diff --git a/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/0ba548508894fcb31365fc9262b07157 b/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/0ba548508894fcb31365fc9262b07157 new file mode 100644 index 0000000000000000000000000000000000000000..19b54b4d8b10bcb2a216e378dea2727c98530d65 Binary files /dev/null and b/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/0ba548508894fcb31365fc9262b07157 differ diff --git a/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/1bbcf7cd2f9caa7ea20cde74a281291f b/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/1bbcf7cd2f9caa7ea20cde74a281291f new file mode 100644 index 0000000000000000000000000000000000000000..b7a36dd26909561fafd6bd7dcbc36c22a8aa0088 Binary files /dev/null and b/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/1bbcf7cd2f9caa7ea20cde74a281291f differ diff --git a/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/56492a81aa06677d7142d89c89a795c0 b/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/56492a81aa06677d7142d89c89a795c0 new file mode 100644 index 0000000000000000000000000000000000000000..aa2c91d8bec21e5b201aed477f3628ae16888907 Binary files /dev/null and b/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/56492a81aa06677d7142d89c89a795c0 differ diff --git a/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/9f2b4d3d439613940c06a4d2dd6adf74 b/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/9f2b4d3d439613940c06a4d2dd6adf74 new file mode 100644 index 0000000000000000000000000000000000000000..19146e90f1a4e92170766eb4b58d887720cd461f Binary files /dev/null and b/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/9f2b4d3d439613940c06a4d2dd6adf74 differ diff --git a/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/f4010c5fb3f0d6737a64a5a9c3e8d8f9 b/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/f4010c5fb3f0d6737a64a5a9c3e8d8f9 new file mode 100644 index 0000000000000000000000000000000000000000..3186c323009f8fbaa6c531767f05f5deef89997c Binary files /dev/null and b/checkpoints/arena_forage/motionprioronly_forage/TaskTransfer_2/brax_params/ocdbt.process_0/d/f4010c5fb3f0d6737a64a5a9c3e8d8f9 differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_2/_CHECKPOINT_METADATA b/checkpoints/arena_forage/scamper_forage/TaskTransfer_2/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..c02ba5c19bc7ef3779d8e34d7cd623712bacb4c4 --- /dev/null +++ b/checkpoints/arena_forage/scamper_forage/TaskTransfer_2/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": {"brax_params": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler", "config": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "frozen_networks": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler", "training_metadata": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1776904002391289876, "commit_timestamp_nsecs": 1776904003646363199, "custom_metadata": {}} \ No newline at end of file diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_2/brax_params/manifest.ocdbt b/checkpoints/arena_forage/scamper_forage/TaskTransfer_2/brax_params/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..7a4bcc9028b93f171e64d9f6441d77b920b97260 Binary files /dev/null and b/checkpoints/arena_forage/scamper_forage/TaskTransfer_2/brax_params/manifest.ocdbt differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_2/config/metadata b/checkpoints/arena_forage/scamper_forage/TaskTransfer_2/config/metadata new file mode 100644 index 0000000000000000000000000000000000000000..7744f69073b43706f0c6ab36e0595aac42cebead --- /dev/null +++ b/checkpoints/arena_forage/scamper_forage/TaskTransfer_2/config/metadata @@ -0,0 +1 @@ +{"mode": "distill_prior", "checkpoint": {"path": "/home/a/asirbu/SCAMPER/scratch/distill_prior_checkpoints/260406_130524_381481", "step": 54}, "decoder_only": {"_placeholder": true}, "prior_decoder": {"deterministic_prior": true, "noise_logvar": -2.0}, "distill": {"deterministic_prior": true, "noise_logvar": -2.0}, "distill_prior": {"gate_bias": 0.5, "gate_margin": 0.2, "rgm_noise": true, "rgm_logvar": -2.25}, "distill_prior_no_rgm": {"deterministic_prior": true, "noise_logvar": -2.0}, "rgm_only": {"rgm_noise": false, "rgm_logvar": null}, "scratch": {"torque_actuators": true}, "network": {"policy_layers": [2048, 1024, 512], "value_layers": [2048, 1024, 1024, 512]}, "train": {"num_timesteps": 2000000000, "episode_length": 2000, "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": 0, "eval_every": 15000000}, "env": {"xml_variant": "no-tail-collisions", "mujoco_impl": "warp", "num_treats": 10, "treat_sphere_radius": 0.06, "treat_height": 0.03, "min_spawn_radius": 0.75, "spawn_radius": 2.0, "scent_sigma": 0.2, "reward_weights": {"treat_collection": 500.0, "scent_proximity": 0.0}}, "checkpointing": {"enabled": true, "model_path": "/home/a/asirbu/SCAMPER/scratch/arena_forage_checkpoints", "max_to_keep": null}, "logging": {"project": "SCAMPER", "group_name": "arena_forage_sweep", "exp_name": "NM_Tminr0.75_distill_prior_s0", "render_camera": "close_profile-rodent", "render_fps": 50, "render_height": 720, "render_width": 1280, "render_every": 1, "scent_grid_resolution": 100}, "checkpoint_config": {"teacher_config": {"checkpoint_path": "/home/mila/a/aidan.sirbu/SCAMPER/scratch/distill_checkpoints/260327_134740_079934", "checkpoint_step": null}, "env_config": {"env_name": "RodentImitation", "mujoco_impl": "jax", "solver": "newton", "iterations": 5, "ls_iterations": 5, "naconmax": 45000, "njmax": 1000, "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": false, "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": "/tmp/SCAMPER/scamper/environment/rodent/xmls/rodent.xml", "arena_xml_path": "/tmp/SCAMPER/scamper/environment/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, "scamper_commit": "ad2aeaf2c003fdcb2e60304916224981fcf28b38"}, "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_prior", "rgm_layer_sizes": [2048, 2048, 1024, 512], "obs_sizes": {"imitation_target": 640, "proprioception": 277}, "action_size": 38, "normalize_observations": true, "intention_size": 16, "encoder_layer_sizes": [2048, 1024, 1024], "decoder_layer_sizes": [1024, 1024, 512], "prior_layer_sizes": [1536, 1024, 512]}, "distill_prior_config": {"kl_weight": 1, "grad_clip_norm": 10.0, "use_kl_schedule": false, "kl_schedule_params": {"kl_start_weight": 1e-05, "kl_end_weight": 0.001, "kl_start_ramp": 0.0, "kl_end_ramp": 0.25}}, "train_setup": {"checkpoint_to_restore": null, "restore_from_run_state": "run_state_slurm_9177235_b1bed948d854.json", "train_subset_ratio": 0.8, "eval_every": 20000000, "reset_every": 20000000, "train_config": {"num_envs": 4096, "num_timesteps": 2000000000, "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_prior", "exp_name": "test", "clip_id": -1, "model_path": "/home/mila/a/aidan.sirbu/scratch/SCAMPER/distill_prior_checkpoints"}, "walker_config": {"walker_name": "rodent", "xml_variant": "limited-collisions", "torque_actuators": true, "rescale_factor": 0.9}}} \ No newline at end of file diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_25/_CHECKPOINT_METADATA b/checkpoints/arena_forage/scamper_forage/TaskTransfer_25/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..30d9ae5e9016dc782bead2648ee2ee14b0f0b687 --- /dev/null +++ b/checkpoints/arena_forage/scamper_forage/TaskTransfer_25/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": {"brax_params": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler", "config": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "frozen_networks": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler", "training_metadata": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1776948449744279479, "commit_timestamp_nsecs": 1776948450492028399, "custom_metadata": {}} \ No newline at end of file diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/_CHECKPOINT_METADATA b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..52ba8972c1d32681e29ddf58879fc20b963641eb --- /dev/null +++ b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": {"brax_params": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler", "config": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "frozen_networks": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler", "training_metadata": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1776908465190953490, "commit_timestamp_nsecs": 1776908466037151504, "custom_metadata": {}} \ No newline at end of file diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/_METADATA b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..8c290b2dd58efbef546264aacc541c8801db7659 --- /dev/null +++ b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/_METADATA @@ -0,0 +1 @@ +{"tree_metadata": {"('0', 'mean')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "mean", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [335]}}, "('0', 'std')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "std", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [335]}}, "('0', 'count', 'hi')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "count", "key_type": 2}, {"key": "hi", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('0', 'count', 'lo')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "count", "key_type": 2}, {"key": "lo", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('0', 'summed_variance')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "summed_variance", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [335]}}, "('0', 'std_eps')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "std_eps", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('1', 'params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('1', 'params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [335, 2048]}}, "('1', 'params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('1', 'params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048, 1024]}}, "('1', 'params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('1', 'params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}, "('1', 'params', 'hidden_3', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [34]}}, "('1', 'params', 'hidden_3', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 34]}}, "('2', 'params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('2', 'params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [335, 2048]}}, "('2', 'params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('2', 'params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048, 1024]}}, "('2', 'params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('2', 'params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 1024]}}, "('2', 'params', 'hidden_3', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('2', 'params', 'hidden_3', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}, "('2', 'params', 'hidden_4', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_4", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1]}}, "('2', 'params', 'hidden_4', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_4", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 1]}}}, "use_ocdbt": true, "use_zarr3": false, "store_array_data_equal_to_fill_value": true, "custom_metadata": null} \ No newline at end of file diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/_sharding b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/_sharding new file mode 100644 index 0000000000000000000000000000000000000000..a1cc9b7328197fe17e5a4667ebd30cad6f9a1dc7 --- /dev/null +++ b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/_sharding @@ -0,0 +1 @@ +{"MC5jb3VudC5oaQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MC5jb3VudC5sbw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MC5tZWFu":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MC5zdGQ=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MC5zdGRfZXBz":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MC5zdW1tZWRfdmFyaWFuY2U=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzMuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzMua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzMuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzMua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzQuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzQua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}"} \ No newline at end of file diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/array_metadatas/process_0 b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/array_metadatas/process_0 new file mode 100644 index 0000000000000000000000000000000000000000..02dbe4af051a301e30cd4259fc616bcd31bba742 --- /dev/null +++ b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/array_metadatas/process_0 @@ -0,0 +1 @@ +{"array_metadatas": [{"array_metadata": {"param_name": "0.mean", "write_shape": [335], "chunk_shape": [335], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.std", "write_shape": [335], "chunk_shape": [335], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.count.hi", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.count.lo", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.summed_variance", "write_shape": [335], "chunk_shape": [335], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.std_eps", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_0.kernel", "write_shape": [335, 2048], "chunk_shape": [335, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_1.kernel", "write_shape": [2048, 1024], "chunk_shape": [2048, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_2.