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- checkpoints/arena_forage/mimic-mjx_forage/TaskTransfer_38/brax_params/_sharding +1 -0
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checkpoints/arena_forage/mimic-mjx_forage/TaskTransfer_38/brax_params/_sharding
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checkpoints/locomotion/mimic-mjx_s7e-1/260226_090849_117360/TaskTransfer_23/brax_params/_METADATA
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checkpoints/locomotion/mimic-mjx_s7e-1/260226_090849_117360/TaskTransfer_23/brax_params/d/985e736b0fa4dbb1469737a6c9ed2699
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{"mode": "decoder_only", "checkpoint": {"path": "/home/mila/a/aidan.sirbu/SCAMPER/scratch/prior_checkpoints/golden_rodent_prior_jax", "step": 23}, "decoder_only": {"_placeholder": true}, "prior_decoder": {"deterministic_prior": true, "noise_logvar": -2.0}, "scratch": {"_placeholder": true}, "network": {"policy_layers": [2048, 1024, 512], "value_layers": [2048, 1024, 1024, 512]}, "train": {"num_timesteps": 400000000, "episode_length": 1000, "num_envs": 1024, "batch_size": 1024, "num_minibatches": 16, "num_updates_per_batch": 4, "learning_rate": 0.0001, "entropy_cost": 0.01, "discounting": 0.99, "clipping_epsilon": 0.3, "gae_lambda": 0.95, "max_grad_norm": 50.0, "vf_loss_coefficient": 0.5, "reward_scaling": 1.0, "normalize_observations": true, "unroll_length": 20, "action_repeat": 1, "seed": 1, "eval_every": 15000000}, "env": {"xml_variant": "no-tail-collisions", "mujoco_impl": "warp", "init_z": 0.0, "target_speed": 0.7, "reward_weights": {"forward_velocity": 1.0, "lateral_velocity": 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checkpoints/locomotion/mimic-mjx_s7e-1/260226_090849_117360/TaskTransfer_23/frozen_networks/_METADATA
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checkpoints/locomotion/mimic-mjx_s7e-1/260226_090849_117360/TaskTransfer_23/frozen_networks/array_metadatas/process_0
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checkpoints/locomotion/mimic-mjx_s7e-1/260226_090849_117360/TaskTransfer_23/frozen_networks/d/7e5e803628a48c9c7806db85d11bba0b
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checkpoints/locomotion/mimic-mjx_s7e-1/260226_090849_117360/TaskTransfer_23/frozen_networks/manifest.ocdbt
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checkpoints/locomotion/mimic-mjx_s7e-1/260226_090849_117360/TaskTransfer_23/frozen_networks/ocdbt.process_0/d/5747d33bae79e0b8f13f972f2437cb18
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checkpoints/locomotion/mimic-mjx_s7e-1/260226_090849_117360/TaskTransfer_23/frozen_networks/ocdbt.process_0/d/5c7b250c3fec73e441811775355022a4
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checkpoints/locomotion/mimic-mjx_s7e-1/260226_090849_117360/TaskTransfer_23/frozen_networks/ocdbt.process_0/d/9d6c36e0bfd75121032cb8866cd2449c
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checkpoints/locomotion/mimic-mjx_s7e-1/260226_090849_117360/TaskTransfer_23/frozen_networks/ocdbt.process_0/d/fd1e30cda24521bcf7e328f7efbd50d6
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checkpoints/locomotion/mimic-mjx_s7e-1/260226_090849_117360/TaskTransfer_23/frozen_networks/ocdbt.process_0/manifest.ocdbt
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checkpoints/locomotion/mimic-mjx_s7e-1/260226_090849_117360/TaskTransfer_23/training_metadata/metadata
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{"completed_timesteps": 381091840, "eval_step": 23, "wandb_run_id": "S0.7_decoder_only_seed1_260226_090849_117360", "run_id": "260226_090849_117360", "mode": "decoder_only"}
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checkpoints/locomotion/scamper_s7e-1/260403_054936_245874/TaskTransfer_23/brax_params/d/202aacf1e5f9fe1b52451c4bc55698d0
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checkpoints/locomotion/scamper_s7e-1/260403_054936_245874/TaskTransfer_23/brax_params/ocdbt.process_0/d/0342fc788f2869ce6d83b8b28f831084
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checkpoints/locomotion/scamper_s7e-1/260403_054936_245874/TaskTransfer_23/brax_params/ocdbt.process_0/d/195f137a976ff781af02f4f8443f1505
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checkpoints/locomotion/scratch_s7e-1/260228_115525_352293/TaskTransfer_25/brax_params/_sharding
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checkpoints/locomotion/scratch_s7e-1/260228_115525_352293/TaskTransfer_25/config/metadata
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{"completed_timesteps": 400000000, "eval_step": 25, "wandb_run_id": "S0.7_scratch_seed0_260228_115525_352293", "run_id": "260228_115525_352293", "mode": "scratch", "training_complete": true}
