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experiments/untimed_path/run-001/wandb/debug-internal.log ADDED
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experiments/untimed_path/run-001/wandb/debug.log ADDED
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experiments/untimed_path/run-001/wandb/run-20260511_215725-yd62b5rt/files/config.yaml ADDED
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+ - data/LS_HighStep0_1_augmented/preprocessed.h5
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+ - --train.output-dir
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+ - experiments/untimed_path
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+ - --train.wandb-run-name
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+ - window_ls_highstep0_1
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+ codePath: scripts/contact_plan/train_untimed_path.py
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+ codePathLocal: scripts/contact_plan/train_untimed_path.py
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+ cpu_count: 72
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+ cpu_count_logical: 72
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+ cudaVersion: "13.0"
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+ disk:
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+ /:
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+ total: "1717986918400"
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+ used: "506136170496"
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+ email: hhjjhh0425@gmail.com
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+ executable: /home/jh/genplan/.venv/bin/python3
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+ git:
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+ commit: e3bd83ba3e78e53403936339bb113272fcdd67a7
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+ remote: git@github.com:junhyekh/genplan.git
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+ gpu: NVIDIA B200
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+ - architecture: Blackwell
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+ cudaCores: 18944
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+ memoryTotal: "192265846784"
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+ name: NVIDIA B200
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+ memoryTotal: "192265846784"
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+ name: NVIDIA B200
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+ uuid: GPU-c3521a1e-1283-c964-eabe-274f6e348083
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+ - architecture: Blackwell
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+ cudaCores: 18944
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+ memoryTotal: "192265846784"
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+ name: NVIDIA B200
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+ uuid: GPU-843aea75-bec0-cb68-4a88-c8651966a272
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+ cudaCores: 18944
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+ memoryTotal: "192265846784"
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+ name: NVIDIA B200
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+ uuid: GPU-b36ed580-1bcc-3e0a-28bd-f377c5035299
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+ - architecture: Blackwell
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+ cudaCores: 18944
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+ memoryTotal: "192265846784"
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+ name: NVIDIA B200
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+ uuid: GPU-c7d8d9d2-d00d-6df4-8f3d-91e55207a5c8
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+ - architecture: Blackwell
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+ cudaCores: 18944
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+ memoryTotal: "192265846784"
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+ name: NVIDIA B200
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+ uuid: GPU-5cae1337-a05d-6800-00bb-0343ef5334e5
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+ host: gpu-8
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+ memory:
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+ total: "2430205759488"
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+ os: Linux-6.8.0-100-generic-x86_64-with-glibc2.39
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+ program: /home/jh/genplan/scripts/contact_plan/train_untimed_path.py
75
+ python: CPython 3.12.3
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+ root: experiments/untimed_path/run-001
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+ startedAt: "2026-05-11T12:57:25.356332Z"
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+ writerId: k52dxa8fqpkcglwk3jbcf8t4gvbnp6wy
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+ m: []
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+ python_version: 3.12.3
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+ t:
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+ - 1
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+ "2":
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+ "3":
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+ "4": 3.12.3
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+ "5": 0.25.1
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+ "12": 0.25.1
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+ "13": linux-x86_64
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+ dataset:
109
+ value:
110
+ K_max: 256
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+ K_min: 2
