps: 100
+pixels: true
+visual_observation_shape:
+- 128
+- 128
+debug: false
+env:
+  tasks:
+    basketball_in_hoop:
+      episode_length: 250
+    beat_the_buzz:
+      episode_length: 250
+    block_pyramid:
+      episode_length: 1130
+    change_channel:
+      episode_length: 350
+    change_clock:
+      episode_length: 300
+    close_box:
+      episode_length: 280
+    close_door:
+      episode_length: 230
+    close_drawer:
+      episode_length: 180
+    close_fridge:
+      episode_length: 240
+    close_grill:
+      episode_length: 190
+    close_jar:
+      episode_length: 400
+    close_laptop_lid:
+      episode_length: 250
+    close_microwave:
+      episode_length: 170
+    empty_container:
+      episode_length: 3230
+    empty_dishwasher:
+      episode_length: 690
+    get_ice_from_fridge:
+      episode_length: 440
+    hang_frame_on_hanger:
+      episode_length: 390
+    hit_ball_with_queue:
+      episode_length: 280
+    hockey:
+      episode_length: 360
+    insert_onto_square_peg:
+      episode_length: 380
+    insert_usb_in_computer:
+      episode_length: 210
+    lamp_off:
+      episode_length: 190
+    lamp_on:
+      episode_length: 180
+    lift_numbered_block:
+      episode_length: 290
+    light_bulb_in:
+      episode_length: 440
+    light_bulb_out:
+      episode_length: 310
+    meat_off_grill:
+      episode_length: 290
+    meat_on_grill:
+      episode_length: 340
+    move_hanger:
+      episode_length: 220
+    open_box:
+      episode_length: 230
+    open_door:
+      episode_length: 280
+    open_drawer:
+      episode_length: 180
+    open_fridge:
+      episode_length: 310
+    open_grill:
+      episode_length: 270
+    open_jar:
+      episode_length: 360
+    open_microwave:
+      episode_length: 220
+    open_oven:
+      episode_length: 500
+    open_washing_machine:
+      episode_length: 310
+    open_window:
+      episode_length: 280
+    open_wine_bottle:
+      episode_length: 220
+    phone_on_base:
+      episode_length: 350
+    pick_and_lift:
+      episode_length: 380
+    pick_and_lift_small:
+      episode_length: 280
+    pick_up_cup:
+      episode_length: 300
+    place_cups:
+      episode_length: 810
+    place_hanger_on_rack:
+      episode_length: 330
+    place_shape_in_shape_sorter:
+      episode_length: 330
+    play_jenga:
+      episode_length: 160
+    plug_charger_in_power_supply:
+      episode_length: 340
+    pour_from_cup_to_cup:
+      episode_length: 410
+    press_switch:
+      episode_length: 270
+    push_button:
+      episode_length: 260
+    push_buttons:
+      episode_length: 270
+    put_all_groceries_in_cupboard:
+      episode_length: 2190
+    put_books_on_bookshelf:
+      episode_length: 1100
+    put_bottle_in_fridge:
+      episode_length: 540
+    put_groceries_in_cupboard:
+      episode_length: 420
+    put_item_in_drawer:
+      episode_length: 430
+    put_knife_in_knife_block:
+      episode_length: 290
+    put_knife_on_chopping_board:
+      episode_length: 500
+    put_money_in_safe:
+      episode_length: 270
+    put_plate_in_colored_dish_rack:
+      episode_length: 510
+    put_rubbish_in_bin:
+      episode_length: 290
+    put_shoes_in_box:
+      episode_length: 580
+    put_toilet_roll_on_stand:
+      episode_length: 470
+    put_tray_in_oven:
+      episode_length: 750
+    put_umbrella_in_umbrella_stand:
+      episode_length: 420
+    reach_and_drag:
+      episode_length: 330
+    reach_target:
+      episode_length: 130
+    remove_cups:
+      episode_length: 470
+    scoop_with_spatula:
+      episode_length: 270
+    screw_nail:
+      episode_length: 450
+    set_the_table:
+      episode_length: 1140
+    setup_checkers:
+      episode_length: 640
+    setup_chess:
+      episode_length: 550
+    slide_block_to_target:
+      episode_length: 180
+    slide_cabinet_open:
+      episode_length: 420
+    slide_cabinet_open_and_place_cups:
+      episode_length: 660
+    solve_puzzle:
+      episode_length: 320
+    stack_blocks:
+      episode_length: 1100
+    stack_chairs:
+      episode_length: 550
+    stack_cups:
+      episode_length: 500
+    stack_wine:
+      episode_length: 250
+    straighten_rope:
+      episode_length: 410
+    sweep_to_dustpan:
+      episode_length: 170
+    take_cup_out_from_cabinet:
+      episode_length: 540
+    take_frame_off_hanger:
+      episode_length: 400
+    take_item_out_of_drawer:
+      episode_length: 530
+    take_lid_off_saucepan:
+      episode_length: 230
+    take_money_out_safe:
+      episode_length: 330
+    take_off_weighing_scales:
+      episode_length: 370
+    take_plate_off_colored_dish_rack:
+      episode_length: 340
+    take_shoes_out_of_box:
+      episode_length: 660
+    take_toilet_roll_off_stand:
+      episode_length: 370
+    take_tray_out_of_oven:
+      episode_length: 540
+    take_umbrella_out_of_umbrella_stand:
+      episode_length: 210
+    take_usb_out_of_computer:
+      episode_length: 140
+    toilet_seat_down:
+      episode_length: 270
+    toilet_seat_up:
+      episode_length: 340
+    turn_oven_on:
+      episode_length: 280
+    turn_tap:
+      episode_length: 250
+    tv_on:
+      episode_length: 360
+    unplug_charger:
+      episode_length: 230
+    water_plants:
+      episode_length: 210
+    wipe_desk:
+      episode_length: 400
+  env_name: rlbench
+  task_name: ${task}
+  is_pkl: true
+  modality: rgb
+  action_mode: ABS_END_EFFECTOR_POSE
+  cameras:
+  - front
+  - wrist
+  - left_shoulder
+  - right_shoulder
+  renderer: opengl3
+  arm_max_velocity: 1.0
+  arm_max_acceleration: 4.0
+  episode_length: ${env.tasks.${env.task_name}.episode_length}
+  episode_length_decay_rate: 1
+  frame_stack: 1
+method_name: stdp
+method:
+  _target_: src.methods.stdp.STDiffusionPolicy
+  lr: 0.0001
+  lr_backbone: 1.0e-05
+  weight_decay: 0.0001
+  num_train_steps: 20000
+  num_diffusion_iters: 50
+  adaptive_lr: true
+  actor_grad_clip: null
+  use_lang_cond: false
+  action_padding: zero
+  action_order: FORWARD
+  action_mode: ${env.action_mode}
+  execution_length: ${execution_length}
+  interp_method: cubic
+  action_dim: 8
+  noise_scheduler:
+    _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler
+    num_train_timesteps: 50
+    beta_start: 0.0001
+    beta_end: 0.02
+    beta_schedule: squaredcos_cap_v2
+    variance_type: fixed_small
+    clip_sample: true
+    prediction_type: epsilon
+  horizon: ${action_sequence}
+  n_obs_steps: 1
+  n_action_steps: ${action_sequence}
+  lr_scheduler: cosine
+  keyframe_only: false
+  loss_mode: all
+  loss_weight_max: 1.0
+  sample_mode: only_init
+  traj_sample_margin: 1
+  gradient_accumulate_every: 1
+  lr_warmup_steps: 1000
+  num_epochs: 3050
+  use_ema: true
+  num_inference_steps: 50
+  pred_action_steps_only: false
+  eval_fixed_crop: false
+  crop_shape:
+  - 128
+  - 128
+  obs_encoder_group_norm: true
+  actor_model:
+    _target_: src.methods.stdp.STDiffusionTransformer
+    _partial_: true
+    input_dim: 8
+    output_dim: 8
+    horizon: ${action_sequence}
+    n_obs_steps: 1
+    n_layer: 8
+    n_head: 4
+    n_emb: 256
+    p_drop_emb: 0.0
+    p_drop_attn: 0.3
+    causal_attn: true
+    time_as_cond: true
+    obs_as_cond: true
+    n_cond_layers: 0
+  encoder_model:
+    _target_: src.methods.stdp.ImageEncoder
+    _partial_: true
+    input_shape:
+    - 4
+    - 3
+    - 128
+    - 128
+    hidden_dim: 512
+    position_embedding: sine
+    lr_backbone: ${method.lr_backbone}
+    masks: false
+    backbone: resnet18
+    dilation: false
+    use_frozen_bn: false
+    use_lang_cond: ${method.use_lang_cond}
+snapshot: null
+tag: null
+exp_root: .
+num_workers: 0
+pin_memory: true
+persistent_workers: true
+prefetch_factor: 0
+task: take_off_weighing_scales
+dataset_root: data/rlbench
+dataset_root_train: ${dataset_root}/train
+dataset_root_eval: ${dataset_root}/eval
+replay_path: data/replay/${dataset_root}/demos.hdf5

