Add files using upload-large-folder tool

.gitattributes

@@ -33,3 +33,120 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/19_traj_1000019_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/73_traj_1000073_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/28_traj_1000028_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/37_traj_1000037_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/35_traj_1000035_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/99_traj_1000099_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/65_traj_1000065_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/82_traj_1000082_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/62_traj_1000062_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/14_traj_1000014_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/9_traj_1000009_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/15_traj_1000015_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/1_traj_1000001_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/24_traj_1000024_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/51_traj_1000051_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/89_traj_1000089_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/20_traj_1000020_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/0_traj_1000000_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/74_traj_1000074_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/81_traj_1000081_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/55_traj_1000055_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/46_traj_1000046_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/2_traj_1000002_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/39_traj_1000039_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/49_traj_1000049_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/97_traj_1000097_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/64_traj_1000064_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/60_traj_1000060_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/43_traj_1000043_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/11_traj_1000011_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/95_traj_1000095_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/68_traj_1000068_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/48_traj_1000048_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/90_traj_1000090_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/57_traj_1000057_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/7_traj_1000007_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/93_traj_1000093_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/98_traj_1000098_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/22_traj_1000022_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/30_traj_1000030_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/84_traj_1000084_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/72_traj_1000072_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/69_traj_1000069_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/33_traj_1000033_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/70_traj_1000070_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/80_traj_1000080_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/63_traj_1000063_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/36_traj_1000036_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/10_traj_1000010_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/75_traj_1000075_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/21_traj_1000021_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/44_traj_1000044_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/67_traj_1000067_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/61_traj_1000061_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/94_traj_1000094_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/59_traj_1000059_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/29_traj_1000029_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/54_traj_1000054_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/87_traj_1000087_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/79_traj_1000079_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/92_traj_1000092_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/83_traj_1000083_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/45_traj_1000045_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/85_traj_1000085_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/17_traj_1000017_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/96_traj_1000096_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/18_traj_1000018_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/88_traj_1000088_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/77_traj_1000077_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/23_traj_1000023_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/91_traj_1000091_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/66_traj_1000066_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/53_traj_1000053_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/31_traj_1000031_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/12_traj_1000012_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/41_traj_1000041_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/40_traj_1000040_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/38_traj_1000038_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/4_traj_1000004_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/13_traj_1000013_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/34_traj_1000034_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/56_traj_1000056_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/58_traj_1000058_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/32_traj_1000032_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/50_traj_1000050_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/76_traj_1000076_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/8_traj_1000008_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/86_traj_1000086_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/78_traj_1000078_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/16_traj_1000016_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/25_traj_1000025_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/3_traj_1000003_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/52_traj_1000052_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/71_traj_1000071_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/6_traj_1000006_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/47_traj_1000047_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/27_traj_1000027_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/14_traj_1000014_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/37_traj_1000037_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/26_traj_1000026_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/20_traj_1000020_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/53_traj_1000053_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/5_traj_1000005_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/81_traj_1000081_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/28_traj_1000028_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_20/42_traj_1000042_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/10_traj_1000010_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/19_traj_1000019_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/39_traj_1000039_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/82_traj_1000082_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/51_traj_1000051_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/73_traj_1000073_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/46_traj_1000046_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/67_traj_1000067_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/15_traj_1000015_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/8_traj_1000008_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/80595_0/epoch_480/9_traj_1000009_envseed.mp4 filter=lfs diff=lfs merge=lfs -text