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_3.bias", "write_shape": [34], "chunk_shape": [34], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_3.kernel", "write_shape": [512, 34], "chunk_shape": [512, 34], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_0.kernel", "write_shape": [335, 2048], "chunk_shape": [335, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_1.kernel", "write_shape": [2048, 1024], "chunk_shape": [2048, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_2.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_2.kernel", "write_shape": [1024, 1024], "chunk_shape": [1024, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_3.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_3.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_4.bias", "write_shape": [1], "chunk_shape": [1], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_4.kernel", "write_shape": [512, 1], "chunk_shape": [512, 1], "ext_metadata": null}}]} \ No newline at end of file diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/d/c88cf15eb482871060a094e05eea15c7 b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/d/c88cf15eb482871060a094e05eea15c7 new file mode 100644 index 0000000000000000000000000000000000000000..c3972551020a987d40a1e6be48625f150591d5ca Binary files /dev/null and b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/d/c88cf15eb482871060a094e05eea15c7 differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/manifest.ocdbt b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..37ea1514fa305d345908b53491f43664e94ddede Binary files /dev/null and b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/manifest.ocdbt differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/ocdbt.process_0/d/2f2ec9e5f1a75551a6f4b85fa0cf183d b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/ocdbt.process_0/d/2f2ec9e5f1a75551a6f4b85fa0cf183d new file mode 100644 index 0000000000000000000000000000000000000000..2065e0d0f159787c5d08401265b79e054ad991e6 Binary files /dev/null and b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/ocdbt.process_0/d/2f2ec9e5f1a75551a6f4b85fa0cf183d differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/ocdbt.process_0/d/8ff04ba692a0149d370ba8517e4dfd47 b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/ocdbt.process_0/d/8ff04ba692a0149d370ba8517e4dfd47 new file mode 100644 index 0000000000000000000000000000000000000000..7d33ccd916115c7bb4e4a4f696b6aab19a41ba3f Binary files /dev/null and b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/ocdbt.process_0/d/8ff04ba692a0149d370ba8517e4dfd47 differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/ocdbt.process_0/d/f7ff235f4718d9cd6503cbd7897c928f b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/ocdbt.process_0/d/f7ff235f4718d9cd6503cbd7897c928f new file mode 100644 index 0000000000000000000000000000000000000000..aa2c91d8bec21e5b201aed477f3628ae16888907 Binary files /dev/null and b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/ocdbt.process_0/d/f7ff235f4718d9cd6503cbd7897c928f differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/ocdbt.process_0/manifest.ocdbt b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/ocdbt.process_0/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..bac1828cf51523136feb0b1d7b13ab15e7379537 Binary files /dev/null and b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/brax_params/ocdbt.process_0/manifest.ocdbt differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/config/metadata b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/config/metadata new file mode 100644 index 0000000000000000000000000000000000000000..7744f69073b43706f0c6ab36e0595aac42cebead --- /dev/null +++ b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/config/metadata @@ -0,0 +1 @@ +{"mode": "distill_prior", "checkpoint": {"path": "/home/a/asirbu/SCAMPER/scratch/distill_prior_checkpoints/260406_130524_381481", "step": 54}, "decoder_only": {"_placeholder": true}, "prior_decoder": {"deterministic_prior": true, "noise_logvar": -2.0}, "distill": {"deterministic_prior": true, "noise_logvar": -2.0}, "distill_prior": {"gate_bias": 0.5, "gate_margin": 0.2, "rgm_noise": true, "rgm_logvar": -2.25}, "distill_prior_no_rgm": {"deterministic_prior": true, "noise_logvar": -2.0}, "rgm_only": {"rgm_noise": false, "rgm_logvar": null}, "scratch": {"torque_actuators": true}, "network": {"policy_layers": [2048, 1024, 512], "value_layers": [2048, 1024, 1024, 512]}, "train": {"num_timesteps": 2000000000, "episode_length": 2000, "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": 0, "eval_every": 15000000}, "env": {"xml_variant": "no-tail-collisions", "mujoco_impl": "warp", "num_treats": 10, "treat_sphere_radius": 0.06, "treat_height": 0.03, "min_spawn_radius": 0.75, "spawn_radius": 2.0, "scent_sigma": 0.2, "reward_weights": {"treat_collection": 500.0, "scent_proximity": 0.0}}, "checkpointing": {"enabled": true, "model_path": "/home/a/asirbu/SCAMPER/scratch/arena_forage_checkpoints", "max_to_keep": null}, "logging": {"project": "SCAMPER", "group_name": "arena_forage_sweep", "exp_name": "NM_Tminr0.75_distill_prior_s0", "render_camera": "close_profile-rodent", "render_fps": 50, "render_height": 720, "render_width": 1280, "render_every": 1, "scent_grid_resolution": 100}, "checkpoint_config": {"teacher_config": {"checkpoint_path": "/home/mila/a/aidan.sirbu/SCAMPER/scratch/distill_checkpoints/260327_134740_079934", "checkpoint_step": null}, "env_config": {"env_name": "RodentImitation", "mujoco_impl": "jax", "solver": "newton", "iterations": 5, "ls_iterations": 5, "naconmax": 45000, "njmax": 1000, "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": false, "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": "/tmp/SCAMPER/scamper/environment/rodent/xmls/rodent.xml", "arena_xml_path": "/tmp/SCAMPER/scamper/environment/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, "scamper_commit": "ad2aeaf2c003fdcb2e60304916224981fcf28b38"}, "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_prior", "rgm_layer_sizes": [2048, 2048, 1024, 512], "obs_sizes": {"imitation_target": 640, "proprioception": 277}, "action_size": 38, "normalize_observations": true, "intention_size": 16, "encoder_layer_sizes": [2048, 1024, 1024], "decoder_layer_sizes": [1024, 1024, 512], "prior_layer_sizes": [1536, 1024, 512]}, "distill_prior_config": {"kl_weight": 1, "grad_clip_norm": 10.0, "use_kl_schedule": false, "kl_schedule_params": {"kl_start_weight": 1e-05, "kl_end_weight": 0.001, "kl_start_ramp": 0.0, "kl_end_ramp": 0.25}}, "train_setup": {"checkpoint_to_restore": null, "restore_from_run_state": "run_state_slurm_9177235_b1bed948d854.json", "train_subset_ratio": 0.8, "eval_every": 20000000, "reset_every": 20000000, "train_config": {"num_envs": 4096, "num_timesteps": 2000000000, "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_prior", "exp_name": "test", "clip_id": -1, "model_path": "/home/mila/a/aidan.sirbu/scratch/SCAMPER/distill_prior_checkpoints"}, "walker_config": {"walker_name": "rodent", "xml_variant": "limited-collisions", "torque_actuators": true, "rescale_factor": 0.9}}} \ No newline at end of file diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/_METADATA b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..747a62513d8561c8cb6236f1daea3f7362107328 --- /dev/null +++ b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/_METADATA @@ -0,0 +1 @@ +{"tree_metadata": {"('decoder_params', 'LayerNorm_0', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'LayerNorm_0', 'scale')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'LayerNorm_1', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'LayerNorm_1', 'scale')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'LayerNorm_2', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('decoder_params', 'LayerNorm_2', 'scale')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('decoder_params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [293, 1024]}}, "('decoder_params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 1024]}}, "('decoder_params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('decoder_params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}, "('decoder_params', 'hidden_3', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [76]}}, "('decoder_params', 'hidden_3', 'kernel')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 76]}}, "('encoder_params', 'LayerNorm_0', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('encoder_params', 'LayerNorm_0', 'scale')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('encoder_params', 'LayerNorm_1', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'LayerNorm_1', 'scale')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'LayerNorm_2', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'LayerNorm_2', 'scale')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'fc_logvar', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "fc_logvar", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('encoder_params', 'fc_logvar', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "fc_logvar", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 16]}}, "('encoder_params', 'fc_mean', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "fc_mean", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('encoder_params', 'fc_mean', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "fc_mean", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 16]}}, "('encoder_params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('encoder_params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [917, 2048]}}, "('encoder_params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048, 1024]}}, "('encoder_params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 1024]}}, "('imitation_normalizer', 'imitation_target', 'mean')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "mean", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [640]}}, "('imitation_normalizer', 'imitation_target', 'std')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "std", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [640]}}, "('imitation_normalizer', 'imitation_target', 'count', 'hi')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "count", "key_type": 2}, {"key": "hi", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('imitation_normalizer', 'imitation_target', 'count', 'lo')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "count", "key_type": 2}, {"key": "lo", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('imitation_normalizer', 'imitation_target', 'summed_variance')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "summed_variance", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [640]}}, "('imitation_normalizer', 'imitation_target', 'std_eps')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "std_eps", "key_type": 2}], "value_metadata": {"value_type": "scalar", "skip_deserialize": false}}, "('imitation_normalizer', 'proprioception', 'mean')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "mean", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [277]}}, "('imitation_normalizer', 'proprioception', 'std')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "std", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [277]}}, "('imitation_normalizer', 'proprioception', 'count', 'hi')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "count", "key_type": 2}, {"key": "hi", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('imitation_normalizer', 'proprioception', 'count', 'lo')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "count", "key_type": 2}, {"key": "lo", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('imitation_normalizer', 'proprioception', 'summed_variance')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "summed_variance", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [277]}}, "('imitation_normalizer', 'proprioception', 'std_eps')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "std_eps", "key_type": 2}], "value_metadata": {"value_type": "scalar", "skip_deserialize": false}}, "('prior_params', 'LayerNorm_0', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1536]}}, "('prior_params', 'LayerNorm_0', 'scale')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1536]}}, "('prior_params', 'LayerNorm_1', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('prior_params', 'LayerNorm_1', 'scale')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('prior_params', 'LayerNorm_2', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('prior_params', 'LayerNorm_2', 'scale')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('prior_params', 'fc2_logvar', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "fc2_logvar", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('prior_params', 'fc2_logvar', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "fc2_logvar", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 16]}}, "('prior_params', 'fc2_mean', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "fc2_mean", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('prior_params', 'fc2_mean', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "fc2_mean", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 16]}}, "('prior_params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1536]}}, "('prior_params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [277, 1536]}}, "('prior_params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('prior_params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1536, 1024]}}, "('prior_params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('prior_params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}, "('rgm_params', 'LayerNorm_0', 'bias')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('rgm_params', 'LayerNorm_0', 