2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/.hydra/hydra.yaml

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+hydra:
+  run:
+    dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - task=take_off_weighing_scales
+    - action_sequence=50
+    - save_every_steps=10000
+    - num_train_steps=50000
+  job:
+    name: train_st
+    chdir: null
+    override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=take_off_weighing_scales
+    id: ???
+    num: ???
+    config_name: launch_st
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50
+    choices:
+      method: stdp
+      env: episode_length
+      base: base_config_st
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/.hydra/overrides.yaml

@@ -0,0 +1,4 @@
+- task=take_off_weighing_scales
+- action_sequence=50
+- save_every_steps=10000
+- num_train_steps=50000

2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/checkpoints/stdp_10000.pt

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2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json

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+"success_ratio": ,
+"fail_ratio": ,
+"error_ratio": 
+}

2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json

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+{
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+"fail_ratio": ,
+"error_ratio": 
+}

2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json

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+}

2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json

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+}

2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json

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+{
+"success_ratio": ,
+"fail_ratio": ,
+"error_ratio": 
+}

2026.01.27/15.09.19_take_off_weighing_scales_nobs1_nseq50/train_st.log

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+[2026-01-27 15:10:02,659][src.methods.stdp.stdp][INFO] - number of parameters: 9.039112e+06
+[2026-01-27 15:10:02,686][src.logger][INFO] - Start training, total steps: 50000
+[2026-01-27 15:10:24,506][src.logger][INFO] - Step 100: total_loss=0.599368
+[2026-01-27 15:10:45,615][src.logger][INFO] - Step 200: total_loss=0.276747
+[2026-01-27 15:11:06,962][src.logger][INFO] - Step 300: total_loss=0.208297
+[2026-01-27 15:11:28,007][src.logger][INFO] - Step 400: total_loss=0.198543
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+[2026-01-27 15:12:10,188][src.logger][INFO] - Step 600: total_loss=0.108124
+[2026-01-27 15:12:31,708][src.logger][INFO] - Step 700: total_loss=0.113365
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+[2026-01-27 18:03:43,763][src.logger][INFO] - Step 46600: total_loss=0.008933
+[2026-01-27 18:04:05,319][src.logger][INFO] - Step 46700: total_loss=0.009287
+[2026-01-27 18:04:27,122][src.logger][INFO] - Step 46800: total_loss=0.009327
+[2026-01-27 18:04:48,784][src.logger][INFO] - Step 46900: total_loss=0.008102
+[2026-01-27 18:05:10,337][src.logger][INFO] - Step 47000: total_loss=0.007233
+[2026-01-27 18:05:31,646][src.logger][INFO] - Step 47100: total_loss=0.008668
+[2026-01-27 18:05:52,977][src.logger][INFO] - Step 47200: total_loss=0.007032
+[2026-01-27 18:06:15,190][src.logger][INFO] - Step 47300: total_loss=0.006857
+[2026-01-27 18:06:36,401][src.logger][INFO] - Step 47400: total_loss=0.006379
+[2026-01-27 18:06:57,642][src.logger][INFO] - Step 47500: total_loss=0.006765
+[2026-01-27 18:07:18,876][src.logger][INFO] - Step 47600: total_loss=0.007783
+[2026-01-27 18:07:40,061][src.logger][INFO] - Step 47700: total_loss=0.005814
+[2026-01-27 18:08:02,548][src.logger][INFO] - Step 47800: total_loss=0.007055
+[2026-01-27 18:08:23,740][src.logger][INFO] - Step 47900: total_loss=0.007886
+[2026-01-27 18:08:44,823][src.logger][INFO] - Step 48000: total_loss=0.010379
+[2026-01-27 18:09:06,276][src.logger][INFO] - Step 48100: total_loss=0.005646
+[2026-01-27 18:09:27,189][src.logger][INFO] - Step 48200: total_loss=0.005076
+[2026-01-27 18:09:48,208][src.logger][INFO] - Step 48300: total_loss=0.006056
+[2026-01-27 18:10:09,479][src.logger][INFO] - Step 48400: total_loss=0.005108
+[2026-01-27 18:10:30,469][src.logger][INFO] - Step 48500: total_loss=0.007208
+[2026-01-27 18:10:51,955][src.logger][INFO] - Step 48600: total_loss=0.008083
+[2026-01-27 18:11:13,566][src.logger][INFO] - Step 48700: total_loss=0.008209
+[2026-01-27 18:11:34,686][src.logger][INFO] - Step 48800: total_loss=0.006712
+[2026-01-27 18:11:56,061][src.logger][INFO] - Step 48900: total_loss=0.006063
+[2026-01-27 18:12:18,349][src.logger][INFO] - Step 49000: total_loss=0.006966
+[2026-01-27 18:12:39,694][src.logger][INFO] - Step 49100: total_loss=0.007436
+[2026-01-27 18:13:00,960][src.logger][INFO] - Step 49200: total_loss=0.004933
+[2026-01-27 18:13:21,927][src.logger][INFO] - Step 49300: total_loss=0.007404
+[2026-01-27 18:13:43,273][src.logger][INFO] - Step 49400: total_loss=0.004185
+[2026-01-27 18:14:04,788][src.logger][INFO] - Step 49500: total_loss=0.004568
+[2026-01-27 18:14:26,294][src.logger][INFO] - Step 49600: total_loss=0.009493
+[2026-01-27 18:14:47,694][src.logger][INFO] - Step 49700: total_loss=0.007899
+[2026-01-27 18:15:08,607][src.logger][INFO] - Step 49800: total_loss=0.005276
+[2026-01-27 18:15:30,293][src.logger][INFO] - Step 49900: total_loss=0.005336
+[2026-01-27 18:15:52,492][src.logger][INFO] - Step 50000: total_loss=0.005839
+[2026-01-27 18:15:52,939][src.logger][INFO] - Finished training!