config.yaml

@@ -0,0 +1,629 @@
+root_dir: /mnt/kostas-graid/datasets/extrinsic_contact_data
+replay_buffer_size: 150000
+replay_buffer_num_workers: 2
+nstep: 3
+batch_size: 128
+seed: 0
+dataset_shuffle_seed: ${seed}
+valid_dataset_shuffle_seed: 0
+train_dataset_shuffle_seed: 0
+device: cuda
+save_video: true
+save_train_video: true
+use_tb: true
+use_wandb: true
+wandb_run_id: '80595_0'
+wandb_notes: 80595_0_req_82981_0restarted_1
+eval: false
+eval_on_sim: true
+eval_on_sim_past_checkpoints: false
+simulation: true
+true_action_history: false
+train_pad_after: 4
+process_contact_features: ${eval}
+obs_type: pixels
+use_color: true
+use_depth: true
+use_masks: false
+mask_list:
+- EE_obj_mask
+mask_representation: channels
+segmentation_model_name: gt_segmentation
+crop_hw:
+- 144
+- 144
+crop_down_offset: 48
+color_crop_type: null
+depth_crop_type: null
+segmask_crop_type: null
+add_crop_binary_mask: false
+add_coord_conv_map: false
+use_context_color: false
+use_context_depth: false
+use_context_segmask: false
+context_color_crop_type: null
+context_depth_crop_type: null
+context_segmask_crop_type: null
+context_add_crop_binary_mask: false
+context_add_coord_conv_map: false
+use_contact_map: false
+use_sdf_maps: false
+use_normals_maps: false
+which_objects: both
+max_contact_prob: 1.0
+max_depth: 2.0
+grasped_dtc_max_value: 0.2
+env_dtc_max_value: 0.4
+grasped_normals_mask_max_dtc_value: 0.2
+env_normals_mask_max_dtc_value: 0.4
+clamp_dtc: true
+dtc_adaptive_normalization: false
+mask_normals_within_sdf: true
+adaptive_normals_mask: true
+learnable_contact_preprocess_params: false
+contact_model_name: gt_contact
+contact_estimation_model_ckpt_path: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+encoder_type: small
+debug_timestamps: false
+open_loop: false
+action_trajectories: true
+stop_after_action: false
+interpolation_frequency: 25
+policy_frequency: 5
+wait_for_new_camera_frames: true
+baseline: false
+use_num_train_epochs_to_determine_lr_schedule: true
+grasped_book_config:
+  randomize_color: false
+  randomize_density: false
+  density_randomization_bounds:
+  - 650
+  - 850
+  randomize_height: false
+  height_randomization_bounds:
+  - 0.165
+  - 0.25
+  randomize_width: false
+  width_randomization_bounds:
+  - 0.03
+  - 0.065
+  randomize_length: false
+  length_randomization_bounds:
+  - 0.1
+  - 0.15
+env_books_config:
+  num_env_books: 8
+  randomize_color: false
+  randomize_density: false
+  density_randomization_bounds:
+  - 655
+  - 1015
+  randomize_height: false
+  height_randomization_bounds:
+  - 0.2475
+  - 0.2525
+  randomize_width: false
+  width_randomization_bounds:
+  - 0.015
+  - 0.05
+  randomize_length: false
+  length_randomization_bounds:
+  - 0.15
+  - 0.2
+  shuffle_mode: none
+slot_config:
+  negative_tolerance: 0.0035
+  left_of_book_index: 4
+  y_randomization_bounds:
+  - -0.05
+  - 0.05
+book_ends_config:
+  mode: spring
+  length: 0.2
+  width: 0.025
+  height: 0.25
+  mass: 1.0
+  color: '#808080'
+  friction: 0.0
+  wall_height: 0.25
+  wall_length: 0.2
+  wall_width: 0.025
+  travel_limit: 0.125
+  joint_stiffness: 100.0
+  joint_damping: 20.0
+record_sim_videos: true
+resume_wandb_run: true
+train_demo_idxs_list_or_num: -1
+log_train_every_steps: 25
+name_of_expert_demo: 206_sim_demos_leftof4thbook_springbookends_nograspedrand_noenvrand_slotrand_20hz_act
+expert_dataset_dirpath: ${root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${name_of_expert_demo}
+store_dataset_in_memory: false
+expert_dataset: ${expert_dataset_dirpath}/demos.zarr
+action_key: action
+semantic_demo_grouping_name: semantic_demo_grouping.yaml
+semantic_demo_grouping: ${expert_dataset_dirpath}/${semantic_demo_grouping_name}
+include_groups_list: all
+expert_dataset_config: ${expert_dataset_dirpath}/demo_config.yaml
+name_of_valid_demo: 206_sim_demos_leftof4thbook_springbookends_nograspedrand_noenvrand_slotrand_20hz_act
+train_num_groups: 176
+valid_dataset_dir: ${root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${name_of_valid_demo}/demos.zarr