'scale')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('rgm_params', 'LayerNorm_1', 'bias')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('rgm_params', 'LayerNorm_1', 'scale')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('rgm_params', 'LayerNorm_2', 'bias')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('rgm_params', 'LayerNorm_2', 'scale')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('rgm_params', 'LayerNorm_3', 'bias')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "LayerNorm_3", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('rgm_params', 'LayerNorm_3', 'scale')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "LayerNorm_3", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('rgm_params', 'fc2_logvar', 'bias')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "fc2_logvar", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('rgm_params', 'fc2_logvar', 'kernel')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "fc2_logvar", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 16]}}, "('rgm_params', 'fc2_mean', 'bias')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "fc2_mean", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('rgm_params', 'fc2_mean', 'kernel')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "fc2_mean", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 16]}}, "('rgm_params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('rgm_params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [277, 2048]}}, "('rgm_params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('rgm_params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048, 2048]}}, "('rgm_params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('rgm_params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048, 1024]}}, "('rgm_params', 'hidden_3', 'bias')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('rgm_params', 'hidden_3', 'kernel')": {"key_metadata": [{"key": "rgm_params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}}, "use_ocdbt": true, "use_zarr3": false, "store_array_data_equal_to_fill_value": true, "custom_metadata": null} \ No newline at end of file diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/_sharding b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/_sharding new file mode 100644 index 0000000000000000000000000000000000000000..c06e531ae423f1885d3d907d15a964820168bd7f --- /dev/null +++ b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/_sharding @@ -0,0 +1 @@ +{"ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzMuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzMua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmNfbG9ndmFyLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmNfbG9ndmFyLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmNfbWVhbi5iaWFz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmNfbWVhbi5rZXJuZWw=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5jb3VudC5oaQ==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5jb3VudC5sbw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5tZWFu":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5zdGQ=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5zdW1tZWRfdmFyaWFuY2U=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uY291bnQuaGk=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uY291bnQubG8=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24ubWVhbg==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uc3Rk":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uc3VtbWVkX3ZhcmlhbmNl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8wLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8wLnNjYWxl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8xLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8xLnNjYWxl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8yLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8yLnNjYWxl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9sb2d2YXIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9sb2d2YXIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9tZWFuLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9tZWFuLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8wLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8wLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8xLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8xLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8yLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8yLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5MYXllck5vcm1fMC5iaWFz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5MYXllck5vcm1fMC5zY2FsZQ==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5MYXllck5vcm1fMS5iaWFz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5MYXllck5vcm1fMS5zY2FsZQ==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5MYXllck5vcm1fMi5iaWFz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5MYXllck5vcm1fMi5zY2FsZQ==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5MYXllck5vcm1fMy5iaWFz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5MYXllck5vcm1fMy5zY2FsZQ==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5mYzJfbG9ndmFyLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5mYzJfbG9ndmFyLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5mYzJfbWVhbi5iaWFz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5mYzJfbWVhbi5rZXJuZWw=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5oaWRkZW5fMC5iaWFz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5oaWRkZW5fMC5rZXJuZWw=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5oaWRkZW5fMS5iaWFz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5oaWRkZW5fMS5rZXJuZWw=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5oaWRkZW5fMi5iaWFz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5oaWRkZW5fMi5rZXJuZWw=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5oaWRkZW5fMy5iaWFz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cmdtX3BhcmFtcy5oaWRkZW5fMy5rZXJuZWw=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}"} \ No newline at end of file diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/array_metadatas/process_0 b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/array_metadatas/process_0 new file mode 100644 index 0000000000000000000000000000000000000000..967997865a5012c742faa8defe0ccdeb746cc319 --- /dev/null +++ b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/array_metadatas/process_0 @@ -0,0 +1 @@ +{"array_metadatas": [{"array_metadata": {"param_name": "decoder_params.LayerNorm_0.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_0.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_1.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_2.scale", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_0.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_0.kernel", "write_shape": [293, 1024], "chunk_shape": [293, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_1.kernel", "write_shape": [1024, 1024], "chunk_shape": [1024, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_2.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_3.bias", "write_shape": [76], "chunk_shape": [76], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_3.kernel", "write_shape": [512, 76], "chunk_shape": [512, 76], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_0.scale", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_1.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_2.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_2.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc_logvar.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc_logvar.kernel", "write_shape": [1024, 16], "chunk_shape": [1024, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc_mean.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc_mean.kernel", "write_shape": [1024, 16], "chunk_shape": [1024, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_0.kernel", "write_shape": [917, 2048], "chunk_shape": [917, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_1.kernel", "write_shape": [2048, 1024], "chunk_shape": [2048, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_2.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_2.kernel", "write_shape": [1024, 1024], "chunk_shape": [1024, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.mean", "write_shape": [640], "chunk_shape": [640], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.std", "write_shape": [640], "chunk_shape": [640], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.count.hi", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.count.lo", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.summed_variance", "write_shape": [640], "chunk_shape": [640], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.mean", "write_shape": [277], "chunk_shape": [277], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.std", "write_shape": [277], "chunk_shape": [277], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.count.hi", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.count.lo", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.summed_variance", "write_shape": [277], "chunk_shape": [277], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_0.bias", "write_shape": [1536], "chunk_shape": [1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_0.scale", "write_shape": [1536], "chunk_shape": [1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_1.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_2.scale", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_logvar.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_logvar.kernel", "write_shape": [512, 16], "chunk_shape": [512, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_mean.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_mean.kernel", "write_shape": [512, 16], "chunk_shape": [512, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_0.bias", "write_shape": [1536], "chunk_shape": [1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_0.kernel", "write_shape": [277, 1536], "chunk_shape": [277, 1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_1.kernel", "write_shape": [1536, 1024], "chunk_shape": [1536, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_2.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.LayerNorm_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.LayerNorm_0.scale", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.LayerNorm_1.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.LayerNorm_1.scale", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.LayerNorm_2.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.LayerNorm_2.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.LayerNorm_3.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.LayerNorm_3.scale", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.fc2_logvar.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.fc2_logvar.kernel", "write_shape": [512, 16], "chunk_shape": [512, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.fc2_mean.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.fc2_mean.kernel", "write_shape": [512, 16], "chunk_shape": [512, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.hidden_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.hidden_0.kernel", "write_shape": [277, 2048], "chunk_shape": [277, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.hidden_1.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.hidden_1.kernel", "write_shape": [2048, 2048], "chunk_shape": [2048, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.hidden_2.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.hidden_2.kernel", "write_shape": [2048, 1024], "chunk_shape": [2048, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.hidden_3.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "rgm_params.hidden_3.