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/.hydra/config.yaml

@@ -0,0 +1,351 @@
+demos: 100
+num_train_steps: 50000
+batch_size: 128
+lr: 0.0001
+lr_backbone: 1.0e-05
+weight_decay: 0.0001
+update_every_steps: 1
+eval_every_steps: 10000
+log_eval_video: true
+vis_every_steps: 2000
+save_every_steps: 10000
+num_eval_episodes: 25
+action_sequence: 50
+execution_length: 1
+inference_mode: TE
+alpha: 0.25
+convergence_threshold: 0.05
+final_len: 5
+normalize_action: min_max
+wandb:
+  use: true
+  project: CoA
+  name: null
+  save_dir: ${exp_root}
+  mode: offline
+seed: 1
+num_gpus: 1
+log_every_steps: 100
+pixels: true
+visual_observation_shape:
+- 128
+- 128
+debug: false
+env:
+  tasks:
+    basketball_in_hoop:
+      episode_length: 250
+    beat_the_buzz:
+      episode_length: 250
+    block_pyramid:
+      episode_length: 1130
+    change_channel:
+      episode_length: 350
+    change_clock:
+      episode_length: 300
+    close_box:
+      episode_length: 280
+    close_door:
+      episode_length: 230
+    close_drawer:
+      episode_length: 180
+    close_fridge:
+      episode_length: 240
+    close_grill:
+      episode_length: 190
+    close_jar:
+      episode_length: 400
+    close_laptop_lid:
+      episode_length: 250
+    close_microwave:
+      episode_length: 170
+    empty_container:
+      episode_length: 3230
+    empty_dishwasher:
+      episode_length: 690
+    get_ice_from_fridge:
+      episode_length: 440
+    hang_frame_on_hanger:
+      episode_length: 390
+    hit_ball_with_queue:
+      episode_length: 280
+    hockey:
+      episode_length: 360
+    insert_onto_square_peg:
+      episode_length: 380
+    insert_usb_in_computer:
+      episode_length: 210
+    lamp_off:
+      episode_length: 190
+    lamp_on:
+      episode_length: 180
+    lift_numbered_block:
+      episode_length: 290
+    light_bulb_in:
+      episode_length: 440
+    light_bulb_out:
+      episode_length: 310
+    meat_off_grill:
+      episode_length: 290
+    meat_on_grill:
+      episode_length: 340
+    move_hanger:
+      episode_length: 220
+    open_box:
+      episode_length: 230
+    open_door:
+      episode_length: 280
+    open_drawer:
+      episode_length: 180
+    open_fridge:
+      episode_length: 310
+    open_grill:
+      episode_length: 270
+    open_jar:
+      episode_length: 360
+    open_microwave:
+      episode_length: 220
+    open_oven:
+      episode_length: 500
+    open_washing_machine:
+      episode_length: 310
+    open_window:
+      episode_length: 280
+    open_wine_bottle:
+      episode_length: 220
+    phone_on_base:
+      episode_length: 350
+    pick_and_lift:
+      episode_length: 380
+    pick_and_lift_small:
+      episode_length: 280
+    pick_up_cup:
+      episode_length: 300
+    place_cups:
+      episode_length: 810
+    place_hanger_on_rack:
+      episode_length: 330
+    place_shape_in_shape_sorter:
+      episode_length: 330
+    play_jenga:
+      episode_length: 160
+    plug_charger_in_power_supply:
+      episode_length: 340
+    pour_from_cup_to_cup:
+      episode_length: 410
+    press_switch:
+      episode_length: 270
+    push_button:
+      episode_length: 260
+    push_buttons:
+      episode_length: 270
+    put_all_groceries_in_cupboard:
+      episode_length: 2190
+    put_books_on_bookshelf:
+      episode_length: 1100
+    put_bottle_in_fridge:
+      episode_length: 540
+    put_groceries_in_cupboard:
+      episode_length: 420
+    put_item_in_drawer:
+      episode_length: 430
+    put_knife_in_knife_block:
+      episode_length: 290
+    put_knife_on_chopping_board:
+      episode_length: 500
+    put_money_in_safe:
+      episode_length: 270
+    put_plate_in_colored_dish_rack:
+      episode_length: 510
+    put_rubbish_in_bin:
+      episode_length: 290
+    put_shoes_in_box:
+      episode_length: 580
+    put_toilet_roll_on_stand:
+      episode_length: 470
+    put_tray_in_oven:
+      episode_length: 750
+    put_umbrella_in_umbrella_stand:
+      episode_length: 420
+    reach_and_drag:
+      episode_length: 330
+    reach_target:
+      episode_length: 130
+    remove_cups:
+      episode_length: 470
+    scoop_with_spatula:
+      episode_length: 270
+    screw_nail:
+      episode_length: 450
+    set_the_table:
+      episode_length: 1140
+    setup_checkers:
+      episode_length: 640
+    setup_chess:
+      episode_length: 550
+    slide_block_to_target:
+      episode_length: 180
+    slide_cabinet_open:
+      episode_length: 420
+    slide_cabinet_open_and_place_cups:
+      episode_length: 660
+    solve_puzzle:
+      episode_length: 320
+    stack_blocks:
+      episode_length: 1100
+    stack_chairs:
+      episode_length: 550
+    stack_cups:
+      episode_length: 500
+    stack_wine:
+      episode_length: 250
+    straighten_rope:
+      episode_length: 410
+    sweep_to_dustpan:
+      episode_length: 170
+    take_cup_out_from_cabinet:
+      episode_length: 540
+    take_frame_off_hanger:
+      episode_length: 400
+    take_item_out_of_drawer:
+      episode_length: 530
+    take_lid_off_saucepan:
+      episode_length: 230
+    take_money_out_safe:
+      episode_length: 330
+    take_off_weighing_scales:
+      episode_length: 370
+    take_plate_off_colored_dish_rack:
+      episode_length: 340
+    take_shoes_out_of_box:
+      episode_length: 660
+    take_toilet_roll_off_stand:
+      episode_length: 370
+    take_tray_out_of_oven:
+      episode_length: 540
+    take_umbrella_out_of_umbrella_stand:
+      episode_length: 210
+    take_usb_out_of_computer:
+      episode_length: 140
+    toilet_seat_down:
+      episode_length: 270
+    toilet_seat_up:
+      episode_length: 340
+    turn_oven_on:
+      episode_length: 280
+    turn_tap:
+      episode_length: 250
+    tv_on:
+      episode_length: 360
+    unplug_charger:
+      episode_length: 230
+    water_plants:
+      episode_length: 210
+    wipe_desk:
+      episode_length: 400
+  env_name: rlbench
+  task_name: ${task}
+  is_pkl: true
+  modality: rgb
+  action_mode: ABS_END_EFFECTOR_POSE
+  cameras:
+  - front
+  - wrist
+  - left_shoulder
+  - right_shoulder
+  renderer: opengl3
+  arm_max_velocity: 1.0
+  arm_max_acceleration: 4.0
+  episode_length: ${env.tasks.${env.task_name}.episode_length}
+  episode_length_decay_rate: 1
+  frame_stack: 1
+method_name: stdp
+method:
+  _target_: src.methods.stdp.STDiffusionPolicy
+  lr: 0.0001
+  lr_backbone: 1.0e-05
+  weight_decay: 0.0001
+  num_train_steps: 20000
+  num_diffusion_iters: 50
+  adaptive_lr: true
+  actor_grad_clip: null
+  use_lang_cond: false
+  action_padding: zero
+  action_order: FORWARD
+  action_mode: ${env.action_mode}
+  execution_length: ${execution_length}
+  interp_method: cubic
+  action_dim: 8
+  noise_scheduler:
+    _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler
+    num_train_timesteps: 50
+    beta_start: 0.0001
+    beta_end: 0.02
+    beta_schedule: squaredcos_cap_v2
+    variance_type: fixed_small
+    clip_sample: true
+    prediction_type: epsilon
+  horizon: ${action_sequence}
+  n_obs_steps: 1
+  n_action_steps: ${action_sequence}
+  lr_scheduler: cosine
+  keyframe_only: false
+  loss_mode: all
+  loss_weight_max: 1.0
+  sample_mode: only_init
+  traj_sample_margin: 1
+  gradient_accumulate_every: 1
+  lr_warmup_steps: 1000
+  num_epochs: 3050
+  use_ema: true
+  num_inference_steps: 50
+  pred_action_steps_only: false
+  eval_fixed_crop: false
+  crop_shape:
+  - 128
+  - 128
+  obs_encoder_group_norm: true
+  actor_model:
+    _target_: src.methods.stdp.STDiffusionTransformer
+    _partial_: true
+    input_dim: 8
+    output_dim: 8
+    horizon: ${action_sequence}
+    n_obs_steps: 1
+    n_layer: 8
+    n_head: 4
+    n_emb: 256
+    p_drop_emb: 0.0
+    p_drop_attn: 0.3
+    causal_attn: true
+    time_as_cond: true
+    obs_as_cond: true
+    n_cond_layers: 0
+  encoder_model:
+    _target_: src.methods.stdp.ImageEncoder
+    _partial_: true
+    input_shape:
+    - 4
+    - 3
+    - 128
+    - 128
+    hidden_dim: 512
+    position_embedding: sine
+    lr_backbone: ${method.lr_backbone}
+    masks: false
+    backbone: resnet18
+    dilation: false
+    use_frozen_bn: false
+    use_lang_cond: ${method.use_lang_cond}
+snapshot: null
+tag: null
+exp_root: .
+num_workers: 0
+pin_memory: true
+persistent_workers: true
+prefetch_factor: 0
+task: insert_usb_in_computer
+dataset_root: data/rlbench
+dataset_root_train: ${dataset_root}/train
+dataset_root_eval: ${dataset_root}/eval
+replay_path: data/replay/${dataset_root}/demos.hdf5