+valid_demo_idxs_list_or_num: null
+val_num_groups: 30
+universal_unseen_env_seed_start: 1000000
+load_bc: ${agent.load_checkpoint}
+checkpoint_epoch_list:
+- 99
+- 199
+- 299
+- 399
+- 499
+- 599
+- 699
+- 799
+- 899
+- 999
+- 1249
+- 1499
+- 1749
+- 1999
+- 2999
+- 3999
+- 4999
+- 5999
+- 6999
+- 7999
+- 8999
+- 9999
+snapshot_root_dir: /mnt/grasp_high_usage/leonmkim/contact_estimation/FISH
+save_snapshot: true
+save_last_snapshot: true
+save_snapshot_when_done: true
+top_k_checkpoints: 10
+save_snapshot_link_to_weights_dir: deprecated
+restore_missing_checkpoint: null
+restore_and_eval_all_missing_checkpoints: false
+bc_regularize: false
+bc_weight_type: qfilter
+username: leonmkim
+hostname: grasp-login1
+local_snapshot_root_dir: /mnt/bighdd/fish_contact_backup
+local_snapshot_dir: ${local_snapshot_root_dir}/exp_local/${suite.name}_${obs_type}/${task_name}
+experiment_dir: ./exp_local/${suite.name}_${obs_type}/${task_name}/${wandb_run_id}
+agent:
+  _target_: agent.diffusion_policy.DiffusionPolicyAgent
+  name: diffusion_policy
+  load_checkpoint: ${eval}
+  device: ${device}
+  n_obs_steps: ${.config.policy_cfg.n_obs_steps}
+  suite_name: ${suite.name}
+  obs_type: ${obs_type}
+  enable_arm: ${eval}
+  enable_camera: ${eval}
+  use_tb: ${use_tb}
+  desired_image_shape:
+  - 13
+  - 180
+  - 240
+  orig_cam_shape:
+  - 3
+  - 240
+  - 320
+  actions_prenormalized: ${simulation}
+  config:
+    _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+    compile: false
+    device: ${device}
+    cam_resize_shape: ${agent.desired_image_shape}
+    orig_cam_shape: ${agent.orig_cam_shape}
+    policy_frequency: ${policy_frequency}
+    interpolation_frequency: ${interpolation_frequency}
+    deterministic_actions: true
+    deterministic_actions_seed: 0
+    policy_cfg:
+      _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+      n_obs_steps: 1
+      horizon: 28
+      n_action_steps: ${agent.config.policy_cfg.horizon}
+      output_shapes:
+        action:
+        - 7
+      input_normalization_modes:
+        observation.image: mean_std
+        observation.state: min_max
+        observation.action_history: min_max
+      output_normalization_modes:
+        action: min_max
+      vision_backbone: resnet18
+      crop_distractors_tlhw: null
+      pretrained_backbone_weights: null
+      transforms:
+      - _target_: torchvision.transforms.v2.Grayscale
+        num_output_channels: 3
+      use_group_norm: true
+      spatial_softmax_num_keypoints: 32
+      action_history_encoder_config:
+        _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig
+        in_channels: 7
+        out_channels: 32
+        history_length: 4
+        kernel_size: ${agent.config.policy_cfg.kernel_size}
+        downsample_kernel_size: 3
+        downsample_stride: 2
+        downsample_padding: 1
+      down_dims:
+      - 256
+      - 512
+      - 1024
+      kernel_size: 5
+      n_groups: 8
+      diffusion_step_embed_dim: 128
+      use_film_scale_modulation: true
+      noise_scheduler_type: DDIM
+      beta_schedule: squaredcos_cap_v2
+      beta_start: 0.0001
+      beta_end: 0.02
+      prediction_type: epsilon
+      clip_sample: true
+      clip_sample_range: 1.0
+      num_train_timesteps: 50
+      num_inference_steps: 10
+      do_mask_loss_for_padding: false
+      start_horizon_at_current_step: true
+      input_shapes:
+        observation.image:
+        - 13
+        - 180
+        - 240
+        context_observation.image:
+        - 13
+        - 180
+        - 240
+        observation.state:
+        - 8
+        observation.action_history:
+        - 7
+    train_cfg:
+      _target_: utils.TrainConfig
+      lr: 0.0001
+      lr_scheduler: cosine
+      lr_warmup_steps: 500
+      adam_betas:
+      - 0.95
+      - 0.999
+      adam_eps: 1.0e-08
+      adam_weight_decay: 1.0e-06
+      grad_clip_norm: 10
+      offline_steps: 229000
+      use_amp: true
+      optimizer: adamw
+    observation_cfg:
+      _target_: agent.encoder.VisualFeatureSet