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}]} \ No newline at end of file diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/d/6bcdc78e03518d70466a85ca1bdcc84e b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/d/6bcdc78e03518d70466a85ca1bdcc84e new file mode 100644 index 0000000000000000000000000000000000000000..f6f5c77cc0d48690ab121abd464c1b17120df55d Binary files /dev/null and b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/d/6bcdc78e03518d70466a85ca1bdcc84e differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/manifest.ocdbt b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..d6601d9d81d27ffe9d8b9047e2e2f9869f7d6037 Binary files /dev/null and b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/manifest.ocdbt differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/ocdbt.process_0/d/00fd02ab68eeada3a514214753c4bbd8 b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/ocdbt.process_0/d/00fd02ab68eeada3a514214753c4bbd8 new file mode 100644 index 0000000000000000000000000000000000000000..24c051ecb2602d73614747abdf171f22010136a7 Binary files /dev/null and b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/ocdbt.process_0/d/00fd02ab68eeada3a514214753c4bbd8 differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/ocdbt.process_0/d/2f2498d5f84c7b0c9f20116eb9494ce4 b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/ocdbt.process_0/d/2f2498d5f84c7b0c9f20116eb9494ce4 new file mode 100644 index 0000000000000000000000000000000000000000..44e25676384e4d16c58f2801b74495cca6dc1ad8 Binary files /dev/null and b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/ocdbt.process_0/d/2f2498d5f84c7b0c9f20116eb9494ce4 differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/ocdbt.process_0/d/606d923ea7a5637f67a0c43ee1c63628 b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/ocdbt.process_0/d/606d923ea7a5637f67a0c43ee1c63628 new file mode 100644 index 0000000000000000000000000000000000000000..5e883d906d1ad48ffd5451325f94c3d0beb4554a Binary files /dev/null and b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/ocdbt.process_0/d/606d923ea7a5637f67a0c43ee1c63628 differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/ocdbt.process_0/manifest.ocdbt b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/ocdbt.process_0/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..96bd91e976359b87f1514b6a1ec071b7a56d87bc Binary files /dev/null and b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/frozen_networks/ocdbt.process_0/manifest.ocdbt differ diff --git a/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/training_metadata/metadata b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/training_metadata/metadata new file mode 100644 index 0000000000000000000000000000000000000000..af20909c34d39aa6343e6be14675714ee23939a1 --- /dev/null +++ b/checkpoints/arena_forage/scamper_forage/TaskTransfer_4/training_metadata/metadata @@ -0,0 +1 @@ +{"completed_timesteps": 61603840, "eval_step": 4, "wandb_run_id": "NM_Tminr0.75_distill_prior_s0_260422_182418_754975", "run_id": "260422_182418_754975", "mode": "distill_prior"} \ No newline at end of file diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/_CHECKPOINT_METADATA b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..0bcc6b632d3ec6f070da120c54408de4c60d73fb --- /dev/null +++ b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": {"brax_params": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler", "config": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "frozen_networks": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler", "training_metadata": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1775239367634953356, "commit_timestamp_nsecs": 1775239368023926411, "custom_metadata": {}} \ No newline at end of file diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/_METADATA b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..62d5931dfe2ddc2450c12c8f7b3bb0d947af4b8e --- /dev/null +++ b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/_METADATA @@ -0,0 +1 @@ +{"tree_metadata": {"('0', 'mean')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "mean", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [331]}}, "('0', 'std')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "std", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [331]}}, "('0', 'count', 'hi')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "count", "key_type": 2}, {"key": "hi", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('0', 'count', 'lo')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "count", "key_type": 2}, {"key": "lo", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('0', 'summed_variance')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "summed_variance", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [331]}}, "('0', 'std_eps')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "std_eps", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('1', 'params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('1', 'params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [331, 2048]}}, "('1', 'params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('1', 'params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048, 1024]}}, "('1', 'params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('1', 'params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}, "('1', 'params', 'hidden_3', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [32]}}, "('1', 'params', 'hidden_3', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 32]}}, "('2', 'params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('2', 'params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [331, 2048]}}, "('2', 'params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('2', 'params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048, 1024]}}, "('2', 'params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('2', 'params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 1024]}}, "('2', 'params', 'hidden_3', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('2', 'params', 'hidden_3', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}, "('2', 'params', 'hidden_4', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_4", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1]}}, "('2', 'params', 'hidden_4', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_4", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 1]}}}, "use_ocdbt": true, "use_zarr3": false, "store_array_data_equal_to_fill_value": true, "custom_metadata": null} \ No newline at end of file diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/_sharding b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/_sharding new file mode 100644 index 0000000000000000000000000000000000000000..a1cc9b7328197fe17e5a4667ebd30cad6f9a1dc7 --- /dev/null +++ b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/_sharding @@ -0,0 +1 @@ +{"MC5jb3VudC5oaQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MC5jb3VudC5sbw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MC5tZWFu":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MC5zdGQ=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MC5zdGRfZXBz":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MC5zdW1tZWRfdmFyaWFuY2U=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzMuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","MS5wYXJhbXMuaGlkZGVuXzMua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzMuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzMua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzQuYmlhcw==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}","Mi5wYXJhbXMuaGlkZGVuXzQua2VybmVs":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1], \"axis_names\": [\"i\"], \"axis_types\": [\"AxisType.Auto\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [{\"id\": 0}]}}"} \ No newline at end of file diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/array_metadatas/process_0 b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/array_metadatas/process_0 new file mode 100644 index 0000000000000000000000000000000000000000..d5ce33c2f1c1319c3becada886dbe9476f4bd212 --- /dev/null +++ b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/array_metadatas/process_0 @@ -0,0 +1 @@ +{"array_metadatas": [{"array_metadata": {"param_name": "0.mean", "write_shape": [331], "chunk_shape": [331], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.std", "write_shape": [331], "chunk_shape": [331], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.count.hi", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.count.lo", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.summed_variance", "write_shape": [331], "chunk_shape": [331], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.std_eps", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_0.kernel", "write_shape": [331, 2048], "chunk_shape": [331, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_1.kernel", "write_shape": [2048, 1024], "chunk_shape": [2048, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_2.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_3.bias", "write_shape": [32], "chunk_shape": [32], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_3.kernel", "write_shape": [512, 32], "chunk_shape": [512, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_0.kernel", "write_shape": [331, 2048], "chunk_shape": [331, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_1.kernel", "write_shape": [2048, 1024], "chunk_shape": [2048, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_2.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_2.kernel", "write_shape": [1024, 1024], "chunk_shape": [1024, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_3.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_3.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_4.bias", "write_shape": [1], "chunk_shape": [1], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_4.kernel", "write_shape": [512, 1], "chunk_shape": [512, 1], "ext_metadata": null}}]} \ No newline at end of file diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/d/0d3bfea8fdb6a10ef6a053224b752f83 b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/d/0d3bfea8fdb6a10ef6a053224b752f83 new file mode 100644 index 0000000000000000000000000000000000000000..554644991621652a49600ef97bd45d1c866a638c Binary files /dev/null and b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/d/0d3bfea8fdb6a10ef6a053224b752f83 differ diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/manifest.ocdbt b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..c37b8bc0c00fe5072aa6e658016cec6427b54459 Binary files /dev/null and b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/manifest.ocdbt differ diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/ocdbt.process_0/d/548c8991d4f78b0fcdcdf079d60d5b2a b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/ocdbt.process_0/d/548c8991d4f78b0fcdcdf079d60d5b2a new file mode 100644 index 0000000000000000000000000000000000000000..8d056f378ad16730bc9b25cff6682352117d1159 Binary files /dev/null and b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/ocdbt.process_0/d/548c8991d4f78b0fcdcdf079d60d5b2a differ diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/ocdbt.process_0/d/dd0bdacd7403d034ad96d212fabe4339 b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/ocdbt.process_0/d/dd0bdacd7403d034ad96d212fabe4339 new file mode 100644 index 0000000000000000000000000000000000000000..13c462e4ad2f0a3efe4e7d9fcd935da052b273a7 Binary files /dev/null and b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/ocdbt.process_0/d/dd0bdacd7403d034ad96d212fabe4339 differ diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/ocdbt.process_0/d/ee5ee1116cd5158923cae51e62fca720 b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/ocdbt.process_0/d/ee5ee1116cd5158923cae51e62fca720 new file mode 100644 index 0000000000000000000000000000000000000000..383c0949f14bd95be6e1646de8c1b5b20545580e Binary files /dev/null and b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/ocdbt.process_0/d/ee5ee1116cd5158923cae51e62fca720 differ diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/ocdbt.process_0/manifest.ocdbt b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/ocdbt.process_0/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..65702c38758e21d6a2e0e31f40732af2144eab7a Binary files /dev/null and b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/brax_params/ocdbt.process_0/manifest.ocdbt differ diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/config/metadata b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/config/metadata new file mode 100644 index 0000000000000000000000000000000000000000..2ed6191379918812d30ab23402b552185f0deb81 --- /dev/null +++ b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/config/metadata @@ -0,0 +1 @@ +{"mode": "distill", "checkpoint": {"path": "/home/mila/a/aidan.sirbu/SCAMPER/scratch/distill_checkpoints/260327_134740_079934", "step": null}, "decoder_only": {"_placeholder": true}, "prior_decoder": {"deterministic_prior": true, "noise_logvar": -2.0}, "distill": {"deterministic_prior": true, "noise_logvar": -2.0}, "scratch": {"torque_actuators": false}, "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": 0, "eval_every": 15000000}, "env": {"xml_variant": "no-tail-collisions", "mujoco_impl": "warp", "init_z": 0.0, "target_speed": 0.3, "reward_weights": {"forward_velocity": 1.0, "lateral_velocity": 0.0, "angular_velocity_z": 0.0, "control_diff_cost": 0.0}}, "checkpointing": {"enabled": true, "model_path": "/home/mila/a/aidan.sirbu/SCAMPER/scratch/maintain_velocity_checkpoints", "max_to_keep": null}, "logging": {"project": "SCAMPER", "group_name": "maintain_velocity_sweep", "exp_name": "S0.3_distill_seed0", "render_camera": "close_profile-rodent", "render_fps": 50, "render_height": 720, "render_width": 1280, "render_every": 1}, "checkpoint_config": {"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}}} \ No newline at end of file diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/_METADATA b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..ed8a04e8bdc1ca74c3cdf7996188d91a5560dc53 --- /dev/null +++ b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/_METADATA @@ -0,0 +1 @@ +{"tree_metadata": {"('decoder_params', 'LayerNorm_0', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'LayerNorm_0', 'scale')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'LayerNorm_1', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'LayerNorm_1', 'scale')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'LayerNorm_2', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('decoder_params', 'LayerNorm_2', 'scale')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('decoder_params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [293, 1024]}}, "('decoder_params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 1024]}}, "('decoder_params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('decoder_params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}, "('decoder_params', 'hidden_3', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [76]}}, "('decoder_params', 'hidden_3', 'kernel')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 76]}}, "('encoder_params', 'LayerNorm_0', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('encoder_params', 'LayerNorm_0', 'scale')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('encoder_params', 'LayerNorm_1', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'LayerNorm_1', 