Upload folder using huggingface_hub
Browse files- README.md +10 -0
- config.json +105 -0
- model.safetensors +3 -0
- train_meta.json +96 -0
README.md
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---
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tags:
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- model_hub_mixin
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- pytorch_model_hub_mixin
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---
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This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
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- Code: [More Information Needed]
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- Paper: [More Information Needed]
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- Docs: [More Information Needed]
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config.json
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{
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"cfg": {
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"action_dim": 7,
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"backbone": "facebook/dinov3-vits16-pretrain-lvd1689m",
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"decoder_heads": 8,
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"decoder_layers": 4,
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"dropout": 0.1,
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"encoder_input_size": 224,
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"freeze_backbone": true,
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"gripper_idx": 6,
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"gripper_weight": 1.0,
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"head_hidden": 1024,
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"head_layers": 3,
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"head_type": "xattn",
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"huber_delta": 0.1,
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"image_size": 256,
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"input_mode": "source_depth_flow",
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"norm_mode": "zscore",
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"norm_stats": {
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"actions": {
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"mean": [
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0.047240227460861206,
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0.0508635975420475,
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-0.09378840774297714,
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0.0036939603742212057,
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0.003270887304097414,
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-0.006564674433320761,
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-0.059840139001607895
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],
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"q01": [
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-0.46339285373687744,
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-0.7392857074737549,
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-0.7794643044471741,
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-0.07392857223749161,
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-0.16607142984867096,
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-0.2978571355342865,
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-1.0
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],
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"q99": [
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0.7098749876022339,
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0.7821428775787354,
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0.8303571343421936,
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0.17892856895923615,
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0.1639285683631897,
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0.375,
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1.0
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],
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"std": [
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0.3100294768810272,
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0.3630746901035309,
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0.4150514304637909,
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0.04578809812664986,
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0.0601838082075119,
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0.08567292243242264,
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0.9982079863548279
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]
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},
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"state": {
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"mean": [
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-0.07068316638469696,
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0.018536901101469994,
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0.8913209438323975,
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2.9518160820007324,
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-0.17911545932292938,
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-0.12059465050697327,
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0.02673562802374363,
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-0.027061836794018745
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],
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"q01": [
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-0.2335965633392334,
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-0.09221210330724716,
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0.9166392087936401,
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1.5836201906204224,
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-2.489743947982788,
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-1.0587904453277588,
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0.0018643600633367896,
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-0.04007481783628464
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],
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"q99": [
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0.09121209383010864,
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0.21421630680561066,
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1.1849141120910645,
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3.1840009689331055,
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3.0570921897888184,
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0.8673243522644043,
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0.04050664231181145,
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-0.0014549389015883207
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],
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"std": [
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0.11321546137332916,
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0.14622576534748077,
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0.2981572151184082,
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0.4244987368583679,
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1.0269798040390015,
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0.3394932448863983,
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0.014265833422541618,
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0.01417431328445673
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]
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}
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},
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"num_actions": 8,
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"proprio_dim": 8,
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"proprio_hidden": 256
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}
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}
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model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:d038dfef4d2c7d09e6359e7aa3fbc8b4e78214c7e171e96fceb4d8dbcd40a605
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size 124921332
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train_meta.json
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{
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"args": {
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"config": "configs/idm_exp2_depth.yaml",
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"data_dir": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/datasets/libero_lerobot/",
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"subsets": [
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"libero_10_no_noops_1.0.0_lerobot",
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"libero_spatial_no_noops_1.0.0_lerobot",
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"libero_goal_no_noops_1.0.0_lerobot",
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"libero_object_no_noops_1.0.0_lerobot",
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"libero_90_no_noops_lerobot"
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],
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"flow_cache_dir": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/datasets/libero_flow_cache",