+      use_depth: ${use_depth}
+      use_color: ${use_color}
+      mask_input_dict:
+        _target_: agent.encoder.MaskInputDict
+        enable: ${use_masks}
+        representation: ${mask_representation}
+        mask_list: ${mask_list}
+        segmentation_model_name: ${segmentation_model_name}
+      crop_input_config:
+        _target_: agent.encoder.CropInputConfig
+        color_crop_type: ${color_crop_type}
+        depth_crop_type: ${depth_crop_type}
+        segmask_crop_type: ${segmask_crop_type}
+        crop_hw: ${crop_hw}
+        crop_down_offset: ${crop_down_offset}
+        add_crop_binary_mask: ${add_crop_binary_mask}
+        add_coord_conv_map: ${add_coord_conv_map}
+      context_input_config:
+        _target_: agent.encoder.ContextInputConfig
+        use_color: ${use_context_color}
+        use_depth: ${use_context_depth}
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: ${use_context_segmask}
+          representation: ${mask_representation}
+          mask_list: ${mask_list}
+          segmentation_model_name: ${segmentation_model_name}
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: ${context_color_crop_type}
+          depth_crop_type: ${context_depth_crop_type}
+          segmask_crop_type: ${context_segmask_crop_type}
+          crop_hw: ${crop_hw}
+          crop_down_offset: ${crop_down_offset}
+          add_crop_binary_mask: ${context_add_crop_binary_mask}
+          add_coord_conv_map: ${context_add_coord_conv_map}
+      mask_soft_approx_scheduler_config:
+        _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+        num_steps: 40000
+        initial_value: 10.0
+        final_value: 1000.0
+        interpolation_scheme: cosine
+      use_contact_map: ${use_contact_map}
+      use_sdf_maps: ${use_sdf_maps}
+      use_normals_maps: ${use_normals_maps}
+      which_objects: ${which_objects}
+      grasped_dtc_max_value: ${grasped_dtc_max_value}
+      env_dtc_max_value: ${env_dtc_max_value}
+      grasped_normals_mask_max_dtc_value: ${grasped_normals_mask_max_dtc_value}
+      env_normals_mask_max_dtc_value: ${env_normals_mask_max_dtc_value}
+      clamp_dtc: ${clamp_dtc}
+      max_contact_prob: ${max_contact_prob}
+      mask_normals_within_sdf: ${mask_normals_within_sdf}
+      dtc_adaptive_normalization: ${dtc_adaptive_normalization}
+      adaptive_normals_mask: ${adaptive_normals_mask}
+      max_depth: ${max_depth}
+      image_shape: ${agent.desired_image_shape}
+      learnable_contact_preprocess_params: ${learnable_contact_preprocess_params}
+      learning_rate: 0.0001
+      weight_decay: 0.0
+      contact_model_name: ${contact_model_name}
+      zero_centered: false
+      crop_distractors_tlhw: ${agent.config.policy_cfg.crop_distractors_tlhw}
+      z_score_normalize_rgb: false
+suite:
+  suite: frankagym
+  name: frankagym
+  frame_stack: ${agent.n_obs_steps}
+  action_repeat: 1
+  discount: 0.99
+  hidden_dim: 1024
+  num_train_frames: 1000000
+  num_seed_frames: 0
+  num_train_epochs: 1000
+  validate_every_epochs: 20
+  eval_on_sim_every_epochs: 20
+  validate_diffusion_on_action_loss_every_epochs: 20
+  eval_on_sim_every_epochs_diffusion: 500
+  train_eval_diffusion_on_action_loss_every_epochs: 20
+  check_topk_every_epochs: 20
+  save_snapshot_every_epochs: 25
+  num_seen_eval_envs: 0
+  num_unseen_eval_envs: 100
+  evals_per_env: 1
+  eval_every_frames: 2000
+  num_eval_episodes: 5
+  save_snapshot: true
+  wait_for_user_to_start_episode: true
+  task_make_fn:
+    _target_: suite.frankagym.make
+    name: ${task_name}
+    height: 240
+    width: 320
+    frame_stack: ${suite.frame_stack}
+    action_repeat: ${suite.action_repeat}
+    seed: ${seed}
+    enable_arm: ${agent.enable_arm}
+    enable_gripper: ${enable_gripper}
+    start_with_gripper_open: ${start_with_gripper_open}
+    enable_camera: ${agent.enable_camera}
+    path_to_depth_extrinsics: ${path_to_depth_extrinsics}
+    contact_estimation_model_ckpt_path: ${contact_estimation_model_ckpt_path}
+    x_limit: ${x_limit}
+    y_limit: ${y_limit}