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checkpoints/scamper/stage2/260327_134740_079934/DistillNetwork_49/_CHECKPOINT_METADATA
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{"item_handlers": {"config": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "policy": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler", "teacher": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1774746026304832625, "commit_timestamp_nsecs": 1774746027007537810, "custom_metadata": {}}
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checkpoints/scamper/stage2/260327_134740_079934/DistillNetwork_49/config/metadata
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{"teacher_config": {"checkpoint_path": "/home/mila/a/aidan.sirbu/SCAMPER/scratch/imitation_mlp_checkpoints/260325_005109_219185", "checkpoint_step": 57}, "env_config": {"env_name": "RodentImitation", "mujoco_impl": "jax", "solver": "newton", "iterations": 5, "ls_iterations": 5, "naconmax": 256, "njmax": 128, "noslip_iterations": 0, "sim_dt": 0.002, "ctrl_dt": 0.01, "mocap_hz": 50, "clip_length": 250, "clip_set": "all", "reference_length": 5, "start_frame_range": [0, 50], "qvel_init": "zeros", "keep_clips_idx": null, "domain_randomization": {"use_domain_randomization": true, "floor_friction": [0.4, 1.0], "static_friction_scale": [0.9, 1.1], "armature_scale": [1.0, 1.05], "com_jitter": [-0.05, 0.05], "link_mass_scale": [0.9, 1.1], "torso_mass_jitter": [-0.02, 0.02], "qpos0_jitter": [-0.05, 0.05]}, "reward_terms": {"root_pos": {"exp_scale": 0.035, "weight": 1.0}, "root_quat": {"exp_scale": 20.0, "weight": 1.0}, "joints": {"exp_scale": 1.41, "weight": 1.0}, "joints_vel": {"exp_scale": 1.0, "weight": 0.0}, "bodies_pos": {"exp_scale": 0.25, "weight": 0.0}, "end_eff": {"exp_scale": 0.03, "weight": 1.0}, "torso_z_range": {"healthy_z_range": [0.0325, 0.5], "weight": 1.0}, "control_cost": {"weight": 0.02}, "control_diff_cost": {"weight": 0.02}, "energy_cost": {"max_value": 50.0, "weight": 0.01}}, "termination_criteria": {"root_too_far": {"max_distance": 0.1}, "root_too_rotated": {"max_degrees": 60.0}, "pose_error": {"max_l2_error": 4.5}, "nan_termination": {}}, "walker_xml_path": "/home/mila/a/aidan.sirbu/vnl-playground/vnl_playground/tasks/rodent/xmls/rodent.xml", "arena_xml_path": "/home/mila/a/aidan.sirbu/vnl-playground/vnl_playground/tasks/rodent/xmls/arena.xml", "reference_data_path": "/tmp/SCAMPER/data/rodent/rodent_reference_clips.h5", "walker_name": "rodent", "torque_actuators": true, "rescale_factor": 0.9, "vnl_playground_commit": "d263233421168d3081b8f28de3a9c24d84ebe752"}, "render_config": {"render_camera_name": "close_profile", "render_fps": 50, "render_interval": 1}, "prior_rollout_config": {"enabled": true, "eval_interval": 1, "max_steps": 400}, "network_config": {"arch_name": "distill", "latent_size": 16, "encoder_layer_sizes": [2048, 1024, 1024], "decoder_layer_sizes": [1024, 1024, 512], "prior_layer_sizes": [1536, 1024, 512], "obs_sizes": {"imitation_target": 640, "proprioception": 277}, "action_size": 38, "normalize_observations": true, "intention_size": 16}, "distill_config": {"kl_weight": 1.0, "ar1_weight": 0.005, "grad_clip_norm": 10.0, "clamp_logvar": true, "logvar_min": -5.0, "logvar_max": 0.0, "use_kl_schedule": true, "kl_schedule_params": {"kl_start_weight": 0.001, "kl_end_weight": 0.0001, "kl_start_ramp": 0.0, "kl_end_ramp": 0.25}, "use_ar1_schedule": false, "ar1_schedule_params": {"ar1_start_weight": 0.01, "ar1_end_weight": 0.1, "ar1_start_ramp": 0.0, "ar1_end_ramp": 0.25}, "hard_negative_mining": true, "hard_negative_alpha": 0.1, "hard_negative_max_weight": 5.0}, "train_setup": {"checkpoint_to_restore": null, "restore_from_run_state": null, "train_subset_ratio": 0.8, "eval_every": 20000000, "reset_every": 20000000, "train_config": {"num_envs": 4096, "num_timesteps": 1000000000, "batch_size": 1024, "num_minibatches": 16, "num_updates_per_batch": 4, "learning_rate": 0.0001, "action_repeat": 1, "normalize_observations": true, "unroll_length": 20, "seed": 0, "deterministic_eval": true}}, "logging_config": {"project_name": "SCAMPER", "group_name": "distill", "exp_name": "rampdown_clamped", "clip_id": -1, "model_path": "/home/mila/a/aidan.sirbu/scratch/SCAMPER/distill_checkpoints"}, "walker_config": {"walker_name": "rodent", "xml_variant": "limited-collisions", "torque_actuators": true, "rescale_factor": 0.9}}
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checkpoints/scamper/stage2/260327_134740_079934/DistillNetwork_49/policy/_sharding
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checkpoints/scamper/stage2/260327_134740_079934/DistillNetwork_49/policy/manifest.ocdbt
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checkpoints/scamper/stage2/260327_134740_079934/DistillNetwork_49/teacher/_METADATA
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