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+ anchor_annotation_sigma: 0.1
113
+ h5_path: data/LS_HighStep0_1_augmented/preprocessed.h5
114
+ include_segment_types:
115
+ - effector_first
116
+ - effector_mid
117
+ - effector_last
118
+ - root
119
+ - no_contact_ee
120
+ min_segment_length_m: 0.1
121
+ preparation:
122
+ dedup_enabled: true
123
+ min_velocity_m_s: 2
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+ skip_degenerate: true
125
+ spline:
126
+ cp_spacing_m: 0.25
127
+ degree: 3
128
+ max_cp: 16
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+ min_cp: 4
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+ target_spacing_m: 0.05
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+ val_fraction: 0.1
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+ field_cfg:
133
+ value:
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+ attractor_tau: 0.1
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+ d_attn: 128
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+ d_track: 16
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+ fourier_num_freq: 5
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+ mlp_hidden: 256
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+ num_tracks: 5
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+ scene:
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+ crop_radius: 1.5
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+ grid_size: 0.03
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+ litept:
145
+ base_feature: occupancy
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+ cond_dim: 0
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+ cond_mode: adaln
148
+ dec_attn:
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+ - false
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+ - false
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+ - false
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+ dec_channels:
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+ - 72
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+ - 72
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+ - 144
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+ - 252
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+ dec_conv:
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+ dec_depths:
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+ - 1024
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+ - 36
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+ - 504
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+ enc_conv:
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+ - false
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+ enc_depths:
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+ - 2
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+ - 2
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+ - 2
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+ - 6
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+ - 2
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+ enc_mode: false
209
+ enc_num_head:
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+ - 2
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+ - 4
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+ - 8
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+ - 14
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+ - 28
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+ enc_patch_size:
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+ - 1024
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+ - 1024
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+ - 1024
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+ - 1024
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+ enc_rope_freq:
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+ - 100
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+ in_features: 5
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+ order:
230
+ - z
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+ - z-trans
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+ out_features: 256
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+ shuffle_orders_eval: true
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+ shuffle_orders_train: true
235
+ stride:
236
+ - 2
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+ - 2
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+ - 2
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+ - 2
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+ loss:
241
+ value:
242
+ huber_delta: 0.05
243
+ weight_mag: 0.01
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+ weight_p2l_fwd: 0
245
+ weight_p2l_rev: 0
246
+ weight_p2p: 10
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+ n_limit:
248
+ value: null
249
+ rollout:
250
+ value:
251
+ M: 3
252
+ dagger_sigma: 0.025
253
+ delta_s: 0.05
254
+ rollouts_per_item: 2
255
+ start_from_p_minus_prob: 0.25
256
+ train:
257
+ value:
258
+ aug_pc_dropout: 0.1
259
+ aug_yaw: true
260
+ batch_size: 128
261
+ checkpoint_every_steps: 2000
262
+ drop_last: true
263
+ eval_delta_s: 0.05
264
+ eval_max_steps: 256
265
+ eval_n_trajectories: 16
266
+ log_every_steps: 50
267
+ lr: 0.0003
268
+ max_steps: 10000
269
+ monitor_every_steps: 500
270
+ num_workers: 32
271
+ output_dir: experiments/untimed_path
272
+ show_progress: true
273
+ use_wandb: true
274
+ wandb_entity: null
275
+ wandb_project: genplan_contact_plan
276
+ wandb_run_name: window_ls_highstep0_1
277
+ warmup_steps: 1000
278
+ weight_decay: 0.01
experiments/untimed_path/run-001/wandb/run-20260511_215725-yd62b5rt/files/output.log ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ic| train_untimed_path.py:466 in main()
2