'scale')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'LayerNorm_2', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'LayerNorm_2', 'scale')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'fc2_logvar', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "fc2_logvar", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('encoder_params', 'fc2_logvar', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "fc2_logvar", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 16]}}, "('encoder_params', 'fc2_mean', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "fc2_mean", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('encoder_params', 'fc2_mean', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "fc2_mean", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 16]}}, "('encoder_params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('encoder_params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [640, 2048]}}, "('encoder_params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048, 1024]}}, "('encoder_params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 1024]}}, "('imitation_normalizer', 'imitation_target', 'mean')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "mean", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [640]}}, "('imitation_normalizer', 'imitation_target', 'std')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "std", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [640]}}, "('imitation_normalizer', 'imitation_target', 'count', 'hi')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "count", "key_type": 2}, {"key": "hi", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('imitation_normalizer', 'imitation_target', 'count', 'lo')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "count", "key_type": 2}, {"key": "lo", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('imitation_normalizer', 'imitation_target', 'summed_variance')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "summed_variance", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [640]}}, "('imitation_normalizer', 'imitation_target', 'std_eps')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "std_eps", "key_type": 2}], "value_metadata": {"value_type": "scalar", "skip_deserialize": false}}, "('imitation_normalizer', 'proprioception', 'mean')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "mean", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [277]}}, "('imitation_normalizer', 'proprioception', 'std')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "std", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [277]}}, "('imitation_normalizer', 'proprioception', 'count', 'hi')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "count", "key_type": 2}, {"key": "hi", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('imitation_normalizer', 'proprioception', 'count', 'lo')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "count", "key_type": 2}, {"key": "lo", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('imitation_normalizer', 'proprioception', 'summed_variance')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "summed_variance", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [277]}}, "('imitation_normalizer', 'proprioception', 'std_eps')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "std_eps", "key_type": 2}], "value_metadata": {"value_type": "scalar", "skip_deserialize": false}}, "('prior_params', 'LayerNorm_0', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1536]}}, "('prior_params', 'LayerNorm_0', 'scale')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1536]}}, "('prior_params', 'LayerNorm_1', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('prior_params', 'LayerNorm_1', 'scale')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('prior_params', 'LayerNorm_2', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('prior_params', 'LayerNorm_2', 'scale')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('prior_params', 'fc2_logvar', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "fc2_logvar", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('prior_params', 'fc2_logvar', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "fc2_logvar", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 16]}}, "('prior_params', 'fc2_mean', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "fc2_mean", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('prior_params', 'fc2_mean', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "fc2_mean", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 16]}}, "('prior_params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1536]}}, "('prior_params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [277, 1536]}}, "('prior_params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('prior_params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1536, 1024]}}, "('prior_params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('prior_params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}}, "use_ocdbt": true, "use_zarr3": false, "store_array_data_equal_to_fill_value": true, "custom_metadata": null} \ No newline at end of file diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/_sharding b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/_sharding new file mode 100644 index 0000000000000000000000000000000000000000..dc2fd797d2faf8c83c4a74647c6723306ba296b2 --- /dev/null +++ b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/_sharding @@ -0,0 +1 @@ +{"ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzMuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzMua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmMyX21lYW4uYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmMyX21lYW4ua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmMyX2xvZ3Zhci5iaWFz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmMyX2xvZ3Zhci5rZXJuZWw=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5jb3VudC5oaQ==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5jb3VudC5sbw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5tZWFu":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5zdGQ=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5zdW1tZWRfdmFyaWFuY2U=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uY291bnQuaGk=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uY291bnQubG8=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24ubWVhbg==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uc3Rk":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uc3VtbWVkX3ZhcmlhbmNl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8wLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8wLnNjYWxl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8xLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8xLnNjYWxl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8yLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8yLnNjYWxl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9sb2d2YXIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9sb2d2YXIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9tZWFuLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9tZWFuLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8wLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8wLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8xLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8xLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8yLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8yLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}"} \ No newline at end of file diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/array_metadatas/process_0 b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/array_metadatas/process_0 new file mode 100644 index 0000000000000000000000000000000000000000..15f1ec7767995d00c09403c8122d7290b512ce01 --- /dev/null +++ b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/array_metadatas/process_0 @@ -0,0 +1 @@ +{"array_metadatas": [{"array_metadata": {"param_name": "decoder_params.LayerNorm_0.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_0.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_1.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_2.scale", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_0.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_0.kernel", "write_shape": [293, 1024], "chunk_shape": [293, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_1.kernel", "write_shape": [1024, 1024], "chunk_shape": [1024, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_2.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_3.bias", "write_shape": [76], "chunk_shape": [76], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_3.kernel", "write_shape": [512, 76], "chunk_shape": [512, 76], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_0.scale", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_1.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_2.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_2.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc2_logvar.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc2_logvar.kernel", "write_shape": [1024, 16], "chunk_shape": [1024, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc2_mean.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc2_mean.kernel", "write_shape": [1024, 16], "chunk_shape": [1024, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_0.kernel", "write_shape": [640, 2048], "chunk_shape": [640, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_1.kernel", "write_shape": [2048, 1024], "chunk_shape": [2048, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_2.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_2.kernel", "write_shape": [1024, 1024], "chunk_shape": [1024, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.mean", "write_shape": [640], "chunk_shape": [640], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.std", "write_shape": [640], "chunk_shape": [640], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.count.hi", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.count.lo", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.summed_variance", "write_shape": [640], "chunk_shape": [640], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.mean", "write_shape": [277], "chunk_shape": [277], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.std", "write_shape": [277], "chunk_shape": [277], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.count.hi", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.count.lo", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.summed_variance", "write_shape": [277], "chunk_shape": [277], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_0.bias", "write_shape": [1536], "chunk_shape": [1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_0.scale", "write_shape": [1536], "chunk_shape": [1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_1.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_2.scale", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_logvar.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_logvar.kernel", "write_shape": [512, 16], "chunk_shape": [512, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_mean.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_mean.kernel", "write_shape": [512, 16], "chunk_shape": [512, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_0.bias", "write_shape": [1536], "chunk_shape": [1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_0.kernel", "write_shape": [277, 1536], "chunk_shape": [277, 1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_1.kernel", "write_shape": [1536, 1024], "chunk_shape": [1536, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_2.