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/.hydra/hydra.yaml

@@ -0,0 +1,161 @@
+hydra:
+  run:
+    dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - task=insert_usb_in_computer
+    - action_sequence=50
+    - save_every_steps=10000
+    - num_train_steps=50000
+  job:
+    name: train_st
+    chdir: null
+    override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=insert_usb_in_computer
+    id: ???
+    num: ???
+    config_name: launch_st
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50
+    choices:
+      method: stdp
+      env: episode_length
+      base: base_config_st
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/.hydra/overrides.yaml

@@ -0,0 +1,4 @@
+- task=insert_usb_in_computer
+- action_sequence=50
+- save_every_steps=10000
+- num_train_steps=50000

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_10000.pt

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+size 118382614

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_20000.pt

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+size 118382614

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_30000.pt

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+size 118382614

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_40000.pt

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+size 118382614

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/checkpoints/stdp_50000.pt

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+size 118382614

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_10000epochs/ckpt_results.json

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+{
+"success_ratio": ,
+"fail_ratio": ,
+"error_ratio": 
+}

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_20000epochs/ckpt_results.json

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+{
+"success_ratio": ,
+"fail_ratio": ,
+"error_ratio": 
+}

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_30000epochs/ckpt_results.json

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+{
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+"fail_ratio": ,
+"error_ratio": 
+}

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_40000epochs/ckpt_results.json

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+"error_ratio": 
+}

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/eval_output/eval_single_all_sm-random/stdp_50000epochs/ckpt_results.json

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+{
+"success_ratio": ,
+"fail_ratio": ,
+"error_ratio": 
+}