+  f"wandb run: {run_name} id={wandb_logger.id}": 'wandb run: window_ls_highstep0_1 id=yd62b5rt'
3
+
4
+ [step 50] L_p2p=0.0029 L_mag=0.8273 L=0.0370 lr=1.50e-05 190s
5
+ [step 100] L_p2p=0.0025 L_mag=0.6427 L=0.0319 lr=3.00e-05 362s
6
+ [step 150] L_p2p=0.0017 L_mag=0.0397 L=0.0177 lr=4.50e-05 534s
7
+ [step 200] L_p2p=0.0018 L_mag=0.0434 L=0.0181 lr=6.00e-05 715s
8
+ [step 250] L_p2p=0.0017 L_mag=0.0464 L=0.0177 lr=7.50e-05 887s
9
+ [step 300] L_p2p=0.0016 L_mag=0.0366 L=0.0167 lr=9.00e-05 1059s
10
+ [step 350] L_p2p=0.0016 L_mag=0.0327 L=0.0160 lr=1.05e-04 1244s
11
+ [step 400] L_p2p=0.0015 L_mag=0.0446 L=0.0152 lr=1.20e-04 1416s
12
+ [step 450] L_p2p=0.0015 L_mag=0.0245 L=0.0149 lr=1.35e-04 1590s
13
+ [step 500] L_p2p=0.0016 L_mag=0.0367 L=0.0168 lr=1.50e-04 1771s
14
+ [monitor 500] drift_mean=0.3078 drift_p50=0.3701 drift_p90=0.4268 drift_p95=0.4283 drift_max=0.4301 hausdorff_mean=0.3243 hausdorff_p50=0.3753 hausdorff_p90=0.4776 hausdorff_p95=0.4943 hausdorff_max=0.5386 type_root/n=3.0000 type_root/drift_mean=0.4080 type_root/hausdorff_mean=0.3829 type_root/hausdorff_p90=0.4118 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.2833 type_effector_mid/hausdorff_mean=0.2922 type_effector_mid/hausdorff_p90=0.4866 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.2294 type_effector_last/hausdorff_mean=0.1811 type_effector_last/hausdorff_p90=0.2466 step=500.0000
15
+ saved experiments/untimed_path/run-001/ckpt/best.pt (hausdorff_mean=0.3243)
16
+ [step 550] L_p2p=0.0014 L_mag=0.0350 L=0.0142 lr=1.65e-04 1968s
17
+ [step 600] L_p2p=0.0013 L_mag=0.0357 L=0.0133 lr=1.80e-04 2141s
18
+ [step 650] L_p2p=0.0013 L_mag=0.0255 L=0.0136 lr=1.95e-04 2316s
19
+ [step 700] L_p2p=0.0012 L_mag=0.0233 L=0.0122 lr=2.10e-04 2499s
20
+ [step 750] L_p2p=0.0012 L_mag=0.0327 L=0.0126 lr=2.25e-04 2672s
21
+ [step 800] L_p2p=0.0012 L_mag=0.0308 L=0.0119 lr=2.40e-04 2845s
22
+ [step 850] L_p2p=0.0012 L_mag=0.0330 L=0.0120 lr=2.55e-04 3031s
23
+ [step 900] L_p2p=0.0012 L_mag=0.0340 L=0.0122 lr=2.70e-04 3215s
24
+ [step 950] L_p2p=0.0013 L_mag=0.0359 L=0.0129 lr=2.85e-04 3399s
25
+ [step 1000] L_p2p=0.0012 L_mag=0.0302 L=0.0124 lr=3.00e-04 3582s
26
+ [monitor 1000] drift_mean=0.8176 drift_p50=0.8066 drift_p90=1.0349 drift_p95=1.0431 drift_max=1.0463 hausdorff_mean=0.2739 hausdorff_p50=0.2364 hausdorff_p90=0.4162 hausdorff_p95=0.4695 hausdorff_max=0.6185 type_root/n=3.0000 type_root/drift_mean=1.0387 type_root/hausdorff_mean=0.2274 type_root/hausdorff_p90=0.2448 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.7496 type_effector_mid/hausdorff_mean=0.2908 type_effector_mid/hausdorff_p90=0.5066 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.7000 type_effector_last/hausdorff_mean=0.1536 type_effector_last/hausdorff_p90=0.2036 step=1000.0000
27
+ saved experiments/untimed_path/run-001/ckpt/best.pt (hausdorff_mean=0.2739)
28
+ [step 1050] L_p2p=0.0011 L_mag=0.0273 L=0.0114 lr=3.00e-04 3800s
29
+ [step 1100] L_p2p=0.0010 L_mag=0.0252 L=0.0102 lr=3.00e-04 3981s
30
+ [step 1150] L_p2p=0.0010 L_mag=0.0292 L=0.0105 lr=3.00e-04 4162s
31
+ [step 1200] L_p2p=0.0011 L_mag=0.0298 L=0.0110 lr=3.00e-04 4340s
32
+ [step 1250] L_p2p=0.0010 L_mag=0.0250 L=0.0106 lr=2.99e-04 4523s
33
+ [step 1300] L_p2p=0.0010 L_mag=0.0186 L=0.0101 lr=2.99e-04 4699s
34
+ [step 1350] L_p2p=0.0010 L_mag=0.0268 L=0.0100 lr=2.99e-04 4874s
35
+ [step 1400] L_p2p=0.0010 L_mag=0.0249 L=0.0104 lr=2.99e-04 5059s
36
+ [step 1450] L_p2p=0.0010 L_mag=0.0278 L=0.0101 lr=2.98e-04 5235s
37
+ [step 1500] L_p2p=0.0011 L_mag=0.0254 L=0.0108 lr=2.98e-04 5410s
38
+ [monitor 1500] drift_mean=0.0430 drift_p50=0.0365 drift_p90=0.0683 drift_p95=0.0923 drift_max=0.1452 hausdorff_mean=0.1142 hausdorff_p50=0.1124 hausdorff_p90=0.1473 hausdorff_p95=0.1735 hausdorff_max=0.2460 type_root/n=3.0000 type_root/drift_mean=0.0194 type_root/hausdorff_mean=0.1191 type_root/hausdorff_p90=0.1386 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0437 type_effector_mid/hausdorff_mean=0.0871 type_effector_mid/hausdorff_p90=0.1301 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0726 type_effector_last/hausdorff_mean=0.1331 type_effector_last/hausdorff_p90=0.2176 step=1500.0000
39
+ saved experiments/untimed_path/run-001/ckpt/best.pt (hausdorff_mean=0.1142)
40
+ [step 1550] L_p2p=0.0010 L_mag=0.0236 L=0.0100 lr=2.97e-04 5619s
41
+ [step 1600] L_p2p=0.0009 L_mag=0.0206 L=0.0092 lr=2.97e-04 5794s
42
+ [step 1650] L_p2p=0.0009 L_mag=0.0216 L=0.0096 lr=2.96e-04 5969s
43
+ [step 1700] L_p2p=0.0011 L_mag=0.0220 L=0.0109 lr=2.96e-04 6153s
44
+ [step 1750] L_p2p=0.0010 L_mag=0.0202 L=0.0100 lr=2.95e-04 6326s
45
+ [step 1800] L_p2p=0.0009 L_mag=0.0179 L=0.0094 lr=2.94e-04 6498s
46
+ [step 1850] L_p2p=0.0009 L_mag=0.0211 L=0.0092 lr=2.93e-04 6673s
47
+ [step 1900] L_p2p=0.0009 L_mag=0.0220 L=0.0089 lr=2.93e-04 6854s
48
+ [step 1950] L_p2p=0.0010 L_mag=0.0308 L=0.0099 lr=2.92e-04 7027s
49
+ [step 2000] L_p2p=0.0009 L_mag=0.0216 L=0.0088 lr=2.91e-04 7200s
50
+ [monitor 2000] drift_mean=0.1391 drift_p50=0.1365 drift_p90=0.2262 drift_p95=0.2809 drift_max=0.3918 hausdorff_mean=0.1533 hausdorff_p50=0.1469 hausdorff_p90=0.2272 hausdorff_p95=0.2418 hausdorff_max=0.2584 type_root/n=3.0000 type_root/drift_mean=0.1278 type_root/hausdorff_mean=0.2278 type_root/hausdorff_p90=0.2504 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.1424 type_effector_mid/hausdorff_mean=0.1054 type_effector_mid/hausdorff_p90=0.1453 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.1678 type_effector_last/hausdorff_mean=0.1315 type_effector_last/hausdorff_p90=0.1441 step=2000.0000
51
+ saved experiments/untimed_path/run-001/ckpt/step_0002000.pt
52
+ [step 2050] L_p2p=0.0008 L_mag=0.0155 L=0.0086 lr=2.90e-04 7406s
53
+ [step 2100] L_p2p=0.0008 L_mag=0.0196 L=0.0084 lr=2.89e-04 7581s