+    z_limit: ${z_limit}
+    device: ${device}
+    interpolation_frequency: ${interpolation_frequency}
+    policy_frequency: ${policy_frequency}
+    debug_timestamps: ${debug_timestamps}
+    stop_after_action: ${stop_after_action}
+    open_loop: ${open_loop}
+    wait_for_new_camera_frames: ${wait_for_new_camera_frames}
+    action_key: ${action_key}
+    action_trajectory_horizon: ${agent.config.policy_cfg.horizon}
+    action_trajectories: ${action_trajectories}
+    path_to_zarr_dataset: ${expert_dataset}
+    agent_policy_cfg:
+      _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+      compile: false
+      device: ${device}
+      cam_resize_shape: ${agent.desired_image_shape}
+      orig_cam_shape: ${agent.orig_cam_shape}
+      policy_frequency: ${policy_frequency}
+      interpolation_frequency: ${interpolation_frequency}
+      deterministic_actions: true
+      deterministic_actions_seed: 0
+      policy_cfg:
+        _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+        n_obs_steps: 1
+        horizon: 28
+        n_action_steps: ${agent.config.policy_cfg.horizon}
+        output_shapes:
+          action:
+          - 7
+        input_normalization_modes:
+          observation.image: mean_std
+          observation.state: min_max
+          observation.action_history: min_max
+        output_normalization_modes:
+          action: min_max
+        vision_backbone: resnet18
+        crop_distractors_tlhw: null
+        pretrained_backbone_weights: null
+        transforms:
+        - _target_: torchvision.transforms.v2.Grayscale
+          num_output_channels: 3
+        use_group_norm: true
+        spatial_softmax_num_keypoints: 32
+        action_history_encoder_config:
+          _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig
+          in_channels: 7
+          out_channels: 32
+          history_length: 4
+          kernel_size: ${agent.config.policy_cfg.kernel_size}
+          downsample_kernel_size: 3
+          downsample_stride: 2
+          downsample_padding: 1
+        down_dims:
+        - 256
+        - 512
+        - 1024
+        kernel_size: 5
+        n_groups: 8
+        diffusion_step_embed_dim: 128
+        use_film_scale_modulation: true
+        noise_scheduler_type: DDIM
+        beta_schedule: squaredcos_cap_v2
+        beta_start: 0.0001
+        beta_end: 0.02
+        prediction_type: epsilon
+        clip_sample: true
+        clip_sample_range: 1.0
+        num_train_timesteps: 50
+        num_inference_steps: 10
+        do_mask_loss_for_padding: false
+        start_horizon_at_current_step: true
+        input_shapes:
+          observation.image:
+          - 13
+          - 180
+          - 240
+          context_observation.image:
+          - 13
+          - 180
+          - 240
+          observation.state:
+          - 8
+          observation.action_history:
+          - 7
+      train_cfg:
+        _target_: utils.TrainConfig
+        lr: 0.0001
+        lr_scheduler: cosine
+        lr_warmup_steps: 500
+        adam_betas:
+        - 0.95
+        - 0.999
+        adam_eps: 1.0e-08
+        adam_weight_decay: 1.0e-06
+        grad_clip_norm: 10
+        offline_steps: 229000
+        use_amp: true
+        optimizer: adamw
+      observation_cfg:
+        _target_: agent.encoder.VisualFeatureSet
+        use_depth: ${use_depth}
+        use_color: ${use_color}
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: ${use_masks}
+          representation: ${mask_representation}
+          mask_list: ${mask_list}
+          segmentation_model_name: ${segmentation_model_name}
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: ${color_crop_type}
+          depth_crop_type: ${depth_crop_type}
+          segmask_crop_type: ${segmask_crop_type}
+          crop_hw: ${crop_hw}
+          crop_down_offset: ${crop_down_offset}
+          add_crop_binary_mask: ${add_crop_binary_mask}
+          add_coord_conv_map: ${add_coord_conv_map}
+        context_input_config:
+          _target_: agent.encoder.ContextInputConfig
+          use_color: ${use_context_color}
+          use_depth: ${use_context_depth}
+          mask_input_dict:
+            _target_: agent.encoder.MaskInputDict
+            enable: ${use_context_segmask}
+            representation: ${mask_representation}
+            mask_list: ${mask_list}
+            segmentation_model_name: ${segmentation_model_name}
+          crop_input_config:
+            _target_: agent.encoder.CropInputConfig
+            color_crop_type: ${context_color_crop_type}
+            depth_crop_type: ${context_depth_crop_type}
+            segmask_crop_type: ${context_segmask_crop_type}
+            crop_hw: ${crop_hw}
+            crop_down_offset: ${crop_down_offset}
+            add_crop_binary_mask: ${context_add_crop_binary_mask}
+            add_coord_conv_map: ${context_add_coord_conv_map}
+        mask_soft_approx_scheduler_config:
+          _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+          num_steps: 40000
+          initial_value: 10.0
+          final_value: 1000.0
+          interpolation_scheme: cosine
+        use_contact_map: ${use_contact_map}
+        use_sdf_maps: ${use_sdf_maps}
+        use_normals_maps: ${use_normals_maps}
+        which_objects: ${which_objects}
+        grasped_dtc_max_value: ${grasped_dtc_max_value}
+        env_dtc_max_value: ${env_dtc_max_value}
+        grasped_normals_mask_max_dtc_value: ${grasped_normals_mask_max_dtc_value}
+        env_normals_mask_max_dtc_value: ${env_normals_mask_max_dtc_value}
+        clamp_dtc: ${clamp_dtc}
+        max_contact_prob: ${max_contact_prob}
+        mask_normals_within_sdf: ${mask_normals_within_sdf}
+        dtc_adaptive_normalization: ${dtc_adaptive_normalization}
+        adaptive_normals_mask: ${adaptive_normals_mask}
+        max_depth: ${max_depth}
+        image_shape: ${agent.desired_image_shape}
+        learnable_contact_preprocess_params: ${learnable_contact_preprocess_params}
+        learning_rate: 0.0001
+        weight_decay: 0.0
+        contact_model_name: ${contact_model_name}
+        zero_centered: false
+        crop_distractors_tlhw: ${agent.config.policy_cfg.crop_distractors_tlhw}
+        z_score_normalize_rgb: false
+    true_action_history: ${true_action_history}
+num_train_frames_bc: 50000
+num_train_frames_drq: 1100000
+stddev_schedule_drq: linear(1.0,0.1,100000)
+task_name: FrankaInsertion-v1
+num_train_frames_vinn: 25000
+num_train_frames_diffusion: 1000000
+num_train_epochs_bc: 5000
+num_train_epochs_diffusion: 1000
+validate_every_epochs_bc: 5
+validate_every_epochs_diffusion: 20
+validate_diffusion_on_action_loss_every_epochs: 20
+train_eval_diffusion_on_action_loss_every_epochs: 20
+eval_on_sim_every_epochs_diffusion: 20
+check_topk_every_epochs: 5
+check_topk_every_epochs_diffusion: 20
+save_snapshot_every_epochs_diffusion: 25
+x_limit:
+- 0.2
+- 0.7
+y_limit:
+- -0.4
+- 0.4
+z_limit:
+- -0.05
+- 0.55
+home_displacement:
+- 0.55
+- 0.0
+- 0.55
+- 180.0
+- 0.0
+- 0.0
+enable_gripper: true
+start_with_gripper_open: true
+offset_mask:
+- 1
+- 1
+- 1
+- 1
+- 1
+- 1
+path_to_depth_extrinsics: ~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy
+test:
+  username: leonmkim
+  hostname: grasp-login1
+  name_of_expert_demo: 112_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+  root_dir: ~/fish_leon
+  expert_dataset_dirpath: ${test.root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${test.name_of_expert_demo}
+  expert_dataset: ${test.expert_dataset_dirpath}/demos.zarr
+  semantic_demo_grouping_name: semantic_demo_grouping.yaml
+  semantic_demo_grouping: ${test.expert_dataset_dirpath}/${test.semantic_demo_grouping_name}
+  include_groups_list: all
+  batch_size: 128
+  store_dataset_in_memory: false
+  use_tb: true
+  local_snapshot_root_dir: /mnt/bighdd/fish_contact_backup
+  local_snapshot_dir: ${test.local_snapshot_root_dir}/exp_local/${suite.name}_${obs_type}/${task_name}
+  resume_wandb_run: false
+feature_type: 180x240_1_RGB_D_2.0_acthist_hst4_out32_dwnkrnl3_dwnstrd2_dwnpd1