2026.01.27/15.10.12_insert_usb_in_computer_nobs1_nseq50/train_st.log

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+[2026-01-27 17:44:35,328][src.logger][INFO] - Step 43100: total_loss=0.004917
+[2026-01-27 17:44:57,176][src.logger][INFO] - Step 43200: total_loss=0.005736
+[2026-01-27 17:45:18,333][src.logger][INFO] - Step 43300: total_loss=0.006568
+[2026-01-27 17:45:39,977][src.logger][INFO] - Step 43400: total_loss=0.005487
+[2026-01-27 17:46:00,288][src.logger][INFO] - Step 43500: total_loss=0.006128
+[2026-01-27 17:46:21,569][src.logger][INFO] - Step 43600: total_loss=0.004219
+[2026-01-27 17:46:42,489][src.logger][INFO] - Step 43700: total_loss=0.003718
+[2026-01-27 17:47:02,968][src.logger][INFO] - Step 43800: total_loss=0.005332
+[2026-01-27 17:47:23,466][src.logger][INFO] - Step 43900: total_loss=0.006439
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+[2026-01-27 17:48:26,601][src.logger][INFO] - Step 44200: total_loss=0.004981
+[2026-01-27 17:48:48,293][src.logger][INFO] - Step 44300: total_loss=0.005034
+[2026-01-27 17:49:09,425][src.logger][INFO] - Step 44400: total_loss=0.005469
+[2026-01-27 17:49:30,203][src.logger][INFO] - Step 44500: total_loss=0.005384
+[2026-01-27 17:49:51,160][src.logger][INFO] - Step 44600: total_loss=0.004463
+[2026-01-27 17:50:13,635][src.logger][INFO] - Step 44700: total_loss=0.005940
+[2026-01-27 17:50:34,755][src.logger][INFO] - Step 44800: total_loss=0.004499
+[2026-01-27 17:50:55,900][src.logger][INFO] - Step 44900: total_loss=0.005189
+[2026-01-27 17:51:16,457][src.logger][INFO] - Step 45000: total_loss=0.003340
+[2026-01-27 17:51:38,151][src.logger][INFO] - Step 45100: total_loss=0.007090
+[2026-01-27 17:51:58,959][src.logger][INFO] - Step 45200: total_loss=0.006220
+[2026-01-27 17:52:19,785][src.logger][INFO] - Step 45300: total_loss=0.005346
+[2026-01-27 17:52:40,412][src.logger][INFO] - Step 45400: total_loss=0.006392
+[2026-01-27 17:53:01,174][src.logger][INFO] - Step 45500: total_loss=0.003898
+[2026-01-27 17:53:22,026][src.logger][INFO] - Step 45600: total_loss=0.006694
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+[2026-01-27 17:54:04,622][src.logger][INFO] - Step 45800: total_loss=0.003806
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+[2026-01-27 17:55:27,790][src.logger][INFO] - Step 46200: total_loss=0.006162
+[2026-01-27 17:55:48,590][src.logger][INFO] - Step 46300: total_loss=0.005036
+[2026-01-27 17:56:10,445][src.logger][INFO] - Step 46400: total_loss=0.004584
+[2026-01-27 17:56:31,014][src.logger][INFO] - Step 46500: total_loss=0.004695
+[2026-01-27 17:56:51,845][src.logger][INFO] - Step 46600: total_loss=0.004453
+[2026-01-27 17:57:13,355][src.logger][INFO] - Step 46700: total_loss=0.004401
+[2026-01-27 17:57:34,065][src.logger][INFO] - Step 46800: total_loss=0.005602
+[2026-01-27 17:57:54,650][src.logger][INFO] - Step 46900: total_loss=0.004227
+[2026-01-27 17:58:15,262][src.logger][INFO] - Step 47000: total_loss=0.003564
+[2026-01-27 17:58:35,849][src.logger][INFO] - Step 47100: total_loss=0.005442
+[2026-01-27 17:58:56,383][src.logger][INFO] - Step 47200: total_loss=0.004141
+[2026-01-27 17:59:17,221][src.logger][INFO] - Step 47300: total_loss=0.005178
+[2026-01-27 17:59:37,877][src.logger][INFO] - Step 47400: total_loss=0.003620
+[2026-01-27 17:59:58,831][src.logger][INFO] - Step 47500: total_loss=0.003705
+[2026-01-27 18:00:19,549][src.logger][INFO] - Step 47600: total_loss=0.003680
+[2026-01-27 18:00:40,074][src.logger][INFO] - Step 47700: total_loss=0.004173
+[2026-01-27 18:01:01,000][src.logger][INFO] - Step 47800: total_loss=0.003549
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+[2026-01-27 18:02:23,624][src.logger][INFO] - Step 48200: total_loss=0.003678
+[2026-01-27 18:02:44,443][src.logger][INFO] - Step 48300: total_loss=0.002750
+[2026-01-27 18:03:05,297][src.logger][INFO] - Step 48400: total_loss=0.003370
+[2026-01-27 18:03:27,139][src.logger][INFO] - Step 48500: total_loss=0.003860
+[2026-01-27 18:03:47,819][src.logger][INFO] - Step 48600: total_loss=0.003633
+[2026-01-27 18:04:08,708][src.logger][INFO] - Step 48700: total_loss=0.005098
+[2026-01-27 18:04:29,974][src.logger][INFO] - Step 48800: total_loss=0.004450
+[2026-01-27 18:04:51,025][src.logger][INFO] - Step 48900: total_loss=0.005254
+[2026-01-27 18:05:11,583][src.logger][INFO] - Step 49000: total_loss=0.003764
+[2026-01-27 18:05:32,327][src.logger][INFO] - Step 49100: total_loss=0.004374
+[2026-01-27 18:05:53,107][src.logger][INFO] - Step 49200: total_loss=0.003558
+[2026-01-27 18:06:14,781][src.logger][INFO] - Step 49300: total_loss=0.003770
+[2026-01-27 18:06:35,786][src.logger][INFO] - Step 49400: total_loss=0.002444
+[2026-01-27 18:06:56,333][src.logger][INFO] - Step 49500: total_loss=0.003518
+[2026-01-27 18:07:16,939][src.logger][INFO] - Step 49600: total_loss=0.005014
+[2026-01-27 18:07:37,993][src.logger][INFO] - Step 49700: total_loss=0.003250
+[2026-01-27 18:08:00,222][src.logger][INFO] - Step 49800: total_loss=0.003323
+[2026-01-27 18:08:21,022][src.logger][INFO] - Step 49900: total_loss=0.003302
+[2026-01-27 18:08:41,760][src.logger][INFO] - Step 50000: total_loss=0.003764
+[2026-01-27 18:08:42,103][src.logger][INFO] - Finished training!