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}]} \ No newline at end of file diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/d/ac72b54cffafa9dd5346d85b4ae1b09a b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/d/ac72b54cffafa9dd5346d85b4ae1b09a new file mode 100644 index 0000000000000000000000000000000000000000..d3485ecf38a946ff77e191c89cab3cfa52fa7f1b Binary files /dev/null and b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/d/ac72b54cffafa9dd5346d85b4ae1b09a differ diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/manifest.ocdbt b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..aea43abbf7befde5b7565816be12b3550e141f66 Binary files /dev/null and b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/manifest.ocdbt differ diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/d/57043646d3f0d3ddea1763f390ad6fe0 b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/d/57043646d3f0d3ddea1763f390ad6fe0 new file mode 100644 index 0000000000000000000000000000000000000000..58106d018785b8d74369800292f01bfd17d8b730 Binary files /dev/null and b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/d/57043646d3f0d3ddea1763f390ad6fe0 differ diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/d/b7205703cc24dfa027e3e1df3cbdcb7b b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/d/b7205703cc24dfa027e3e1df3cbdcb7b new file mode 100644 index 0000000000000000000000000000000000000000..e20705ca8be259d08dc4fa016d3ae4230bfad2c8 Binary files /dev/null and b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/d/b7205703cc24dfa027e3e1df3cbdcb7b differ diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/d/c0613d30acd05c14c3d6758932ab13bb b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/d/c0613d30acd05c14c3d6758932ab13bb new file mode 100644 index 0000000000000000000000000000000000000000..3f036465865251d4f79985051d9c6fa4ce9b687d Binary files /dev/null and b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/d/c0613d30acd05c14c3d6758932ab13bb differ diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/d/c863696d14ab5b6cf17cf608e3c9da0b b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/d/c863696d14ab5b6cf17cf608e3c9da0b new file mode 100644 index 0000000000000000000000000000000000000000..dea4e28b2c977893cc600bed34fe5c435b03af92 Binary files /dev/null and b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/d/c863696d14ab5b6cf17cf608e3c9da0b differ diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/manifest.ocdbt b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..9e2aaa9b6380589dae2a3085cbb3e7cb5e6fecde Binary files /dev/null and b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/frozen_networks/ocdbt.process_0/manifest.ocdbt differ diff --git a/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/training_metadata/metadata b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/training_metadata/metadata new file mode 100644 index 0000000000000000000000000000000000000000..c4fb71b67ee3fecc1e00f70812e82a4d58499c9e --- /dev/null +++ b/checkpoints/locomotion/scamper_s3e-1/260403_015403_017303/TaskTransfer_25/training_metadata/metadata @@ -0,0 +1 @@ +{"completed_timesteps": 401408000, "eval_step": 25, "wandb_run_id": "S0.3_distill_seed0_260403_015403_017303", "run_id": "260403_015403_017303", "mode": "distill"} \ No newline at end of file diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/array_metadatas/process_0 b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/array_metadatas/process_0 new file mode 100644 index 0000000000000000000000000000000000000000..d5ce33c2f1c1319c3becada886dbe9476f4bd212 --- /dev/null +++ b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/array_metadatas/process_0 @@ -0,0 +1 @@ +{"array_metadatas": [{"array_metadata": {"param_name": "0.mean", "write_shape": [331], "chunk_shape": [331], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.std", "write_shape": [331], "chunk_shape": [331], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.count.hi", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.count.lo", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.summed_variance", "write_shape": [331], "chunk_shape": [331], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.std_eps", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_0.kernel", "write_shape": [331, 2048], "chunk_shape": [331, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_1.kernel", "write_shape": [2048, 1024], "chunk_shape": [2048, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_2.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_3.bias", "write_shape": [32], "chunk_shape": [32], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_3.kernel", "write_shape": [512, 32], "chunk_shape": [512, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_0.kernel", "write_shape": [331, 2048], "chunk_shape": [331, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_1.kernel", "write_shape": [2048, 1024], "chunk_shape": [2048, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_2.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_2.kernel", "write_shape": [1024, 1024], "chunk_shape": [1024, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_3.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_3.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_4.bias", "write_shape": [1], "chunk_shape": [1], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_4.kernel", "write_shape": [512, 1], "chunk_shape": [512, 1], "ext_metadata": null}}]} \ No newline at end of file diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/d/a6d3c44aecb70cc93072388921928a8c b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/d/a6d3c44aecb70cc93072388921928a8c new file mode 100644 index 0000000000000000000000000000000000000000..04ed9cceb27cc5fd821f351a3866a78f57b401f2 Binary files /dev/null and b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/d/a6d3c44aecb70cc93072388921928a8c differ diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/manifest.ocdbt b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..8fc8cae37bea02d2143bc0cd1e91c5ddbd679ffd Binary files /dev/null and b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/manifest.ocdbt differ diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/ocdbt.process_0/d/444955b46e01fa856b8389af8377818e b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/ocdbt.process_0/d/444955b46e01fa856b8389af8377818e new file mode 100644 index 0000000000000000000000000000000000000000..427acb092008b555b116a3d61e6514a4843b5b30 Binary files /dev/null and b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/ocdbt.process_0/d/444955b46e01fa856b8389af8377818e differ diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/ocdbt.process_0/d/8bfe5fc0b4e9600df51089bf8e1f05d7 b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/ocdbt.process_0/d/8bfe5fc0b4e9600df51089bf8e1f05d7 new file mode 100644 index 0000000000000000000000000000000000000000..8d056f378ad16730bc9b25cff6682352117d1159 Binary files /dev/null and b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/ocdbt.process_0/d/8bfe5fc0b4e9600df51089bf8e1f05d7 differ diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/ocdbt.process_0/d/95f3f70a293c42f52086390900b1a374 b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/ocdbt.process_0/d/95f3f70a293c42f52086390900b1a374 new file mode 100644 index 0000000000000000000000000000000000000000..383c0949f14bd95be6e1646de8c1b5b20545580e Binary files /dev/null and b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/ocdbt.process_0/d/95f3f70a293c42f52086390900b1a374 differ diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/ocdbt.process_0/manifest.ocdbt b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/ocdbt.process_0/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..d138ace81ada81110e28b6bcbcff2f23281ec5f5 Binary files /dev/null and b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/brax_params/ocdbt.process_0/manifest.ocdbt differ diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/_sharding b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/_sharding new file mode 100644 index 0000000000000000000000000000000000000000..dc2fd797d2faf8c83c4a74647c6723306ba296b2 --- /dev/null +++ b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/_sharding @@ -0,0 +1 @@ +{"ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzMuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzMua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmMyX21lYW4uYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmMyX21lYW4ua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmMyX2xvZ3Zhci5iaWFz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmMyX2xvZ3Zhci5rZXJuZWw=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5jb3VudC5oaQ==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5jb3VudC5sbw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5tZWFu":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5zdGQ=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5zdW1tZWRfdmFyaWFuY2U=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uY291bnQuaGk=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uY291bnQubG8=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24ubWVhbg==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uc3Rk":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uc3VtbWVkX3ZhcmlhbmNl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8wLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8wLnNjYWxl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8xLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8xLnNjYWxl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8yLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8yLnNjYWxl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9sb2d2YXIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9sb2d2YXIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9tZWFuLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9tZWFuLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8wLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8wLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8xLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8xLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8yLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8yLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}"} \ No newline at end of file diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/array_metadatas/process_0 b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/array_metadatas/process_0 new file mode 100644 index 0000000000000000000000000000000000000000..15f1ec7767995d00c09403c8122d7290b512ce01 --- /dev/null +++ b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/array_metadatas/process_0 @@ -0,0 +1 @@ +{"array_metadatas": [{"array_metadata": {"param_name": "decoder_params.LayerNorm_0.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_0.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_1.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_2.scale", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_0.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_0.kernel", "write_shape": [293, 1024], "chunk_shape": [293, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_1.kernel", "write_shape": [1024, 1024], "chunk_shape": [1024, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_2.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_3.bias", "write_shape": [76], "chunk_shape": [76], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_3.kernel", "write_shape": [512, 76], "chunk_shape": [512, 76], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_0.scale", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_1.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_2.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_2.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc2_logvar.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc2_logvar.kernel", "write_shape": [1024, 16], "chunk_shape": [1024, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc2_mean.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc2_mean.kernel", "write_shape": [1024, 16], "chunk_shape": [1024, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_0.kernel", "write_shape": [640, 2048], "chunk_shape": [640, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_1.kernel", "write_shape": [2048, 1024], "chunk_shape": [2048, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_2.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_2.kernel", "write_shape": [1024, 1024], "chunk_shape": [1024, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.mean", "write_shape": [640], "chunk_shape": [640], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.std", "write_shape": [640], "chunk_shape": [640], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.count.hi", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.count.lo", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.summed_variance", "write_shape": [640], "chunk_shape": [640], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.mean", "write_shape": [277], "chunk_shape": [277], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.std", "write_shape": [277], "chunk_shape": [277], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.count.hi", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.count.lo", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.summed_variance", "write_shape": [277], "chunk_shape": [277], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_0.bias", "write_shape": [1536], "chunk_shape": [1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_0.scale", "write_shape": [1536], "chunk_shape": [1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_1.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_2.scale", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_logvar.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_logvar.kernel", "write_shape": [512, 16], "chunk_shape": [512, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_mean.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_mean.kernel", "write_shape": [512, 16], "chunk_shape": [512, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_0.bias", "write_shape": [1536], "chunk_shape": [1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_0.kernel", "write_shape": [277, 1536], "chunk_shape": [277, 1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_1.kernel", "write_shape": [1536, 1024], "chunk_shape": [1536, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_2.