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"flow_store": "raft_h8_r256.zarr",
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| 14 |
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"depth_cache_dir": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/datasets/libero_depth_cache",
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"depth_store": "da3_da3metric-large_r256.zarr",
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"depth_repr": "depth_colormap",
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"depth_cmap": "turbo",
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"depth_power": 0.5,
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"output_dir": "./runs_idm",
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"num_actions": 8,
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"image_size": 256,
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"batch_size": 512,
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"num_workers": 16,
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"color_jitter": false,
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"safe_skip": true,
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"backbone": "facebook/dinov3-vits16-pretrain-lvd1689m",
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"input_mode": "source_depth_flow",
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| 28 |
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"freeze_backbone": true,
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| 29 |
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"proprio_dim": 8,
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| 30 |
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"head_type": "xattn",
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"head_hidden": 1024,
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"head_layers": 3,
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| 33 |
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"proprio_hidden": 256,
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"decoder_layers": 4,
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"decoder_heads": 8,
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| 36 |
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"dropout": 0.1,
|
| 37 |
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"huber_delta": 0.1,
|
| 38 |
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"gripper_weight": 1.0,
|
| 39 |
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"gripper_idx": 6,
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| 40 |
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"action_dim": 7,
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| 41 |
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"encoder_input_size": 224,
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| 42 |
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"norm_mode": "zscore",
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| 43 |
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"norm_stats_path": "fluxflow/norm_stats/libero_norm.json",
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| 44 |
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"lr": 0.001,
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| 45 |
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"lr_scheduler": "cosine",
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| 46 |
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"max_steps": 50000,
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| 47 |
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"warmup_steps": 500,
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| 48 |
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"save_every": 2000,
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| 49 |
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"grad_accum": 4,
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| 50 |
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"max_grad_norm": 1.0,
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| 51 |
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"mixed_precision": "bf16",
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| 52 |
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"seed": 42,
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| 53 |
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"wandb_project": "fluxflow-idm",
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| 54 |
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"wandb_entity": null,
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| 55 |
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"run_name": null,
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| 56 |
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"log_every": 20,
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"val_every": 500,
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"num_val_samples": 64,
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"val_fraction": 0.05,
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| 60 |
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"split_seed": 0,
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| 61 |
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"profile": false,
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| 62 |
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"pretrained_model": "black-forest-labs/FLUX.2-klein-base-4B",
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| 63 |
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"flux_lora_ckpt": null,
|
| 64 |
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"mix_flux_p": 0.0,
|
| 65 |
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"num_inference_steps": 4,
|
| 66 |
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"flux_guidance_scale": 1.0,
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| 67 |
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"flux_batch_size": 0,
|
| 68 |
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"overfit_episodes": 0,
|
| 69 |
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"overfit_n": 0,
|
| 70 |
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"overfit_sample_mode": "linspace",
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| 71 |
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"append_progress": true,
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| 72 |
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"on_the_fly_flow": false,
|
| 73 |
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"flow_model": "raft",
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| 74 |
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"flow_scale": 0.0,
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| 75 |
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"flow_sigma": 0.15,
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| 76 |
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"flow_repr": "uv",
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| 77 |
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"flow_chunk_size": 32,
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| 78 |
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"waft_cfg": "config/a1/tar-c-t.json",
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| 79 |
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"waft_ckpt": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/.cache/simvla/waft/checkpoints/waft-a1.pth",
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| 80 |
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"waft_dir": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/.cache/simvla/waft",
|
| 81 |
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"waft_da_ckpt": null,
|
| 82 |
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"raft_ckpt": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/.cache/simvla/raft/checkpoints/raft-things.pth",
|
| 83 |
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"raft_dir": "/NHNHOME/WORKSPACE/0426030021_A/junhalee/.cache/simvla/raft",
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| 84 |
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"raft_iters": 20,
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| 85 |
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"raft_small": false,
|
| 86 |
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"_overrides": [
|
| 87 |
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"batch_size",
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| 88 |
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"data_dir",
|
| 89 |
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"grad_accum",
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| 90 |
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"max_steps",
|
| 91 |
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"num_workers",
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| 92 |
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"safe_skip"
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| 93 |
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]
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| 94 |
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},
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| 95 |
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"step": 34000
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| 96 |
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}
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