videos/80595_0/epoch_20/0_traj_1000000_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73629ca4f13523d41d281115d84af47b783f123f4bc864f86941d9e581eb0d28
+size 108325

videos/80595_0/epoch_20/10_traj_1000010_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae8d43d932082e37dd1f9ad94d55eab9dfe9500165347d49aefaa1f85b9691af
+size 137445

videos/80595_0/epoch_20/11_traj_1000011_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76a5a2e18c251cffa1aabb2423f33cb1cfa8a928d9fbd15f37e3b5999a2b92bb
+size 148593

videos/80595_0/epoch_20/12_traj_1000012_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7bcc96dd67d0fbb6a01cfec943cb22e1f283cd0493e09f608f5608d88e02b2a
+size 137470

videos/80595_0/epoch_20/13_traj_1000013_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f2130cee98e1287c6e2a66b0f1cd9cc9d95abb82323c82f340694e02ea1065e
+size 132163

videos/80595_0/epoch_20/14_traj_1000014_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f734474139379e1ea3d2ca3a4095876df36b65917bd98945aac957f15b3d4b92
+size 142060

videos/80595_0/epoch_20/15_traj_1000015_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:197f4928f1fea31716dad6ca05a07b6ce18007c879430220f95018f0d0216989
+size 111644

videos/80595_0/epoch_20/16_traj_1000016_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5169637923c6df7063c6e1b83baf1445f272dea2060d4b41218e18ee5d8f7e9d
+size 144327

videos/80595_0/epoch_20/17_traj_1000017_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44f97bf33c6e71acdc80922a1cbd5b9d1ca05777d62148567bfd4d5c31f3c204
+size 275283

videos/80595_0/epoch_20/18_traj_1000018_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47f8b7d21c2c65b73419902618e89a75a3b98c95aa4dd141a738517faf64adb4
+size 110515

videos/80595_0/epoch_20/19_traj_1000019_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e439b7e952d2681a9537b696b4deeb1ae44591a94c9ff69156af3e48e6260c3
+size 144077

videos/80595_0/epoch_20/1_traj_1000001_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c10c7fcbb28130bc6e38016f094415de554abb4fcc0cbb5748a427cb0f7a793
+size 153974

videos/80595_0/epoch_20/20_traj_1000020_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cfd34a71472a860de7348834b6992fe57cb46c4279a79ace344109e2626d205
+size 212785

videos/80595_0/epoch_20/21_traj_1000021_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9319b09ef841014fb73917597391d2c2e56ca5d87f00abc9a0af8ae7d53ff7e0
+size 448307

videos/80595_0/epoch_20/22_traj_1000022_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b289c65c452c627decedd6dd869f31087fcbc86652a7bf71cf91768fd3823d52
+size 130324

videos/80595_0/epoch_20/23_traj_1000023_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87b0bfed5cbad5e3efd4c4c7153a52ba3db6977dd702cf3a8e4921195946c4c0
+size 152891

videos/80595_0/epoch_20/24_traj_1000024_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76bee8dbf94ff4e740a8b7e7adf42ebb6ef450297da5503373c634d4028b39b2
+size 118397

videos/80595_0/epoch_20/25_traj_1000025_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e73da9365a4ef3ee1a515e601c200fe64ddb2e6cd0183c2a7c8fda7d80fb10d7
+size 139649

videos/80595_0/epoch_20/26_traj_1000026_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aa95f8e7659b4e107eca62283b5b40a9aa4a5c5f139e568832bb8c3cc95c890
+size 148506

videos/80595_0/epoch_20/27_traj_1000027_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b33e7ba1c669783890dbb95eb1796895bf8741ffa786dbfd028e7f9390a3b71e
+size 145380

videos/80595_0/epoch_20/28_traj_1000028_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c03c76c5ffc0b46b26345aff1e5c56ea60d836579113f515a578c1321a90232b
+size 167830

videos/80595_0/epoch_20/29_traj_1000029_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:015f596ecfc5a774d1eec002abbc7d186021d7f3feb7fefc0d16da26dfacf7e0
+size 158627

videos/80595_0/epoch_20/2_traj_1000002_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c03ca03c24076dfbb7ce96eada104a1136fbe82ab54c00c1db6e5873c42af4bf
+size 278941

videos/80595_0/epoch_20/30_traj_1000030_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb354f137254a278c5a4341c74cc949220ba6dc4c2c8a86c53d39b9b5c8a80d2
+size 573001

