Upload config for run-005

timing/run-005/config.yaml

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+manifest:
+  metadata_csv: /data/motion/bones/metadata/seed_metadata_v003.csv
+  output_csv: data/timing/manifests/locomotion_manifest.csv
+  motion_root: /data/motion/bones/g1
+  include_regex: walk|jog|run|stair|ladder|climb|jump|hurdle|gap|vault|come_up|come_down|box_jump|crutch|crouch
+  exclude_regex: dance|dancecard|martial|magic|idle|pose|acting|body_check|jumping_jack|jumping_rope|handstand|cartwheel|warm_up|stretch|read_newspaper|feeding_birds|taxi_wave|crossed_arms
+  exclude_content_types:
+  - standing
+  - standing idle
+  - sitting
+  - kneeling
+  - gesture
+  - dancing
+  split_seed: 7
+  train_ratio: 0.8
+  val_ratio: 0.1
+  test_ratio: 0.1
+  group_mirrors: true
+  group_key_mode: take_date_stem
+precompute:
+  manifest_csv: data/timing/manifests/locomotion_manifest.csv
+  output_dir: data/timing/precomputed
+  storage_format: npz
+  source_fps: 120
+  target_fps: 60
+  estimate_deadbands: false
+  max_clips: 0
+  replay:
+    backend: pyroki
+    pyroki_urdf_path: scripts/pipeline/assets/robots/unitree_g1/g1_29dof_rev_1_0_hook.urdf
+    pyroki_device: gpu
+    pyroki_require_device: false
+    pyroki_chunk_frames: 8192
+    root_translation_scale_to_meters: 0.01
+    pyroki_track_frames:
+      root: pelvis
+      left_foot: left_foot_frame
+      right_foot: right_foot_frame
+      left_hand: left_rubber_hand
+      right_hand: right_rubber_hand
+    sample_csv: ''
+    root_translation_cols:
+    - root_translateX
+    - root_translateY
+    - root_translateZ
+    root_rotation_cols:
+    - root_rotateX
+    - root_rotateY
+    - root_rotateZ
+    joint_columns:
+    - left_hip_pitch_joint_dof
+    - left_hip_roll_joint_dof
+    - left_hip_yaw_joint_dof
+    - left_knee_joint_dof
+    - left_ankle_pitch_joint_dof
+    - left_ankle_roll_joint_dof
+    - right_hip_pitch_joint_dof
+    - right_hip_roll_joint_dof
+    - right_hip_yaw_joint_dof
+    - right_knee_joint_dof
+    - right_ankle_pitch_joint_dof
+    - right_ankle_roll_joint_dof
+    - waist_yaw_joint_dof
+    - waist_roll_joint_dof
+    - waist_pitch_joint_dof
+    - left_shoulder_pitch_joint_dof
+    - left_shoulder_roll_joint_dof
+    - left_shoulder_yaw_joint_dof
+    - left_elbow_joint_dof
+    - left_wrist_roll_joint_dof
+    - left_wrist_pitch_joint_dof
+    - left_wrist_yaw_joint_dof
+    - right_shoulder_pitch_joint_dof
+    - right_shoulder_roll_joint_dof
+    - right_shoulder_yaw_joint_dof
+    - right_elbow_joint_dof
+    - right_wrist_roll_joint_dof
+    - right_wrist_pitch_joint_dof
+    - right_wrist_yaw_joint_dof
+    angle_units: degrees
+    root_rotation_mode: euler
+    euler_order: zyx
+    output_debug_npz: ''
+window:
+  fps: 60
+  sampling_mode: fixed_root_distance
+  min_duration_sec: 1.5
+  max_duration_sec: 2.0
+  root_chunk_distance_m: 1.5
+  root_chunk_min_duration_sec: 1.0
+  root_chunk_max_duration_sec: 5.0
+  path_bins: 64
+  time_bins: 96
+  deadband_eps:
+  - 0.01
+  - 0.005
+  - 0.005
+  - 0.005
+  - 0.005
+  tiny_displacement: 0.0001
+  event_window_fraction: 0.5
+  heading_frames: 10
+  trim_initial_idle: true
+  initial_idle_margin_sec: 0.4
+  initial_idle_motion_thresh: 0.005
+  initial_idle_min_motion_frames: 3
+  initial_idle_max_resamples: 8
+  trailing_dwell_cap_sec: 0.0
+dataset:
+  manifest_csv: data/timing/manifests/locomotion_manifest.csv
+  precomputed_dir: data/timing/precomputed
+  train_samples_per_epoch: 262144
+  val_samples: 2048
+  test_samples: 2048
+  split_column: split
+  subgroup_column: category
+  cache_precomputed: false
+  augmentation:
+    enabled: false
+    gaussian_noise_std: 0.0
+    smoothing_alpha: 0.0
+    endpoint_perturb_std: 0.0
+    duration_scale_std: 0.0
+model:
+  num_tracks: 5
+  path_bins: 64
+  time_bins: 96
+  num_phases: 12
+  input_dim: 9
+  d_model: 384
+  conv_hidden: 192
+  nhead: 8
+  track_encoder_layers: 3
+  query_layers: 6
+  dim_feedforward: 1536
+  dropout: 0.1
+  use_sparsemax: true
+  phase_width_eps: 0.0001
+loss:
+  progress_weight: 1.0
+  position_weight: 0.75
+  velocity_weight: 0.5
+  phase_smoothness_weight: 0.01
+  position_track_weights:
+  - 1.0
+  - 1.0
+  - 1.0
+  - 0.8
+  - 0.8
+  plateau_threshold: 0.01
+train:
+  seed: 7
+  device: cuda
+  resume: ''
+  optimizer:
+    lr: 0.0003
+    weight_decay: 0.0001
+    batch_size: 128
+    epochs: 100
+    num_workers: 4
+    grad_clip_norm: 1.0
+    amp: true
+  logging:
+    output_dir: experiments/timing
+    checkpoint_every: 10
+    log_every: 10
+    save_qualitative_samples: 4
+    use_wandb: true
+    wandb_project: genplan_timing
+    wandb_entity: null
+    wandb_run_name: null
+eval:
+  split: val
+  batch_size: 256
+  num_workers: 4
+  checkpoint: ''
+  dump_npz_dir: ''
+inference:
+  checkpoint: ''
+  output_path: ''
+  output_fps: 60
+  dense_time_bins: 96