2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/.hydra/config.yaml

@@ -0,0 +1,351 @@
+demos: 100
+num_train_steps: 50000
+batch_size: 128
+lr: 0.0001
+lr_backbone: 1.0e-05
+weight_decay: 0.0001
+update_every_steps: 1
+eval_every_steps: 10000
+log_eval_video: true
+vis_every_steps: 2000
+save_every_steps: 10000
+num_eval_episodes: 25
+action_sequence: 50
+execution_length: 1
+inference_mode: TE
+alpha: 0.25
+convergence_threshold: 0.05
+final_len: 5
+normalize_action: min_max
+wandb:
+  use: true
+  project: CoA
+  name: null
+  save_dir: ${exp_root}
+  mode: offline
+seed: 1
+num_gpus: 1
+log_every_steps: 100
+pixels: true
+visual_observation_shape:
+- 128
+- 128
+debug: false
+env:
+  tasks:
+    basketball_in_hoop:
+      episode_length: 250
+    beat_the_buzz:
+      episode_length: 250
+    block_pyramid:
+      episode_length: 1130
+    change_channel:
+      episode_length: 350
+    change_clock:
+      episode_length: 300
+    close_box:
+      episode_length: 280
+    close_door:
+      episode_length: 230
+    close_drawer:
+      episode_length: 180
+    close_fridge:
+      episode_length: 240
+    close_grill:
+      episode_length: 190
+    close_jar:
+      episode_length: 400
+    close_laptop_lid:
+      episode_length: 250
+    close_microwave:
+      episode_length: 170
+    empty_container:
+      episode_length: 3230
+    empty_dishwasher:
+      episode_length: 690
+    get_ice_from_fridge:
+      episode_length: 440
+    hang_frame_on_hanger:
+      episode_length: 390
+    hit_ball_with_queue:
+      episode_length: 280
+    hockey:
+      episode_length: 360
+    insert_onto_square_peg:
+      episode_length: 380
+    insert_usb_in_computer:
+      episode_length: 210
+    lamp_off:
+      episode_length: 190
+    lamp_on:
+      episode_length: 180
+    lift_numbered_block:
+      episode_length: 290
+    light_bulb_in:
+      episode_length: 440
+    light_bulb_out:
+      episode_length: 310
+    meat_off_grill:
+      episode_length: 290
+    meat_on_grill:
+      episode_length: 340
+    move_hanger:
+      episode_length: 220
+    open_box:
+      episode_length: 230
+    open_door:
+      episode_length: 280
+    open_drawer:
+      episode_length: 180
+    open_fridge:
+      episode_length: 310
+    open_grill:
+      episode_length: 270
+    open_jar:
+      episode_length: 360
+    open_microwave:
+      episode_length: 220
+    open_oven:
+      episode_length: 500
+    open_washing_machine:
+      episode_length: 310
+    open_window:
+      episode_length: 280
+    open_wine_bottle:
+      episode_length: 220
+    phone_on_base:
+      episode_length: 350
+    pick_and_lift:
+      episode_length: 380
+    pick_and_lift_small:
+      episode_length: 280
+    pick_up_cup:
+      episode_length: 300
+    place_cups:
+      episode_length: 810
+    place_hanger_on_rack:
+      episode_length: 330
+    place_shape_in_shape_sorter:
+      episode_length: 330
+    play_jenga:
+      episode_length: 160
+    plug_charger_in_power_supply:
+      episode_length: 340
+    pour_from_cup_to_cup:
+      episode_length: 410
+    press_switch:
+      episode_length: 270
+    push_button:
+      episode_length: 260
+    push_buttons:
+      episode_length: 270
+    put_all_groceries_in_cupboard:
+      episode_length: 2190
+    put_books_on_bookshelf:
+      episode_length: 1100
+    put_bottle_in_fridge:
+      episode_length: 540
+    put_groceries_in_cupboard:
+      episode_length: 420
+    put_item_in_drawer:
+      episode_length: 430
+    put_knife_in_knife_block:
+      episode_length: 290
+    put_knife_on_chopping_board:
+      episode_length: 500
+    put_money_in_safe:
+      episode_length: 270
+    put_plate_in_colored_dish_rack:
+      episode_length: 510
+    put_rubbish_in_bin:
+      episode_length: 290
+    put_shoes_in_box:
+      episode_length: 580
+    put_toilet_roll_on_stand:
+      episode_length: 470
+    put_tray_in_oven:
+      episode_length: 750
+    put_umbrella_in_umbrella_stand:
+      episode_length: 420
+    reach_and_drag:
+      episode_length: 330
+    reach_target:
+      episode_length: 130
+    remove_cups:
+      episode_length: 470
+    scoop_with_spatula:
+      episode_length: 270
+    screw_nail:
+      episode_length: 450
+    set_the_table:
+      episode_length: 1140
+    setup_checkers:
+      episode_length: 640
+    setup_chess:
+      episode_length: 550
+    slide_block_to_target:
+      episode_length: 180
+    slide_cabinet_open:
+      episode_length: 420
+    slide_cabinet_open_and_place_cups:
+      episode_length: 660
+    solve_puzzle:
+      episode_length: 320
+    stack_blocks:
+      episode_length: 1100
+    stack_chairs:
+      episode_length: 550
+    stack_cups:
+      episode_length: 500
+    stack_wine:
+      episode_length: 250
+    straighten_rope:
+      episode_length: 410
+    sweep_to_dustpan:
+      episode_length: 170
+    take_cup_out_from_cabinet:
+      episode_length: 540
+    take_frame_off_hanger:
+      episode_length: 400
+    take_item_out_of_drawer:
+      episode_length: 530
+    take_lid_off_saucepan:
+      episode_length: 230
+    take_money_out_safe:
+      episode_length: 330
+    take_off_weighing_scales:
+      episode_length: 370
+    take_plate_off_colored_dish_rack:
+      episode_length: 340
+    take_shoes_out_of_box:
+      episode_length: 660
+    take_toilet_roll_off_stand:
+      episode_length: 370
+    take_tray_out_of_oven:
+      episode_length: 540
+    take_umbrella_out_of_umbrella_stand:
+      episode_length: 210
+    take_usb_out_of_computer:
+      episode_length: 140
+    toilet_seat_down:
+      episode_length: 270
+    toilet_seat_up:
+      episode_length: 340
+    turn_oven_on:
+      episode_length: 280
+    turn_tap:
+      episode_length: 250
+    tv_on:
+      episode_length: 360
+    unplug_charger:
+      episode_length: 230
+    water_plants:
+      episode_length: 210
+    wipe_desk:
+      episode_length: 400
+  env_name: rlbench
+  task_name: ${task}
+  is_pkl: true
+  modality: rgb
+  action_mode: ABS_END_EFFECTOR_POSE
+  cameras:
+  - front
+  - wrist
+  - left_shoulder
+  - right_shoulder
+  renderer: opengl3
+  arm_max_velocity: 1.0
+  arm_max_acceleration: 4.0
+  episode_length: ${env.tasks.${env.task_name}.episode_length}
+  episode_length_decay_rate: 1
+  frame_stack: 1
+method_name: stdp
+method:
+  _target_: src.methods.stdp.STDiffusionPolicy
+  lr: 0.0001
+  lr_backbone: 1.0e-05
+  weight_decay: 0.0001
+  num_train_steps: 20000
+  num_diffusion_iters: 50
+  adaptive_lr: true
+  actor_grad_clip: null
+  use_lang_cond: false
+  action_padding: zero
+  action_order: FORWARD
+  action_mode: ${env.action_mode}
+  execution_length: ${execution_length}
+  interp_method: cubic
+  action_dim: 8
+  noise_scheduler:
+    _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler
+    num_train_timesteps: 50
+    beta_start: 0.0001
+    beta_end: 0.02
+    beta_schedule: squaredcos_cap_v2
+    variance_type: fixed_small
+    clip_sample: true
+    prediction_type: epsilon
+  horizon: ${action_sequence}
+  n_obs_steps: 1
+  n_action_steps: ${action_sequence}
+  lr_scheduler: cosine
+  keyframe_only: false
+  loss_mode: all
+  loss_weight_max: 1.0
+  sample_mode: only_init
+  traj_sample_margin: 1
+  gradient_accumulate_every: 1
+  lr_warmup_steps: 1000
+  num_epochs: 3050
+  use_ema: true
+  num_inference_steps: 50
+  pred_action_steps_only: false
+  eval_fixed_crop: false
+  crop_shape:
+  - 128
+  - 128
+  obs_encoder_group_norm: true
+  actor_model:
+    _target_: src.methods.stdp.STDiffusionTransformer
+    _partial_: true
+    input_dim: 8
+    output_dim: 8
+    horizon: ${action_sequence}
+    n_obs_steps: 1
+    n_layer: 8
+    n_head: 4
+    n_emb: 256
+    p_drop_emb: 0.0
+    p_drop_attn: 0.3
+    causal_attn: true
+    time_as_cond: true
+    obs_as_cond: true
+    n_cond_layers: 0
+  encoder_model:
+    _target_: src.methods.stdp.ImageEncoder
+    _partial_: true
+    input_shape:
+    - 4
+    - 3
+    - 128
+    - 128
+    hidden_dim: 512
+    position_embedding: sine
+    lr_backbone: ${method.lr_backbone}
+    masks: false
+    backbone: resnet18
+    dilation: false
+    use_frozen_bn: false
+    use_lang_cond: ${method.use_lang_cond}
+snapshot: null
+tag: null
+exp_root: .
+num_workers: 0
+pin_memory: true
+persistent_workers: true
+prefetch_factor: 0
+task: hit_ball_with_queue
+dataset_root: data/rlbench
+dataset_root_train: ${dataset_root}/train
+dataset_root_eval: ${dataset_root}/eval
+replay_path: data/replay/${dataset_root}/demos.hdf5