videos/80595_0/epoch_20/31_traj_1000031_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73f93dbacef2c8ee37ab25bd6c2d4004cfec409e9f28fafd99cfa41ee6fefa43
+size 555800

videos/80595_0/epoch_20/32_traj_1000032_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69b244d3e148642d72e8cd796a2e80a0f8e3408226bf0628076884ba84d7e5fb
+size 145880

videos/80595_0/epoch_20/33_traj_1000033_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edcb2e0828708c970f0836f5dd1bb5bf1496b0c7820ab527b485b62264fd1491
+size 137786

videos/80595_0/epoch_20/34_traj_1000034_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5976ecb3cc1e321b35e3b06eacd7cd153375b79f53b9663a627c2240456d1e
+size 215429

videos/80595_0/epoch_20/35_traj_1000035_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce7aa678f60ff11952520fda0848f9040e4e2616127ea5febb1a17162438fe0d
+size 261117

videos/80595_0/epoch_20/36_traj_1000036_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a3b657037f3c2a5b2f9f4793cfe6d2bccb7b8902b0aeb15b12e2129352d7f40
+size 150886

videos/80595_0/epoch_20/37_traj_1000037_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b57f52bd468efe05375723f2216e53f7a4fe72c9fbf0c23445b3b125c69014eb
+size 202269

videos/80595_0/epoch_20/38_traj_1000038_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda95c11ee5d6502514a5d42808b5a31ecba9007c9ed70d6861b93f86a4077f1
+size 263953

videos/80595_0/epoch_20/39_traj_1000039_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6847f113b2168042daaa708f8989c76dea9edd8f8307152d8b00d8f3b6faefea
+size 582027

videos/80595_0/epoch_20/3_traj_1000003_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1ea1a55effd3163607b5d6860780e485d5e4e2099bfa9e34fd877b02c5f3167
+size 132100

videos/80595_0/epoch_20/40_traj_1000040_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9158699c5d4638b1ee10e774d6cfb9af9aeaea74fba9980ca51ba64882d5ce7c
+size 157532

videos/80595_0/epoch_20/41_traj_1000041_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9545a177abe9127c2f7ff41d066c9dea12336cf4219fc743de4e17103420d9f3
+size 141730

videos/80595_0/epoch_20/42_traj_1000042_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80b476ddb6f6d84ae81bcecf30b95aa6bcc5286466d45b28d972df76bb11c124
+size 137751

videos/80595_0/epoch_20/43_traj_1000043_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16586911095af8d7d3f59aa8cf8f03ad4e7ee5832048d9b9e2ddb22e5864b973
+size 270048

videos/80595_0/epoch_20/44_traj_1000044_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:520a398ab4100d69ac6d1a53420cb7b558a77d158060dbea67138dbb8f707b24
+size 140868

videos/80595_0/epoch_20/45_traj_1000045_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a83048bc3e58bf85728927b34163ae0acae009bb4cae89d837d1280158b7388
+size 199743

videos/80595_0/epoch_20/46_traj_1000046_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03dd16209ac7e1443bf0f02fde843c317c8516bb6a4025081332e123a5e03223
+size 106254

videos/80595_0/epoch_20/47_traj_1000047_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d008dced2f45061e5a7e38d05b65d71637210894150d875133378f2819512cc
+size 133967

videos/80595_0/epoch_20/48_traj_1000048_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e7d1b297421d2a5f651f2b013693fecc3b4adbdedc288412ef33a6553478e46
+size 288382

videos/80595_0/epoch_20/49_traj_1000049_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1a4d4505be5347afbb79f4830024216f398f9011dc6569eb0b33c191291276a
+size 176249

videos/80595_0/epoch_20/4_traj_1000004_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:289c889af7bdf431b74c6827fdf51f61218237f9e6484be006ed91ebcfa06020
+size 126477

videos/80595_0/epoch_20/50_traj_1000050_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a075cda701394d7f99272cdcb2ed399028724d92acb32facade7ad3c4539c175
+size 137484

videos/80595_0/epoch_20/51_traj_1000051_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67820f83a304498e8ddea13d15adac44852aa9cbb943c2bb4b6c82152c24911e
+size 245584

videos/80595_0/epoch_20/52_traj_1000052_envseed.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49a42bcfa8e5e9208f9802783f1775910c5096f4d12a567d45eeee69c7f9b095
+size 116568