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}]} \ No newline at end of file diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/d/054f7e5fb6acd53eb142fb5884650258 b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/d/054f7e5fb6acd53eb142fb5884650258 new file mode 100644 index 0000000000000000000000000000000000000000..d0aa36ce36ecb9dac8ee9acb3ac84813b1c44267 Binary files /dev/null and b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/d/054f7e5fb6acd53eb142fb5884650258 differ diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/manifest.ocdbt b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..cad173ca7038d79cf0dd8c0b01df6e3241485ef2 Binary files /dev/null and b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/manifest.ocdbt differ diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/ocdbt.process_0/d/91db43ed3ea82c89a95a86bd61587088 b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/ocdbt.process_0/d/91db43ed3ea82c89a95a86bd61587088 new file mode 100644 index 0000000000000000000000000000000000000000..e20705ca8be259d08dc4fa016d3ae4230bfad2c8 Binary files /dev/null and b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/ocdbt.process_0/d/91db43ed3ea82c89a95a86bd61587088 differ diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/ocdbt.process_0/d/e2051cc1434b55126d6eb05291062e0b b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/ocdbt.process_0/d/e2051cc1434b55126d6eb05291062e0b new file mode 100644 index 0000000000000000000000000000000000000000..aa266c3dac2e5064bd7a09f8cdcd24899ea1ef56 Binary files /dev/null and b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/ocdbt.process_0/d/e2051cc1434b55126d6eb05291062e0b differ diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/ocdbt.process_0/manifest.ocdbt b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/ocdbt.process_0/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..cdaed206240b4eae61bd162f8f3a3375920e8ed4 Binary files /dev/null and b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/frozen_networks/ocdbt.process_0/manifest.ocdbt differ diff --git a/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/training_metadata/metadata b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/training_metadata/metadata new file mode 100644 index 0000000000000000000000000000000000000000..b56ed300b400fb33fd941ffbe85a8718fce38abe --- /dev/null +++ b/checkpoints/locomotion/scamper_s5e-1/260403_054936_177691/TaskTransfer_24/training_metadata/metadata @@ -0,0 +1 @@ +{"completed_timesteps": 401080320, "eval_step": 24, "wandb_run_id": "S0.5_distill_seed2_260403_054936_177691", "run_id": "260403_054936_177691", "mode": "distill"} \ No newline at end of file diff --git a/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/_CHECKPOINT_METADATA b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..ffa42b517dc46037bcf37953542b829eea743864 --- /dev/null +++ b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": {"brax_params": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler", "config": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "frozen_networks": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler", "training_metadata": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1772342228910423794, "commit_timestamp_nsecs": 1772342229312353149, "custom_metadata": {}} \ No newline at end of file diff --git a/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/brax_params/_METADATA b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/brax_params/_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..7c28affe21b95f83fbf0977087826c441e9acb22 --- /dev/null +++ b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/brax_params/_METADATA @@ -0,0 +1 @@ +{"tree_metadata": {"('0', 'mean')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "mean", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [331]}}, "('0', 'std')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "std", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [331]}}, "('0', 'count', 'hi')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "count", "key_type": 2}, {"key": "hi", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('0', 'count', 'lo')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "count", "key_type": 2}, {"key": "lo", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('0', 'summed_variance')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "summed_variance", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [331]}}, "('0', 'std_eps')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "std_eps", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('1', 'params', 'decoder', 'LayerNorm_0', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('1', 'params', 'decoder', 'LayerNorm_0', 'scale')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('1', 'params', 'decoder', 'LayerNorm_1', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('1', 'params', 'decoder', 'LayerNorm_1', 'scale')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('1', 'params', 'decoder', 'LayerNorm_2', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('1', 'params', 'decoder', 'LayerNorm_2', 'scale')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('1', 'params', 'decoder', 'hidden_0', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('1', 'params', 'decoder', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [293, 1024]}}, "('1', 'params', 'decoder', 'hidden_1', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('1', 'params', 'decoder', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 1024]}}, "('1', 'params', 'decoder', 'hidden_2', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('1', 'params', 'decoder', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}, "('1', 'params', 'decoder', 'hidden_3', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [76]}}, "('1', 'params', 'decoder', 'hidden_3', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "decoder", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 76]}}, "('1', 'params', 'policy', 'LayerNorm_0', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('1', 'params', 'policy', 'LayerNorm_0', 'scale')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('1', 'params', 'policy', 'LayerNorm_1', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('1', 'params', 'policy', 'LayerNorm_1', 'scale')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('1', 'params', 'policy', 'LayerNorm_2', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('1', 'params', 'policy', 'LayerNorm_2', 'scale')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('1', 'params', 'policy', 'hidden_0', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('1', 'params', 'policy', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [331, 2048]}}, "('1', 'params', 'policy', 'hidden_1', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('1', 'params', 'policy', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048, 1024]}}, "('1', 'params', 'policy', 'hidden_2', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('1', 'params', 'policy', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}, "('1', 'params', 'policy', 'latent', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "latent", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('1', 'params', 'policy', 'latent', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "policy", "key_type": 2}, {"key": "latent", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 16]}}, "('2', 'params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('2', 'params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [331, 2048]}}, "('2', 'params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('2', 'params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048, 1024]}}, "('2', 'params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('2', 'params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 1024]}}, "('2', 'params', 'hidden_3', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('2', 'params', 'hidden_3', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}, "('2', 'params', 'hidden_4', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_4", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1]}}, "('2', 'params', 'hidden_4', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_4", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 1]}}}, "use_ocdbt": true, "use_zarr3": false, "store_array_data_equal_to_fill_value": true, "custom_metadata": null} \ No newline at end of file diff --git a/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/config/metadata b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/config/metadata new file mode 100644 index 0000000000000000000000000000000000000000..f944461cbe7172dbfe392720ba4886e372a9e6bb --- /dev/null +++ b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/config/metadata @@ -0,0 +1 @@ +{"mode": "scratch", "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": {"torque_actuators": false}, "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": 0.5, "reward_weights": {"forward_velocity": 1.0, "lateral_velocity": 0.0, "angular_velocity_z": 0.0}}, "checkpointing": {"enabled": true, "model_path": "/home/mila/a/aidan.sirbu/SCAMPER/scratch/maintain_velocity_checkpoints", "max_to_keep": null}, "logging": {"project": "SCAMPER", "group_name": "maintain_velocity_sweep", "exp_name": "S0.5_scratch_seed1", "render_camera": "close_profile-rodent", "render_fps": 50, "render_height": 720, "render_width": 1280, "render_every": 1}, "checkpoint_config": {"teacher_config": {"checkpoint_path": "/home/mila/a/aidan.sirbu/scratch/track-mjx/model_checkpoints/charlesrodent_detfix", "checkpoint_step": null}, "env_config": {"mujoco_impl": "jax", "solver": "newton", "iterations": 5, "ls_iterations": 5, "nconmax": 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": false, "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": "/tmp/track-mjx/.venv/lib/python3.12/site-packages/vnl_playground/tasks/rodent/xmls/rodent.xml", "arena_xml_path": "/tmp/track-mjx/.venv/lib/python3.12/site-packages/vnl_playground/tasks/rodent/xmls/arena.xml", "reference_data_path": "/tmp/track-mjx/data/rodent/rodent_reference_clips.h5", "walker_name": "rodent", "torque_actuators": true, "rescale_factor": 0.9, "vnl_playground_commit": "16664b7561261dc03b42ae0e5afd9369fca3cd95"}, "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": "prior", "prior_layer_sizes": [1536, 1024, 512], "obs_sizes": {"imitation_target": 640, "proprioception": 277}, "action_size": 38, "normalize_observations": true, "intention_size": 16, "encoder_layer_sizes": [2048, 1024, 1024], "decoder_layer_sizes": [1024, 1024, 512]}, "prior_config": {"kl_weight": 1, "grad_clip_norm": 10.0, "use_kl_schedule": false, "kl_schedule_params": {"kl_start_weight": 1e-05, "kl_end_weight": 0.001, "kl_start_ramp": 0.0, "kl_end_ramp": 0.25}}, "train_setup": {"agent_name": "rodent_prior", "run_name": "prior_training", "checkpoint_to_restore": null, "restore_from_run_state": null, "train_test_split_info": null, "train_subset_ratio": 0.8, "eval_every": 20000000, "episode_length": 200, "reset_every": 20000000, "train_config": {"num_envs": 4096, "num_timesteps": 2000000000, "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": "vnl_debug", "group_name": "prior_frozen_encoder_decoder", "exp_name": "prior_training_detfix_KL_W1", "clip_id": -1, "model_path": "/home/mila/a/aidan.sirbu/scratch/track-mjx/model_checkpoints"}, "walker_config": {"walker_name": "rodent", "torque_actuators": true, "rescale_factor": 0.9, "joint_names": ["vertebra_1_extend", "hip_L_supinate", "hip_L_abduct", "hip_L_extend", "knee_L", "ankle_L", "toe_L", "hip_R_supinate", "hip_R_abduct", "hip_R_extend", "knee_R", "ankle_R", "toe_R", "vertebra_C11_extend", "vertebra_cervical_1_bend", "vertebra_axis_twist", "atlas", "mandible", "scapula_L_supinate", "scapula_L_abduct", "scapula_L_extend", "shoulder_L", "shoulder_sup_L", "elbow_L", "wrist_L", "scapula_R_supinate", "scapula_R_abduct", "scapula_R_extend", "shoulder_R", "shoulder_sup_R", "elbow_R", "wrist_R", "finger_R"], "body_names": ["torso", "pelvis", "upper_leg_L", "lower_leg_L", "foot_L", "upper_leg_R", "lower_leg_R", "foot_R", "skull", "jaw", "scapula_L", "upper_arm_L", "lower_arm_L", "finger_L", "scapula_R", "upper_arm_R", "lower_arm_R", "finger_R"], "end_eff_names": ["foot_L", "foot_R", "hand_L", "hand_R", "skull"]}}} \ No newline at end of file diff --git a/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/frozen_networks/_METADATA b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/frozen_networks/_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..ed8a04e8bdc1ca74c3cdf7996188d91a5560dc53 --- /dev/null +++ b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/frozen_networks/_METADATA @@ -0,0 +1 @@ +{"tree_metadata": {"('decoder_params', 'LayerNorm_0', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'LayerNorm_0', 'scale')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'LayerNorm_1', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'LayerNorm_1', 'scale')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'LayerNorm_2', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('decoder_params', 'LayerNorm_2', 'scale')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('decoder_params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [293, 1024]}}, "('decoder_params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('decoder_params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 1024]}}, "('decoder_params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('decoder_params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}, "('decoder_params', 'hidden_3', 'bias')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [76]}}, "('decoder_params', 'hidden_3', 'kernel')": {"key_metadata": [{"key": "decoder_params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 76]}}, "('encoder_params', 'LayerNorm_0', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('encoder_params', 'LayerNorm_0', 'scale')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('encoder_params', 'LayerNorm_1', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'LayerNorm_1', 'scale')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'LayerNorm_2', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'LayerNorm_2', 'scale')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'fc2_logvar', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "fc2_logvar", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('encoder_params', 'fc2_logvar', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "fc2_logvar", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 16]}}, "('encoder_params', 