2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/.hydra/hydra.yaml

@@ -0,0 +1,161 @@
+hydra:
+  run:
+    dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - task=hit_ball_with_queue
+    - action_sequence=50
+    - save_every_steps=10000
+    - num_train_steps=50000
+  job:
+    name: train_st
+    chdir: null
+    override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=hit_ball_with_queue
+    id: ???
+    num: ???
+    config_name: launch_st
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50
+    choices:
+      method: stdp
+      env: episode_length
+      base: base_config_st
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
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2026.01.27/15.23.21_hit_ball_with_queue_nobs1_nseq50/.hydra/overrides.yaml

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+[2026-01-27 18:17:27,334][src.logger][INFO] - Step 48900: total_loss=0.008813
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+[2026-01-27 18:18:48,388][src.logger][INFO] - Step 49300: total_loss=0.012043
+[2026-01-27 18:19:08,736][src.logger][INFO] - Step 49400: total_loss=0.006641
+[2026-01-27 18:19:29,049][src.logger][INFO] - Step 49500: total_loss=0.006541
+[2026-01-27 18:19:49,091][src.logger][INFO] - Step 49600: total_loss=0.011626
+[2026-01-27 18:20:09,105][src.logger][INFO] - Step 49700: total_loss=0.010513
+[2026-01-27 18:20:29,249][src.logger][INFO] - Step 49800: total_loss=0.007976
+[2026-01-27 18:20:49,646][src.logger][INFO] - Step 49900: total_loss=0.008742
+[2026-01-27 18:21:09,799][src.logger][INFO] - Step 50000: total_loss=0.007742
+[2026-01-27 18:21:10,223][src.logger][INFO] - Finished training!