54
+ [step 2150] L_p2p=0.0009 L_mag=0.0212 L=0.0092 lr=2.88e-04 7755s
55
+ [step 2200] L_p2p=0.0009 L_mag=0.0209 L=0.0087 lr=2.87e-04 7936s
56
+ [step 2250] L_p2p=0.0008 L_mag=0.0208 L=0.0083 lr=2.86e-04 8108s
57
+ [step 2300] L_p2p=0.0009 L_mag=0.0278 L=0.0095 lr=2.85e-04 8281s
58
+ [step 2350] L_p2p=0.0009 L_mag=0.0207 L=0.0087 lr=2.84e-04 8456s
59
+ [step 2400] L_p2p=0.0008 L_mag=0.0210 L=0.0087 lr=2.82e-04 8636s
60
+ [step 2450] L_p2p=0.0009 L_mag=0.0173 L=0.0096 lr=2.81e-04 8810s
61
+ [step 2500] L_p2p=0.0009 L_mag=0.0195 L=0.0088 lr=2.80e-04 8983s
62
+ [monitor 2500] drift_mean=0.0256 drift_p50=0.0238 drift_p90=0.0304 drift_p95=0.0418 drift_max=0.0706 hausdorff_mean=0.0828 hausdorff_p50=0.0885 hausdorff_p90=0.1026 hausdorff_p95=0.1197 hausdorff_max=0.1663 type_root/n=3.0000 type_root/drift_mean=0.0175 type_root/hausdorff_mean=0.0943 type_root/hausdorff_p90=0.0963 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0328 type_effector_mid/hausdorff_mean=0.0619 type_effector_mid/hausdorff_p90=0.0813 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0271 type_effector_last/hausdorff_mean=0.0731 type_effector_last/hausdorff_p90=0.0969 step=2500.0000
63
+ saved experiments/untimed_path/run-001/ckpt/best.pt (hausdorff_mean=0.0828)
64
+ [step 2550] L_p2p=0.0009 L_mag=0.0256 L=0.0092 lr=2.79e-04 9196s
65
+ [step 2600] L_p2p=0.0009 L_mag=0.0161 L=0.0089 lr=2.77e-04 9369s
66
+ [step 2650] L_p2p=0.0007 L_mag=0.0187 L=0.0075 lr=2.76e-04 9542s
67
+ [step 2700] L_p2p=0.0009 L_mag=0.0238 L=0.0090 lr=2.74e-04 9722s
68
+ [step 2750] L_p2p=0.0008 L_mag=0.0196 L=0.0081 lr=2.73e-04 9894s
69
+ [step 2800] L_p2p=0.0009 L_mag=0.0266 L=0.0093 lr=2.71e-04 10067s
70
+ [step 2850] L_p2p=0.0008 L_mag=0.0194 L=0.0083 lr=2.70e-04 10239s
71
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72
+ [step 2950] L_p2p=0.0008 L_mag=0.0187 L=0.0082 lr=2.67e-04 10594s
73
+ [step 3000] L_p2p=0.0008 L_mag=0.0207 L=0.0082 lr=2.65e-04 10766s
74
+ [monitor 3000] drift_mean=0.0235 drift_p50=0.0211 drift_p90=0.0310 drift_p95=0.0367 drift_max=0.0480 hausdorff_mean=0.0683 hausdorff_p50=0.0732 hausdorff_p90=0.0840 hausdorff_p95=0.0867 hausdorff_max=0.0922 type_root/n=3.0000 type_root/drift_mean=0.0233 type_root/hausdorff_mean=0.0760 type_root/hausdorff_p90=0.0780 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0272 type_effector_mid/hausdorff_mean=0.0621 type_effector_mid/hausdorff_p90=0.0773 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0235 type_effector_last/hausdorff_mean=0.0572 type_effector_last/hausdorff_p90=0.0763 step=3000.0000
75
+ saved experiments/untimed_path/run-001/ckpt/best.pt (hausdorff_mean=0.0683)
76
+ [step 3050] L_p2p=0.0008 L_mag=0.0205 L=0.0082 lr=2.63e-04 10972s
77
+ [step 3100] L_p2p=0.0007 L_mag=0.0235 L=0.0075 lr=2.61e-04 11146s
78
+ [step 3150] L_p2p=0.0008 L_mag=0.0130 L=0.0081 lr=2.60e-04 11318s
79
+ [step 3200] L_p2p=0.0008 L_mag=0.0220 L=0.0084 lr=2.58e-04 11498s
80
+ [step 3250] L_p2p=0.0008 L_mag=0.0133 L=0.0082 lr=2.56e-04 11671s
81
+ [step 3300] L_p2p=0.0009 L_mag=0.0197 L=0.0090 lr=2.54e-04 11844s
82
+ [step 3350] L_p2p=0.0008 L_mag=0.0173 L=0.0082 lr=2.52e-04 12016s
83
+ [step 3400] L_p2p=0.0008 L_mag=0.0185 L=0.0080 lr=2.50e-04 12196s
84
+ [step 3450] L_p2p=0.0007 L_mag=0.0197 L=0.0074 lr=2.48e-04 12369s
85
+ [step 3500] L_p2p=0.0008 L_mag=0.0266 L=0.0082 lr=2.46e-04 12542s
86
+ [monitor 3500] drift_mean=0.0202 drift_p50=0.0227 drift_p90=0.0271 drift_p95=0.0295 drift_max=0.0302 hausdorff_mean=0.0658 hausdorff_p50=0.0633 hausdorff_p90=0.0977 hausdorff_p95=0.1061 hausdorff_max=0.1216 type_root/n=3.0000 type_root/drift_mean=0.0237 type_root/hausdorff_mean=0.0586 type_root/hausdorff_p90=0.0624 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0170 type_effector_mid/hausdorff_mean=0.0701 type_effector_mid/hausdorff_p90=0.1080 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0180 type_effector_last/hausdorff_mean=0.0631 type_effector_last/hausdorff_p90=0.0907 step=3500.0000
87
+ saved experiments/untimed_path/run-001/ckpt/best.pt (hausdorff_mean=0.0658)
88
+ [step 3550] L_p2p=0.0008 L_mag=0.0138 L=0.0077 lr=2.44e-04 12757s
89
+ [step 3600] L_p2p=0.0007 L_mag=0.0191 L=0.0076 lr=2.42e-04 12932s
90
+ [step 3650] L_p2p=0.0008 L_mag=0.0208 L=0.0081 lr=2.40e-04 13106s
91
+ [step 3700] L_p2p=0.0008 L_mag=0.0205 L=0.0083 lr=2.38e-04 13287s
92
+ [step 3750] L_p2p=0.0008 L_mag=0.0155 L=0.0080 lr=2.36e-04 13461s
93
+ [step 3800] L_p2p=0.0008 L_mag=0.0164 L=0.0080 lr=2.34e-04 13636s
94
+ [step 3850] L_p2p=0.0008 L_mag=0.0231 L=0.0082 lr=2.32e-04 13820s
95
+ [step 3900] L_p2p=0.0008 L_mag=0.0175 L=0.0079 lr=2.29e-04 13995s
96
+ [step 3950] L_p2p=0.0008 L_mag=0.0193 L=0.0080 lr=2.27e-04 14168s
97
+ [step 4000] L_p2p=0.0008 L_mag=0.0197 L=0.0082 lr=2.25e-04 14349s
98
+ [monitor 4000] drift_mean=0.0212 drift_p50=0.0207 drift_p90=0.0299 drift_p95=0.0316 drift_max=0.0340 hausdorff_mean=0.0702 hausdorff_p50=0.0706 hausdorff_p90=0.0937 hausdorff_p95=0.1000 hausdorff_max=0.1010 type_root/n=3.0000 type_root/drift_mean=0.0265 type_root/hausdorff_mean=0.0680 type_root/hausdorff_p90=0.0748 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0200 type_effector_mid/hausdorff_mean=0.0684 type_effector_mid/hausdorff_p90=0.0837 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0202 type_effector_last/hausdorff_mean=0.0685 type_effector_last/hausdorff_p90=0.0918 step=4000.0000
99
+ saved experiments/untimed_path/run-001/ckpt/step_0004000.pt
100
+ [step 4050] L_p2p=0.0008 L_mag=0.0183 L=0.0079 lr=2.23e-04 14549s
101
+ [step 4100] L_p2p=0.0007 L_mag=0.0158 L=0.0072 lr=2.20e-04 14724s
102
+ [step 4150] L_p2p=0.0008 L_mag=0.0155 L=0.0085 lr=2.18e-04 14906s
103
+ [step 4200] L_p2p=0.0007 L_mag=0.0145 L=0.0076 lr=2.16e-04 15080s