'fc2_mean', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "fc2_mean", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('encoder_params', 'fc2_mean', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "fc2_mean", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 16]}}, "('encoder_params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('encoder_params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [640, 2048]}}, "('encoder_params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048, 1024]}}, "('encoder_params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('encoder_params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "encoder_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 1024]}}, "('imitation_normalizer', 'imitation_target', 'mean')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "mean", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [640]}}, "('imitation_normalizer', 'imitation_target', 'std')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "std", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [640]}}, "('imitation_normalizer', 'imitation_target', 'count', 'hi')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "count", "key_type": 2}, {"key": "hi", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('imitation_normalizer', 'imitation_target', 'count', 'lo')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "count", "key_type": 2}, {"key": "lo", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('imitation_normalizer', 'imitation_target', 'summed_variance')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "summed_variance", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [640]}}, "('imitation_normalizer', 'imitation_target', 'std_eps')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "imitation_target", "key_type": 2}, {"key": "std_eps", "key_type": 2}], "value_metadata": {"value_type": "scalar", "skip_deserialize": false}}, "('imitation_normalizer', 'proprioception', 'mean')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "mean", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [277]}}, "('imitation_normalizer', 'proprioception', 'std')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "std", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [277]}}, "('imitation_normalizer', 'proprioception', 'count', 'hi')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "count", "key_type": 2}, {"key": "hi", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('imitation_normalizer', 'proprioception', 'count', 'lo')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "count", "key_type": 2}, {"key": "lo", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('imitation_normalizer', 'proprioception', 'summed_variance')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "summed_variance", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [277]}}, "('imitation_normalizer', 'proprioception', 'std_eps')": {"key_metadata": [{"key": "imitation_normalizer", "key_type": 2}, {"key": "proprioception", "key_type": 2}, {"key": "std_eps", "key_type": 2}], "value_metadata": {"value_type": "scalar", "skip_deserialize": false}}, "('prior_params', 'LayerNorm_0', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1536]}}, "('prior_params', 'LayerNorm_0', 'scale')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1536]}}, "('prior_params', 'LayerNorm_1', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('prior_params', 'LayerNorm_1', 'scale')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('prior_params', 'LayerNorm_2', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('prior_params', 'LayerNorm_2', 'scale')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "LayerNorm_2", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('prior_params', 'fc2_logvar', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "fc2_logvar", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('prior_params', 'fc2_logvar', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "fc2_logvar", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 16]}}, "('prior_params', 'fc2_mean', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "fc2_mean", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [16]}}, "('prior_params', 'fc2_mean', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "fc2_mean", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 16]}}, "('prior_params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1536]}}, "('prior_params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [277, 1536]}}, "('prior_params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('prior_params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1536, 1024]}}, "('prior_params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('prior_params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "prior_params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 512]}}}, "use_ocdbt": true, "use_zarr3": false, "store_array_data_equal_to_fill_value": true, "custom_metadata": null} \ No newline at end of file diff --git a/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/frozen_networks/_sharding b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/frozen_networks/_sharding new file mode 100644 index 0000000000000000000000000000000000000000..dc2fd797d2faf8c83c4a74647c6723306ba296b2 --- /dev/null +++ b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/frozen_networks/_sharding @@ -0,0 +1 @@ +{"ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzMuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZGVjb2Rlcl9wYXJhbXMuaGlkZGVuXzMua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzAuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzEuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuTGF5ZXJOb3JtXzIuc2NhbGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmMyX21lYW4uYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmMyX21lYW4ua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmMyX2xvZ3Zhci5iaWFz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuZmMyX2xvZ3Zhci5rZXJuZWw=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","ZW5jb2Rlcl9wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5jb3VudC5oaQ==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5jb3VudC5sbw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5tZWFu":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5zdGQ=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIuaW1pdGF0aW9uX3RhcmdldC5zdW1tZWRfdmFyaWFuY2U=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uY291bnQuaGk=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uY291bnQubG8=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24ubWVhbg==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uc3Rk":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","aW1pdGF0aW9uX25vcm1hbGl6ZXIucHJvcHJpb2NlcHRpb24uc3VtbWVkX3ZhcmlhbmNl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8wLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8wLnNjYWxl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8xLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8xLnNjYWxl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8yLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLkxheWVyTm9ybV8yLnNjYWxl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9sb2d2YXIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9sb2d2YXIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9tZWFuLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmZjMl9tZWFuLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8wLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8wLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8xLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8xLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8yLmJpYXM=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","cHJpb3JfcGFyYW1zLmhpZGRlbl8yLmtlcm5lbA==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}"} \ No newline at end of file diff --git a/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/frozen_networks/array_metadatas/process_0 b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/frozen_networks/array_metadatas/process_0 new file mode 100644 index 0000000000000000000000000000000000000000..15f1ec7767995d00c09403c8122d7290b512ce01 --- /dev/null +++ b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/frozen_networks/array_metadatas/process_0 @@ -0,0 +1 @@ +{"array_metadatas": [{"array_metadata": {"param_name": "decoder_params.LayerNorm_0.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_0.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_1.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.LayerNorm_2.scale", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_0.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_0.kernel", "write_shape": [293, 1024], "chunk_shape": [293, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_1.kernel", "write_shape": [1024, 1024], "chunk_shape": [1024, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_2.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_3.bias", "write_shape": [76], "chunk_shape": [76], "ext_metadata": null}}, {"array_metadata": {"param_name": "decoder_params.hidden_3.kernel", "write_shape": [512, 76], "chunk_shape": [512, 76], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_0.scale", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_1.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_2.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.LayerNorm_2.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc2_logvar.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc2_logvar.kernel", "write_shape": [1024, 16], "chunk_shape": [1024, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc2_mean.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.fc2_mean.kernel", "write_shape": [1024, 16], "chunk_shape": [1024, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_0.bias", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_0.kernel", "write_shape": [640, 2048], "chunk_shape": [640, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_1.kernel", "write_shape": [2048, 1024], "chunk_shape": [2048, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_2.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "encoder_params.hidden_2.kernel", "write_shape": [1024, 1024], "chunk_shape": [1024, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.mean", "write_shape": [640], "chunk_shape": [640], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.std", "write_shape": [640], "chunk_shape": [640], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.count.hi", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.count.lo", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.imitation_target.summed_variance", "write_shape": [640], "chunk_shape": [640], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.mean", "write_shape": [277], "chunk_shape": [277], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.std", "write_shape": [277], "chunk_shape": [277], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.count.hi", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.count.lo", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "imitation_normalizer.proprioception.summed_variance", "write_shape": [277], "chunk_shape": [277], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_0.bias", "write_shape": [1536], "chunk_shape": [1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_0.scale", "write_shape": [1536], "chunk_shape": [1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_1.scale", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.LayerNorm_2.scale", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_logvar.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_logvar.kernel", "write_shape": [512, 16], "chunk_shape": [512, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_mean.bias", "write_shape": [16], "chunk_shape": [16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.fc2_mean.kernel", "write_shape": [512, 16], "chunk_shape": [512, 16], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_0.bias", "write_shape": [1536], "chunk_shape": [1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_0.kernel", "write_shape": [277, 1536], "chunk_shape": [277, 1536], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_1.bias", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_1.kernel", "write_shape": [1536, 1024], "chunk_shape": [1536, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_2.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "prior_params.hidden_2.kernel", "write_shape": [1024, 512], "chunk_shape": [1024, 512], "ext_metadata": null}}]} \ No newline at end of file diff --git a/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/frozen_networks/ocdbt.process_0/manifest.ocdbt b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/frozen_networks/ocdbt.process_0/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..ff360162484b395023895a380439871accb4191d Binary files /dev/null and b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/frozen_networks/ocdbt.process_0/manifest.ocdbt differ diff --git a/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/training_metadata/metadata b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/training_metadata/metadata new file mode 100644 index 0000000000000000000000000000000000000000..4a3445c1c25d00d13d0e31138e18a256d8576cf5 --- /dev/null +++ b/checkpoints/locomotion/scratch_s5e-1/260228_120949_207733/TaskTransfer_25/training_metadata/metadata @@ -0,0 +1 @@ +{"completed_timesteps": 401408000, "eval_step": 25, "wandb_run_id": "S0.5_scratch_seed1_260228_120949_207733", "run_id": "260228_120949_207733", "mode": "scratch"} \ No newline at end of file