2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/.hydra/config.yaml

@@ -0,0 +1,351 @@
+demos: 100
+num_train_steps: 50000
+batch_size: 128
+lr: 0.0001
+lr_backbone: 1.0e-05
+weight_decay: 0.0001
+update_every_steps: 1
+eval_every_steps: 10000
+log_eval_video: true
+vis_every_steps: 2000
+save_every_steps: 10000
+num_eval_episodes: 25
+action_sequence: 50
+execution_length: 1
+inference_mode: TE
+alpha: 0.25
+convergence_threshold: 0.05
+final_len: 5
+normalize_action: min_max
+wandb:
+  use: true
+  project: CoA
+  name: null
+  save_dir: ${exp_root}
+  mode: offline
+seed: 1
+num_gpus: 1
+log_every_steps: 100
+pixels: true
+visual_observation_shape:
+- 128
+- 128
+debug: false
+env:
+  tasks:
+    basketball_in_hoop:
+      episode_length: 250
+    beat_the_buzz:
+      episode_length: 250
+    block_pyramid:
+      episode_length: 1130
+    change_channel:
+      episode_length: 350
+    change_clock:
+      episode_length: 300
+    close_box:
+      episode_length: 280
+    close_door:
+      episode_length: 230
+    close_drawer:
+      episode_length: 180
+    close_fridge:
+      episode_length: 240
+    close_grill:
+      episode_length: 190
+    close_jar:
+      episode_length: 400
+    close_laptop_lid:
+      episode_length: 250
+    close_microwave:
+      episode_length: 170
+    empty_container:
+      episode_length: 3230
+    empty_dishwasher:
+      episode_length: 690
+    get_ice_from_fridge:
+      episode_length: 440
+    hang_frame_on_hanger:
+      episode_length: 390
+    hit_ball_with_queue:
+      episode_length: 280
+    hockey:
+      episode_length: 360
+    insert_onto_square_peg:
+      episode_length: 380
+    insert_usb_in_computer:
+      episode_length: 210
+    lamp_off:
+      episode_length: 190
+    lamp_on:
+      episode_length: 180
+    lift_numbered_block:
+      episode_length: 290
+    light_bulb_in:
+      episode_length: 440
+    light_bulb_out:
+      episode_length: 310
+    meat_off_grill:
+      episode_length: 290
+    meat_on_grill:
+      episode_length: 340
+    move_hanger:
+      episode_length: 220
+    open_box:
+      episode_length: 230
+    open_door:
+      episode_length: 280
+    open_drawer:
+      episode_length: 180
+    open_fridge:
+      episode_length: 310
+    open_grill:
+      episode_length: 270
+    open_jar:
+      episode_length: 360
+    open_microwave:
+      episode_length: 220
+    open_oven:
+      episode_length: 500
+    open_washing_machine:
+      episode_length: 310
+    open_window:
+      episode_length: 280
+    open_wine_bottle:
+      episode_length: 220
+    phone_on_base:
+      episode_length: 350
+    pick_and_lift:
+      episode_length: 380
+    pick_and_lift_small:
+      episode_length: 280
+    pick_up_cup:
+      episode_length: 300
+    place_cups:
+      episode_length: 810
+    place_hanger_on_rack:
+      episode_length: 330
+    place_shape_in_shape_sorter:
+      episode_length: 330
+    play_jenga:
+      episode_length: 160
+    plug_charger_in_power_supply:
+      episode_length: 340
+    pour_from_cup_to_cup:
+      episode_length: 410
+    press_switch:
+      episode_length: 270
+    push_button:
+      episode_length: 260
+    push_buttons:
+      episode_length: 270
+    put_all_groceries_in_cupboard:
+      episode_length: 2190
+    put_books_on_bookshelf:
+      episode_length: 1100
+    put_bottle_in_fridge:
+      episode_length: 540
+    put_groceries_in_cupboard:
+      episode_length: 420
+    put_item_in_drawer:
+      episode_length: 430
+    put_knife_in_knife_block:
+      episode_length: 290
+    put_knife_on_chopping_board:
+      episode_length: 500
+    put_money_in_safe:
+      episode_length: 270
+    put_plate_in_colored_dish_rack:
+      episode_length: 510
+    put_rubbish_in_bin:
+      episode_length: 290
+    put_shoes_in_box:
+      episode_length: 580
+    put_toilet_roll_on_stand:
+      episode_length: 470
+    put_tray_in_oven:
+      episode_length: 750
+    put_umbrella_in_umbrella_stand:
+      episode_length: 420
+    reach_and_drag:
+      episode_length: 330
+    reach_target:
+      episode_length: 130
+    remove_cups:
+      episode_length: 470
+    scoop_with_spatula:
+      episode_length: 270
+    screw_nail:
+      episode_length: 450
+    set_the_table:
+      episode_length: 1140
+    setup_checkers:
+      episode_length: 640
+    setup_chess:
+      episode_length: 550
+    slide_block_to_target:
+      episode_length: 180
+    slide_cabinet_open:
+      episode_length: 420
+    slide_cabinet_open_and_place_cups:
+      episode_length: 660
+    solve_puzzle:
+      episode_length: 320
+    stack_blocks:
+      episode_length: 1100
+    stack_chairs:
+      episode_length: 550
+    stack_cups:
+      episode_length: 500
+    stack_wine:
+      episode_length: 250
+    straighten_rope:
+      episode_length: 410
+    sweep_to_dustpan:
+      episode_length: 170
+    take_cup_out_from_cabinet:
+      episode_length: 540
+    take_frame_off_hanger:
+      episode_length: 400
+    take_item_out_of_drawer:
+      episode_length: 530
+    take_lid_off_saucepan:
+      episode_length: 230
+    take_money_out_safe:
+      episode_length: 330
+    take_off_weighing_scales:
+      episode_length: 370
+    take_plate_off_colored_dish_rack:
+      episode_length: 340
+    take_shoes_out_of_box:
+      episode_length: 660
+    take_toilet_roll_off_stand:
+      episode_length: 370
+    take_tray_out_of_oven:
+      episode_length: 540
+    take_umbrella_out_of_umbrella_stand:
+      episode_length: 210
+    take_usb_out_of_computer:
+      episode_length: 140
+    toilet_seat_down:
+      episode_length: 270
+    toilet_seat_up:
+      episode_length: 340
+    turn_oven_on:
+      episode_length: 280
+    turn_tap:
+      episode_length: 250
+    tv_on:
+      episode_length: 360
+    unplug_charger:
+      episode_length: 230
+    water_plants:
+      episode_length: 210
+    wipe_desk:
+      episode_length: 400
+  env_name: rlbench
+  task_name: ${task}
+  is_pkl: true
+  modality: rgb
+  action_mode: ABS_END_EFFECTOR_POSE
+  cameras:
+  - front
+  - wrist
+  - left_shoulder
+  - right_shoulder
+  renderer: opengl3
+  arm_max_velocity: 1.0
+  arm_max_acceleration: 4.0
+  episode_length: ${env.tasks.${env.task_name}.episode_length}
+  episode_length_decay_rate: 1
+  frame_stack: 1
+method_name: stdp
+method:
+  _target_: src.methods.stdp.STDiffusionPolicy
+  lr: 0.0001
+  lr_backbone: 1.0e-05
+  weight_decay: 0.0001
+  num_train_steps: 20000
+  num_diffusion_iters: 50
+  adaptive_lr: true
+  actor_grad_clip: null
+  use_lang_cond: false
+  action_padding: zero
+  action_order: FORWARD
+  action_mode: ${env.action_mode}
+  execution_length: ${execution_length}
+  interp_method: cubic
+  action_dim: 8
+  noise_scheduler:
+    _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler
+    num_train_timesteps: 50
+    beta_start: 0.0001
+    beta_end: 0.02
+    beta_schedule: squaredcos_cap_v2
+    variance_type: fixed_small
+    clip_sample: true
+    prediction_type: epsilon
+  horizon: ${action_sequence}
+  n_obs_steps: 1
+  n_action_steps: ${action_sequence}
+  lr_scheduler: cosine
+  keyframe_only: false
+  loss_mode: all
+  loss_weight_max: 1.0
+  sample_mode: only_init
+  traj_sample_margin: 1
+  gradient_accumulate_every: 1
+  lr_warmup_steps: 1000
+  num_epochs: 3050
+  use_ema: true
+  num_inference_steps: 50
+  pred_action_steps_only: false
+  eval_fixed_crop: false
+  crop_shape:
+  - 128
+  - 128
+  obs_encoder_group_norm: true
+  actor_model:
+    _target_: src.methods.stdp.STDiffusionTransformer
+    _partial_: true
+    input_dim: 8
+    output_dim: 8
+    horizon: ${action_sequence}
+    n_obs_steps: 1
+    n_layer: 8
+    n_head: 4
+    n_emb: 256
+    p_drop_emb: 0.0
+    p_drop_attn: 0.3
+    causal_attn: true
+    time_as_cond: true
+    obs_as_cond: true
+    n_cond_layers: 0
+  encoder_model:
+    _target_: src.methods.stdp.ImageEncoder
+    _partial_: true
+    input_shape:
+    - 4
+    - 3
+    - 128
+    - 128
+    hidden_dim: 512
+    position_embedding: sine
+    lr_backbone: ${method.lr_backbone}
+    masks: false
+    backbone: resnet18
+    dilation: false
+    use_frozen_bn: false
+    use_lang_cond: ${method.use_lang_cond}
+snapshot: null
+tag: null
+exp_root: .
+num_workers: 0
+pin_memory: true
+persistent_workers: true
+prefetch_factor: 0
+task: toilet_seat_down
+dataset_root: data/rlbench
+dataset_root_train: ${dataset_root}/train
+dataset_root_eval: ${dataset_root}/eval
+replay_path: data/replay/${dataset_root}/demos.hdf5

2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/.hydra/hydra.yaml

@@ -0,0 +1,161 @@
+hydra:
+  run:
+    dir: ${exp_root}/ckpt/${method_name}/${now:%Y.%m.%d}/${now:%H.%M.%S}_${env.task_name}_nobs${env.frame_stack}_nseq${action_sequence}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - task=toilet_seat_down
+    - action_sequence=50
+    - save_every_steps=10000
+    - num_train_steps=50000
+  job:
+    name: train_st
+    chdir: null
+    override_dirname: action_sequence=50,num_train_steps=50000,save_every_steps=10000,task=toilet_seat_down
+    id: ???
+    num: ???
+    config_name: launch_st
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/src/cfgs
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /inspire/hdd/project/autoregressive-video-generation/niuyuchen-253108120111/chd/pj_stable/stdp_rlbench/ckpt/stdp/2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50
+    choices:
+      method: stdp
+      env: episode_length
+      base: base_config_st
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/.hydra/overrides.yaml

@@ -0,0 +1,4 @@
+- task=toilet_seat_down
+- action_sequence=50
+- save_every_steps=10000
+- num_train_steps=50000

2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_10000.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52865263245e55f26ed49ab83e5141f4387f1bebc72a9c366518b7d20bda754c
+size 118382614

2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_20000.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:edf8989b818b480e037413bbee265b5b9e11df1c8a6c020b6959c54c2cc71b56
+size 118382614

2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_30000.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6ffedecf7867424ec42aaa99fb6ce080ae1550a0b6ded43082bbd0b948338b1d
+size 118382614

2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_40000.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3993ddb769c9fa74e3584dd346c4a3c21a608fb3e55636c2828e47da57a6c5a9
+size 118382614

2026.01.27/18.08.53_toilet_seat_down_nobs1_nseq50/checkpoints/stdp_50000.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e272c09ad0e084e296c649b1315fadf4c0c194830af34bb30e98c7924c66a33
+size 118382614