104
+ [step 4250] L_p2p=0.0007 L_mag=0.0125 L=0.0076 lr=2.13e-04 15254s
105
+ [step 4300] L_p2p=0.0007 L_mag=0.0180 L=0.0076 lr=2.11e-04 15428s
106
+ [step 4350] L_p2p=0.0008 L_mag=0.0188 L=0.0078 lr=2.09e-04 15610s
107
+ [step 4400] L_p2p=0.0007 L_mag=0.0166 L=0.0071 lr=2.06e-04 15783s
108
+ [step 4450] L_p2p=0.0007 L_mag=0.0174 L=0.0070 lr=2.04e-04 15955s
109
+ [step 4500] L_p2p=0.0007 L_mag=0.0168 L=0.0075 lr=2.01e-04 16135s
110
+ [monitor 4500] drift_mean=0.0223 drift_p50=0.0214 drift_p90=0.0324 drift_p95=0.0349 drift_max=0.0351 hausdorff_mean=0.0643 hausdorff_p50=0.0634 hausdorff_p90=0.0852 hausdorff_p95=0.0873 hausdorff_max=0.0931 type_root/n=3.0000 type_root/drift_mean=0.0303 type_root/hausdorff_mean=0.0588 type_root/hausdorff_p90=0.0619 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0181 type_effector_mid/hausdorff_mean=0.0619 type_effector_mid/hausdorff_p90=0.0805 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0176 type_effector_last/hausdorff_mean=0.0641 type_effector_last/hausdorff_p90=0.0845 step=4500.0000
111
+ saved experiments/untimed_path/run-001/ckpt/best.pt (hausdorff_mean=0.0643)
112
+ [step 4550] L_p2p=0.0008 L_mag=0.0188 L=0.0083 lr=1.99e-04 16335s
113
+ [step 4600] L_p2p=0.0007 L_mag=0.0213 L=0.0075 lr=1.96e-04 16508s
114
+ [step 4650] L_p2p=0.0008 L_mag=0.0157 L=0.0077 lr=1.94e-04 16688s
115
+ [step 4700] L_p2p=0.0007 L_mag=0.0126 L=0.0071 lr=1.91e-04 16862s
116
+ [step 4750] L_p2p=0.0008 L_mag=0.0165 L=0.0080 lr=1.89e-04 17035s
117
+ [step 4800] L_p2p=0.0008 L_mag=0.0127 L=0.0086 lr=1.86e-04 17221s
118
+ [step 4850] L_p2p=0.0008 L_mag=0.0149 L=0.0079 lr=1.84e-04 17401s
119
+ [step 4900] L_p2p=0.0009 L_mag=0.0185 L=0.0092 lr=1.81e-04 17574s
120
+ [step 4950] L_p2p=0.0007 L_mag=0.0143 L=0.0074 lr=1.79e-04 17747s
121
+ [step 5000] L_p2p=0.0008 L_mag=0.0170 L=0.0080 lr=1.76e-04 17928s
122
+ [monitor 5000] drift_mean=0.0200 drift_p50=0.0221 drift_p90=0.0266 drift_p95=0.0278 drift_max=0.0304 hausdorff_mean=0.0619 hausdorff_p50=0.0680 hausdorff_p90=0.0800 hausdorff_p95=0.0873 hausdorff_max=0.0948 type_root/n=3.0000 type_root/drift_mean=0.0265 type_root/hausdorff_mean=0.0583 type_root/hausdorff_p90=0.0660 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0154 type_effector_mid/hausdorff_mean=0.0555 type_effector_mid/hausdorff_p90=0.0732 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0214 type_effector_last/hausdorff_mean=0.0585 type_effector_last/hausdorff_p90=0.0777 step=5000.0000
123
+ saved experiments/untimed_path/run-001/ckpt/best.pt (hausdorff_mean=0.0619)
124
+ [step 5050] L_p2p=0.0008 L_mag=0.0196 L=0.0080 lr=1.73e-04 18126s
125
+ [step 5100] L_p2p=0.0007 L_mag=0.0190 L=0.0077 lr=1.71e-04 18301s
126
+ [step 5150] L_p2p=0.0007 L_mag=0.0117 L=0.0072 lr=1.68e-04 18481s
127
+ [step 5200] L_p2p=0.0007 L_mag=0.0121 L=0.0072 lr=1.66e-04 18654s
128
+ [step 5250] L_p2p=0.0007 L_mag=0.0149 L=0.0071 lr=1.63e-04 18828s
129
+ [step 5300] L_p2p=0.0008 L_mag=0.0232 L=0.0080 lr=1.60e-04 19009s
130
+ [step 5350] L_p2p=0.0007 L_mag=0.0250 L=0.0070 lr=1.58e-04 19182s
131
+ [step 5400] L_p2p=0.0007 L_mag=0.0158 L=0.0071 lr=1.55e-04 19355s
132
+ [step 5450] L_p2p=0.0007 L_mag=0.0164 L=0.0072 lr=1.53e-04 19529s
133
+ [step 5500] L_p2p=0.0007 L_mag=0.0185 L=0.0073 lr=1.50e-04 19712s
134
+ [monitor 5500] drift_mean=0.0189 drift_p50=0.0181 drift_p90=0.0256 drift_p95=0.0259 drift_max=0.0267 hausdorff_mean=0.0573 hausdorff_p50=0.0509 hausdorff_p90=0.0772 hausdorff_p95=0.0823 hausdorff_max=0.0899 type_root/n=3.0000 type_root/drift_mean=0.0217 type_root/hausdorff_mean=0.0517 type_root/hausdorff_p90=0.0601 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0192 type_effector_mid/hausdorff_mean=0.0536 type_effector_mid/hausdorff_p90=0.0631 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0185 type_effector_last/hausdorff_mean=0.0565 type_effector_last/hausdorff_p90=0.0806 step=5500.0000
135
+ saved experiments/untimed_path/run-001/ckpt/best.pt (hausdorff_mean=0.0573)
136
+ [step 5550] L_p2p=0.0008 L_mag=0.0216 L=0.0078 lr=1.47e-04 19914s
137
+ [step 5600] L_p2p=0.0007 L_mag=0.0161 L=0.0067 lr=1.45e-04 20096s
138
+ [step 5650] L_p2p=0.0008 L_mag=0.0169 L=0.0077 lr=1.42e-04 20269s
139
+ [step 5700] L_p2p=0.0007 L_mag=0.0105 L=0.0073 lr=1.40e-04 20442s
140
+ [step 5750] L_p2p=0.0006 L_mag=0.0132 L=0.0064 lr=1.37e-04 20622s
141
+ [step 5800] L_p2p=0.0008 L_mag=0.0178 L=0.0085 lr=1.34e-04 20795s
142
+ [step 5850] L_p2p=0.0007 L_mag=0.0156 L=0.0069 lr=1.32e-04 20968s
143
+ [step 5900] L_p2p=0.0007 L_mag=0.0162 L=0.0076 lr=1.29e-04 21141s
144
+ [step 5950] L_p2p=0.0007 L_mag=0.0210 L=0.0076 lr=1.27e-04 21322s
145
+ [step 6000] L_p2p=0.0007 L_mag=0.0147 L=0.0074 lr=1.24e-04 21495s
146
+ [monitor 6000] drift_mean=0.0216 drift_p50=0.0226 drift_p90=0.0268 drift_p95=0.0271 drift_max=0.0280 hausdorff_mean=0.0640 hausdorff_p50=0.0606 hausdorff_p90=0.0810 hausdorff_p95=0.0873 hausdorff_max=0.1010 type_root/n=3.0000 type_root/drift_mean=0.0243 type_root/hausdorff_mean=0.0521 type_root/hausdorff_p90=0.0576 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0203 type_effector_mid/hausdorff_mean=0.0617 type_effector_mid/hausdorff_p90=0.0721 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0169 type_effector_last/hausdorff_mean=0.0682 type_effector_last/hausdorff_p90=0.0922 step=6000.0000
147
+ saved experiments/untimed_path/run-001/ckpt/step_0006000.pt
148
+ [step 6050] L_p2p=0.0008 L_mag=0.0208 L=0.0079 lr=1.21e-04 21698s
149
+ [step 6100] L_p2p=0.0007 L_mag=0.0178 L=0.0069 lr=1.19e-04 21880s
150
+ [step 6150] L_p2p=0.0007 L_mag=0.0141 L=0.0071 lr=1.16e-04 22054s
151
+ [step 6200] L_p2p=0.0007 L_mag=0.0132 L=0.0069 lr=1.14e-04 22226s
152
+ [step 6250] L_p2p=0.0008 L_mag=0.0142 L=0.0077 lr=1.11e-04 22407s
153
+ [step 6300] L_p2p=0.0007 L_mag=0.0150 L=0.0069 lr=1.09e-04 22580s
154
+ [step 6350] L_p2p=0.0007 L_mag=0.0216 L=0.0071 lr=1.06e-04 22753s
155
+ [step 6400] L_p2p=0.0007 L_mag=0.0136 L=0.0073 lr=1.04e-04 22934s
156
+ [step 6450] L_p2p=0.0007 L_mag=0.0171 L=0.0076 lr=1.01e-04 23107s
157
+ [step 6500] L_p2p=0.0007 L_mag=0.0124 L=0.0068 lr=9.87e-05 23279s
158
+ [monitor 6500] drift_mean=0.0188 drift_p50=0.0193 drift_p90=0.0246 drift_p95=0.0253 drift_max=0.0258 hausdorff_mean=0.0580 hausdorff_p50=0.0495 hausdorff_p90=0.0824 hausdorff_p95=0.0860 hausdorff_max=0.0925 type_root/n=3.0000 type_root/drift_mean=0.0213 type_root/hausdorff_mean=0.0440 type_root/hausdorff_p90=0.0514 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0181 type_effector_mid/hausdorff_mean=0.0530 type_effector_mid/hausdorff_p90=0.0667 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0202 type_effector_last/hausdorff_mean=0.0604 type_effector_last/hausdorff_p90=0.0836 step=6500.0000
159
+ [step 6550] L_p2p=0.0007 L_mag=0.0162 L=0.0073 lr=9.62e-05 23485s
160
+ [step 6600] L_p2p=0.0007 L_mag=0.0175 L=0.0076 lr=9.38e-05 23657s
161
+ [step 6650] L_p2p=0.0007 L_mag=0.0138 L=0.0072 lr=9.14e-05 23831s
162
+ [step 6700] L_p2p=0.0007 L_mag=0.0138 L=0.0068 lr=8.90e-05 24003s
163
+ [step 6750] L_p2p=0.0007 L_mag=0.0139 L=0.0069 lr=8.66e-05 24185s
164
+ [step 6800] L_p2p=0.0007 L_mag=0.0133 L=0.0074 lr=8.42e-05 24357s
165
+ [step 6850] L_p2p=0.0007 L_mag=0.0149 L=0.0074 lr=8.19e-05 24530s
166
+ [step 6900] L_p2p=0.0007 L_mag=0.0179 L=0.0070 lr=7.96e-05 24711s
167
+ [step 6950] L_p2p=0.0006 L_mag=0.0172 L=0.0065 lr=7.73e-05 24884s
168
+ [step 7000] L_p2p=0.0006 L_mag=0.0200 L=0.0067 lr=7.50e-05 25057s
169
+ [monitor 7000] drift_mean=0.0188 drift_p50=0.0191 drift_p90=0.0230 drift_p95=0.0233 drift_max=0.0240 hausdorff_mean=0.0613 hausdorff_p50=0.0518 hausdorff_p90=0.0813 hausdorff_p95=0.0870 hausdorff_max=0.1010 type_root/n=3.0000 type_root/drift_mean=0.0176 type_root/hausdorff_mean=0.0468 type_root/hausdorff_p90=0.0515 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0193 type_effector_mid/hausdorff_mean=0.0586 type_effector_mid/hausdorff_p90=0.0767 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0167 type_effector_last/hausdorff_mean=0.0652 type_effector_last/hausdorff_p90=0.0906 step=7000.0000
170
+ [step 7050] L_p2p=0.0007 L_mag=0.0153 L=0.0070 lr=7.27e-05 25265s
171
+ [step 7100] L_p2p=0.0007 L_mag=0.0147 L=0.0067 lr=7.05e-05 25442s
172
+ [step 7150] L_p2p=0.0007 L_mag=0.0163 L=0.0070 lr=6.83e-05 25619s
173
+ [step 7200] L_p2p=0.0007 L_mag=0.0150 L=0.0070 lr=6.61e-05 25799s
174
+ [step 7250] L_p2p=0.0007 L_mag=0.0173 L=0.0071 lr=6.40e-05 25972s
175
+ [step 7300] L_p2p=0.0006 L_mag=0.0126 L=0.0065 lr=6.18e-05 26144s
176
+ [step 7350] L_p2p=0.0006 L_mag=0.0179 L=0.0066 lr=5.97e-05 26319s
177
+ [step 7400] L_p2p=0.0007 L_mag=0.0161 L=0.0069 lr=5.77e-05 26499s
178
+ [step 7450] L_p2p=0.0007 L_mag=0.0171 L=0.0073 lr=5.56e-05 26672s
179
+ [step 7500] L_p2p=0.0006 L_mag=0.0182 L=0.0065 lr=5.36e-05 26844s
180
+ [monitor 7500] drift_mean=0.0197 drift_p50=0.0204 drift_p90=0.0248 drift_p95=0.0252 drift_max=0.0256 hausdorff_mean=0.0576 hausdorff_p50=0.0579 hausdorff_p90=0.0862 hausdorff_p95=0.0940 hausdorff_max=0.1010 type_root/n=3.0000 type_root/drift_mean=0.0208 type_root/hausdorff_mean=0.0449 type_root/hausdorff_p90=0.0588 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0191 type_effector_mid/hausdorff_mean=0.0539 type_effector_mid/hausdorff_p90=0.0750 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0205 type_effector_last/hausdorff_mean=0.0573 type_effector_last/hausdorff_p90=0.0889 step=7500.0000
181
+ [step 7550] L_p2p=0.0007 L_mag=0.0166 L=0.0072 lr=5.16e-05 27053s
182
+ [step 7600] L_p2p=0.0007 L_mag=0.0180 L=0.0076 lr=4.96e-05 27226s
183
+ [step 7650] L_p2p=0.0007 L_mag=0.0185 L=0.0067 lr=4.77e-05 27398s
184
+ [step 7700] L_p2p=0.0006 L_mag=0.0179 L=0.0063 lr=4.58e-05 27579s
185
+ [step 7750] L_p2p=0.0006 L_mag=0.0172 L=0.0063 lr=4.39e-05 27752s
186
+ [step 7800] L_p2p=0.0007 L_mag=0.0136 L=0.0067 lr=4.21e-05 27925s
187
+ [step 7850] L_p2p=0.0007 L_mag=0.0136 L=0.0071 lr=4.03e-05 28106s
188
+ [step 7900] L_p2p=0.0007 L_mag=0.0179 L=0.0068 lr=3.85e-05 28278s
189
+ [step 7950] L_p2p=0.0006 L_mag=0.0169 L=0.0064 lr=3.68e-05 28450s
190
+ [step 8000] L_p2p=0.0007 L_mag=0.0199 L=0.0071 lr=3.51e-05 28631s
191
+ [monitor 8000] drift_mean=0.0205 drift_p50=0.0214 drift_p90=0.0262 drift_p95=0.0270 drift_max=0.0282 hausdorff_mean=0.0669 hausdorff_p50=0.0640 hausdorff_p90=0.0967 hausdorff_p95=0.1009 hausdorff_max=0.1010 type_root/n=3.0000 type_root/drift_mean=0.0268 type_root/hausdorff_mean=0.0603 type_root/hausdorff_p90=0.0644 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0190 type_effector_mid/hausdorff_mean=0.0609 type_effector_mid/hausdorff_p90=0.0783 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0152 type_effector_last/hausdorff_mean=0.0641 type_effector_last/hausdorff_p90=0.0906 step=8000.0000
192
+ saved experiments/untimed_path/run-001/ckpt/step_0008000.pt
193
+ [step 8050] L_p2p=0.0007 L_mag=0.0188 L=0.0072 lr=3.34e-05 28831s
194
+ [step 8100] L_p2p=0.0007 L_mag=0.0125 L=0.0069 lr=3.18e-05 29003s
195
+ [step 8150] L_p2p=0.0007 L_mag=0.0123 L=0.0070 lr=3.02e-05 29175s
196
+ [step 8200] L_p2p=0.0006 L_mag=0.0137 L=0.0065 lr=2.86e-05 29356s
197
+ [step 8250] L_p2p=0.0007 L_mag=0.0125 L=0.0072 lr=2.71e-05 29529s
198
+ [step 8300] L_p2p=0.0007 L_mag=0.0193 L=0.0071 lr=2.56e-05 29702s
199
+ [step 8350] L_p2p=0.0007 L_mag=0.0202 L=0.0068 lr=2.42e-05 29887s
200
+ [step 8400] L_p2p=0.0007 L_mag=0.0134 L=0.0071 lr=2.28e-05 30065s
201
+ [step 8450] L_p2p=0.0006 L_mag=0.0141 L=0.0062 lr=2.14e-05 30236s
202
+ [step 8500] L_p2p=0.0006 L_mag=0.0158 L=0.0066 lr=2.01e-05 30419s
203
+ [monitor 8500] drift_mean=0.0201 drift_p50=0.0213 drift_p90=0.0254 drift_p95=0.0266 drift_max=0.0286 hausdorff_mean=0.0635 hausdorff_p50=0.0546 hausdorff_p90=0.0878 hausdorff_p95=0.0918 hausdorff_max=0.1010 type_root/n=3.0000 type_root/drift_mean=0.0217 type_root/hausdorff_mean=0.0501 type_root/hausdorff_p90=0.0549 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0196 type_effector_mid/hausdorff_mean=0.0586 type_effector_mid/hausdorff_p90=0.0760 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0174 type_effector_last/hausdorff_mean=0.0637 type_effector_last/hausdorff_p90=0.0906 step=8500.0000
204
+ [step 8550] L_p2p=0.0006 L_mag=0.0111 L=0.0060 lr=1.88e-05 30622s
205
+ [step 8600] L_p2p=0.0007 L_mag=0.0152 L=0.0067 lr=1.76e-05 30795s
206
+ [step 8650] L_p2p=0.0007 L_mag=0.0154 L=0.0074 lr=1.63e-05 30983s
207
+ [step 8700] L_p2p=0.0007 L_mag=0.0156 L=0.0068 lr=1.52e-05 31160s
208
+ [step 8750] L_p2p=0.0006 L_mag=0.0129 L=0.0059 lr=1.41e-05 31341s
209
+ [step 8800] L_p2p=0.0006 L_mag=0.0134 L=0.0063 lr=1.30e-05 31524s
210
+ [step 8850] L_p2p=0.0006 L_mag=0.0166 L=0.0064 lr=1.19e-05 31697s
211
+ [step 8900] L_p2p=0.0006 L_mag=0.0146 L=0.0063 lr=1.09e-05 31869s
212
+ [step 8950] L_p2p=0.0007 L_mag=0.0136 L=0.0068 lr=9.96e-06 32043s
213
+ [step 9000] L_p2p=0.0006 L_mag=0.0149 L=0.0057 lr=9.05e-06 32233s
214
+ [monitor 9000] drift_mean=0.0187 drift_p50=0.0197 drift_p90=0.0237 drift_p95=0.0241 drift_max=0.0251 hausdorff_mean=0.0609 hausdorff_p50=0.0569 hausdorff_p90=0.0903 hausdorff_p95=0.0962 hausdorff_max=0.1010 type_root/n=3.0000 type_root/drift_mean=0.0210 type_root/hausdorff_mean=0.0473 type_root/hausdorff_p90=0.0558 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0187 type_effector_mid/hausdorff_mean=0.0592 type_effector_mid/hausdorff_p90=0.0772 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0138 type_effector_last/hausdorff_mean=0.0571 type_effector_last/hausdorff_p90=0.0888 step=9000.0000
215
+ [step 9050] L_p2p=0.0007 L_mag=0.0181 L=0.0073 lr=8.17e-06 32443s
216
+ [step 9100] L_p2p=0.0006 L_mag=0.0158 L=0.0066 lr=7.34e-06 32626s
217
+ [step 9150] L_p2p=0.0006 L_mag=0.0154 L=0.0066 lr=6.55e-06 32817s
218
+ [step 9200] L_p2p=0.0007 L_mag=0.0188 L=0.0068 lr=5.81e-06 33001s
219
+ [step 9250] L_p2p=0.0006 L_mag=0.0149 L=0.0066 lr=5.11e-06 33186s
220
+ [step 9300] L_p2p=0.0006 L_mag=0.0133 L=0.0065 lr=4.46e-06 33370s
221
+ [step 9350] L_p2p=0.0007 L_mag=0.0167 L=0.0068 lr=3.84e-06 33550s
222
+ [step 9400] L_p2p=0.0007 L_mag=0.0146 L=0.0068 lr=3.28e-06 33732s
223
+ [step 9450] L_p2p=0.0006 L_mag=0.0148 L=0.0066 lr=2.76e-06 33920s
224
+ [step 9500] L_p2p=0.0007 L_mag=0.0151 L=0.0069 lr=2.28e-06 34101s
225
+ [monitor 9500] drift_mean=0.0194 drift_p50=0.0210 drift_p90=0.0250 drift_p95=0.0269 drift_max=0.0272 hausdorff_mean=0.0631 hausdorff_p50=0.0563 hausdorff_p90=0.0887 hausdorff_p95=0.0951 hausdorff_max=0.1010 type_root/n=3.0000 type_root/drift_mean=0.0216 type_root/hausdorff_mean=0.0495 type_root/hausdorff_p90=0.0575 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0185 type_effector_mid/hausdorff_mean=0.0592 type_effector_mid/hausdorff_p90=0.0766 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0152 type_effector_last/hausdorff_mean=0.0635 type_effector_last/hausdorff_p90=0.0906 step=9500.0000
226
+ [step 9550] L_p2p=0.0006 L_mag=0.0147 L=0.0064 lr=1.85e-06 34307s
227
+ [step 9600] L_p2p=0.0006 L_mag=0.0175 L=0.0060 lr=1.46e-06 34492s
228
+ [step 9650] L_p2p=0.0006 L_mag=0.0130 L=0.0058 lr=1.12e-06 34673s
229
+ [step 9700] L_p2p=0.0007 L_mag=0.0202 L=0.0069 lr=8.22e-07 34854s
230
+ [step 9750] L_p2p=0.0007 L_mag=0.0148 L=0.0067 lr=5.71e-07 35035s
231
+ [step 9800] L_p2p=0.0007 L_mag=0.0142 L=0.0073 lr=3.65e-07 35222s
232
+ [step 9850] L_p2p=0.0006 L_mag=0.0130 L=0.0065 lr=2.06e-07 35404s
233
+ [step 9900] L_p2p=0.0006 L_mag=0.0156 L=0.0066 lr=9.14e-08 35587s
234
+ [step 9950] L_p2p=0.0006 L_mag=0.0168 L=0.0059 lr=2.28e-08 35776s
235
+ [step 10000] L_p2p=0.0007 L_mag=0.0158 L=0.0075 lr=0.00e+00 35958s
236
+ [monitor 10000] drift_mean=0.0195 drift_p50=0.0204 drift_p90=0.0241 drift_p95=0.0251 drift_max=0.0261 hausdorff_mean=0.0619 hausdorff_p50=0.0553 hausdorff_p90=0.0835 hausdorff_p95=0.0892 hausdorff_max=0.1010 type_root/n=3.0000 type_root/drift_mean=0.0209 type_root/hausdorff_mean=0.0491 type_root/hausdorff_p90=0.0571 type_effector_mid/n=6.0000 type_effector_mid/drift_mean=0.0179 type_effector_mid/hausdorff_mean=0.0570 type_effector_mid/hausdorff_p90=0.0714 type_effector_last/n=3.0000 type_effector_last/drift_mean=0.0180 type_effector_last/hausdorff_mean=0.0636 type_effector_last/hausdorff_p90=0.0906 step=10000.0000
237
+ saved experiments/untimed_path/run-001/ckpt/step_0010000.pt
experiments/untimed_path/run-001/wandb/run-20260511_215725-yd62b5rt/files/requirements.txt ADDED
@@ -0,0 +1,273 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ mjlab==1.2.0
2
+ pyliblzfse==0.4.1
3
+ spider==0.1.0
4
+ timm==1.0.26
5
+ resolve-robotics-uri-py==0.4.1
6
+ smplx==0.1.28
7
+ mediapy==1.2.6
8
+ typing_extensions==4.15.0
9
+ fast_simplification==0.1.13
10
+ jax_dataclasses==1.6.3
11
+ prettytable==3.17.0
12
+ ml_dtypes==0.5.4
13
+ natsort==8.4.0
14
+ plyfile==1.1.3
15
+ ConfigArgParse==1.7.5
16
+ opt_einsum==3.4.0
17
+ newton-actuators==0.1.0
18
+ dm-tree==0.1.10
19
+ pyquaternion==0.9.9
20
+ wadler_lindig==0.1.7
21
+ newton-usd-schemas==0.1.0
22
+ alphashape==1.3.1
23
+ rsl-rl-lib==5.0.1
24
+ torchrunx==0.3.4
25
+ ninja==1.13.0
26
+ jaxtyping==0.3.9
27
+ loguru==0.7.3
28
+ jaxls==0.0.0
29
+ pycollada==0.9.3
30
+ OpenEXR==3.4.9
31
+ wheel==0.46.3
32
+ jaxlie==1.5.0
33
+ nbformat==5.10.4
34
+ seaborn==0.13.2
35
+ python-dateutil==2.9.0.post0
36
+ glfw==2.10.0
37
+ pyroki==0.0.0
38
+ termcolor==3.3.0
39
+ nvidia-cuda-nvcc-cu12==12.9.86
40
+ Flask==3.1.3
41
+ tyro==1.0.12
42
+ absl-py==2.4.0
43
+ packaging==26.0
44
+ itsdangerous==2.2.0
45
+ asttokens==3.0.1
46
+ requests==2.33.1
47
+ jax-cuda12-plugin==0.6.2
48
+ decorator==5.2.1
49
+ colorama==0.4.6
50
+ cbor2==5.9.0
51
+ dm-env==1.6
52
+ psutil==7.2.2
53
+ matplotlib-inline==0.2.1
54
+ charset-normalizer==3.4.7
55
+ GitPython==3.1.46
56
+ embreex==2.17.7.post7
57
+ mdurl==0.1.2
58
+ MarkupSafe==3.0.3
59
+ einops==0.8.2
60
+ zipp==3.23.0
61
+ idna==3.11
62
+ Werkzeug==3.1.8
63
+ nodeenv==1.10.0
64
+ importlib_metadata==9.0.0
65
+ pyparsing==3.3.2
66
+ tqdm==4.67.3
67
+ traitlets==5.14.3
68
+ ipython_pygments_lexers==1.1.1
69
+ PyYAML==6.0.3
70
+ pytorch_kinematics==0.9.1
71
+ executing==2.2.1
72
+ Deprecated==1.3.1
73
+ colorlog==6.10.1
74
+ imageio-ffmpeg==0.6.0
75
+ fastjsonschema==2.21.2
76
+ tensordict==0.12.0
77
+ click-log==0.4.0
78
+ orjson==3.11.8
79
+ shellingham==1.5.4
80
+ pexpect==4.9.0
81
+ tensorboard-data-server==0.7.2
82
+ urllib3==2.6.3
83
+ manifold3d==3.4.1
84
+ protobuf==6.33.6
85
+ mapbox_earcut==2.0.0
86
+ icecream==2.2.0
87
+ vhacdx==0.0.10
88
+ smmap==5.0.3
89
+ nvidia-nccl-cu12==2.27.3
90
+ antlr4-python3-runtime==4.9.3
91
+ wcwidth==0.6.0
92
+ cloudpickle==3.1.2
93
+ bcrypt==5.0.0
94
+ ipdb==0.13.13
95
+ nvidia-cufile-cu12==1.14.1.1
96
+ svg.path==7.0
97
+ pyvers==0.2.2
98
+ httpx==0.28.1
99
+ contourpy==1.3.3
100
+ gitdb==4.0.12
101
+ mujoco==3.6.0
102
+ jsonschema-specifications==2025.9.1
103
+ grpcio==1.80.0
104
+ omegaconf==2.3.0
105
+ etils==1.14.0
106
+ robot_descriptions==1.23.0
107
+ rpds-py==0.30.0
108
+ typer==0.24.1
109
+ nvidia-nvtx-cu12==12.9.79
110
+ labmaze==1.0.6
111
+ cycler==0.12.1
112
+ nest-asyncio==1.6.0
113
+ onnx-ir==0.2.0
114
+ nvidia-nvjitlink-cu12==12.9.86
115
+ meshio==5.3.5
116
+ rich==14.3.3
117
+ jsonschema==4.26.0
118
+ retrying==1.4.2
119
+ referencing==0.37.0
120
+ torchaudio==2.8.0+cu129
121
+ markdown-it-py==4.0.0
122
+ websockets==16.0
123
+ lxml==6.0.2
124
+ iniconfig==2.3.0
125
+ rtree==1.4.1
126
+ nvidia-cusparselt-cu12==0.7.1
127
+ torchvision==0.23.0+cu129
128
+ fabric==3.2.3
129
+ xxhash==3.6.0
130
+ execnet==2.1.2
131
+ invoke==2.2.1
132
+ pydantic_core==2.41.5
133
+ narwhals==2.19.0
134
+ cfgv==3.5.0
135
+ trimesh==4.11.5
136
+ paramiko==4.0.0
137
+ blinker==1.9.0
138
+ pillow==12.2.0
139
+ zstandard==0.25.0
140
+ virtualenv==21.2.0
141
+ onnxscript==0.6.2
142
+ cattrs==26.1.0
143
+ pluggy==1.6.0
144
+ jupyter_core==5.9.1
145
+ ipython==9.12.0
146
+ typeguard==4.5.1
147
+ ImageIO==2.37.2
148
+ docstring_parser==0.17.0
149
+ yarl==1.23.0
150
+ annotated-doc==0.0.4
151
+ typing-inspection==0.4.2
152
+ aiosignal==1.4.0
153
+ parso==0.8.6
154
+ annotated-types==0.7.0
155
+ cryptography==46.0.7
156
+ Markdown==3.10.2
157
+ identify==2.6.18
158
+ yourdfpy==0.0.60
159
+ h5py==3.16.0
160
+ pure_eval==0.2.3
161
+ wrapt==2.1.2
162
+ portalocker==3.2.0
163
+ anyio==4.13.0
164
+ httpcore==1.0.9
165
+ stack-data==0.6.3
166
+ multidict==6.7.1
167
+ msgspec==0.20.0
168
+ dash==4.1.0
169
+ click==8.3.2
170
+ tensorboard==2.20.0
171
+ prompt_toolkit==3.0.52
172
+ Pygments==2.20.0
173
+ mpmath==1.3.0
174
+ nvidia-cusolver-cu12==11.7.5.82
175
+ aiohttp==3.13.5
176
+ pyglet==2.1.14
177
+ shapely==2.1.2
178
+ hf-xet==1.4.3
179
+ pytorch-seed==0.2.0
180
+ lsprotocol==2023.0.1
181
+ viser==1.0.26
182
+ ptyprocess==0.7.0
183
+ cffi==2.0.0
184
+ mujoco-warp==3.6.0
185
+ addict==2.4.0
186
+ pydantic==2.12.5
187
+ platformdirs==4.9.4
188
+ propcache==0.4.1
189
+ aiohappyeyeballs==2.6.1
190
+ certifi==2026.2.25
191
+ frozenlist==1.8.0
192
+ h11==0.16.0
193
+ ruff==0.15.9
194
+ python-discovery==1.2.2
195
+ distlib==0.4.0
196
+ pygls==1.3.1
197
+ Jinja2==3.1.6
198
+ attrs==26.1.0
199
+ arm_pytorch_utilities==0.5.0
200
+ joblib==1.5.3
201
+ PyNaCl==1.6.2
202
+ pre_commit==4.5.1
203
+ rerun-sdk==0.26.2
204
+ safetensors==0.7.0
205
+ pytest-xdist==3.8.0
206
+ threadpoolctl==3.6.0
207
+ six==1.17.0
208
+ kiwisolver==1.5.0
209
+ loop-rate-limiters==1.2.0
210
+ pycparser==3.0
211
+ iopath==0.1.10
212
+ pytest==9.0.3
213
+ imgui-bundle==1.92.601
214
+ fonttools==4.62.1
215
+ filelock==3.25.2
216
+ nvidia-cusparse-cu12==12.5.10.65
217
+ nvidia-cuda-cupti-cu12==12.9.79
218
+ setuptools==82.0.1
219
+ huggingface_hub==1.9.2
220
+ nvidia-cuda-runtime-cu12==12.9.79
221
+ jax-cuda12-pjrt==0.6.2
222
+ nvidia-cuda-nvrtc-cu12==12.9.86
223
+ hydra-core==1.3.2
224
+ matplotlib==3.10.8
225
+ sentry-sdk==2.57.0
226
+ nvidia-curand-cu12==10.3.10.19
227
+ fsspec==2026.3.0
228
+ newton==1.1.0rc1
229
+ jax==0.6.2
230
+ torch-geometric==2.7.0
231
+ numpy==2.4.4
232
+ scikit-learn==1.8.0
233
+ networkx==3.6.1
234
+ pandas==3.0.2
235
+ sympy==1.14.0
236
+ jedi==0.19.2
237
+ nvidia-cufft-cu12==11.4.1.4
238
+ nvidia-cuda-cccl-cu12==12.9.27
239
+ plotly==6.6.0
240
+ nvidia-cublas-cu12==12.9.1.4
241
+ nvidia-nvshmem-cu12==3.6.5
242
+ usd-core==26.3
243
+ nvidia-cudnn-cu12==9.10.2.21
244
+ jaxlib==0.6.2
245
+ warp-lang==1.12.0
246
+ opencv-python==4.13.0.92
247
+ open3d==0.19.0
248
+ pymeshlab==2025.7
249
+ scipy==1.17.1
250
+ triton==3.4.0
251
+ PyOpenGL==3.1.10
252
+ wandb==0.25.1
253
+ pyarrow==23.0.1
254
+ dm_control==1.0.38
255
+ onnx==1.21.0
256
+ torch==2.8.0+cu129
257
+ pyg_lib==0.5.0+pt28cu129
258
+ torch_spline_conv==1.2.2+pt28cu129
259
+ torch_scatter==2.1.2+pt28cu129
260
+ torch_cluster==1.6.3+pt28cu129
261
+ torch_sparse==0.6.18+pt28cu129
262
+ flash_attn==2.8.3
263
+ pytorch3d==0.7.9
264
+ coacd==1.0.10
265
+ cumm-cu129==0.8.2
266
+ ccimport==0.4.4
267
+ lark==1.3.1
268
+ pccm==0.4.16
269
+ fire==0.7.1
270
+ spconv-cu129==2.3.8
271
+ genplan==0.1.0
272
+ pybind11==3.0.3
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