S_global: EMA weights at step 60000, config and evaluation
Browse files- S_global/action_use.json +205 -0
- S_global/config.json +77 -0
- S_global/control.json +27 -0
- S_global/model.safetensors +3 -0
- S_global/replay.json +199 -0
S_global/action_use.json
ADDED
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@@ -0,0 +1,205 @@
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| 1 |
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{
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| 2 |
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"run": "S_global",
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| 3 |
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"step": 60000,
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| 4 |
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"windows": 512,
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| 5 |
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"val_parts": 21,
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| 6 |
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"val_stems": [
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"case_012_p001",
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"case_012_p002",
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"case_021_p001",
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"case_021_p002",
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"case_051_p001",
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| 12 |
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"case_051_p002",
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"case_065_p001",
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| 14 |
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"case_065_p002",
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| 15 |
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"case_076_p001",
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| 16 |
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"case_076_p002",
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| 17 |
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"case_081_p001",
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"case_088_p001",
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| 19 |
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"case_088_p002",
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| 20 |
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"case_108_p001",
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| 21 |
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"case_108_p002",
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| 22 |
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"case_115_p001",
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| 23 |
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"case_115_p002",
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| 24 |
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"case_117_p001",
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| 25 |
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"case_117_p002",
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| 26 |
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"case_128_p001",
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| 27 |
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"case_128_p002"
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| 28 |
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],
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| 29 |
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"taus": [
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| 30 |
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0.1,
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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|
| 35 |
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],
|
| 36 |
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"replay": {
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| 37 |
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"real": {
|
| 38 |
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"inside": 0.4052577974747075,
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| 39 |
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"outside": 0.24668091287153157,
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| 40 |
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"all": 0.2693992259551068
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| 41 |
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|
| 42 |
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"shuffled": {
|
| 43 |
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"inside": 0.6242160628364796,
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| 44 |
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"outside": 0.4279530018176753,
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| 45 |
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"all": 0.45607037641564196
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| 46 |
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|
| 47 |
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"camera_shuffled": {
|
| 48 |
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"inside": 0.42644301156529096,
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| 49 |
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"outside": 0.27957053676525323,
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| 50 |
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"all": 0.30061203265676695
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| 51 |
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| 52 |
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"zero": {
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| 53 |
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| 54 |
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| 55 |
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"all": 0.3729986857394783
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| 56 |
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| 57 |
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"zero_camera_shuffled": {
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| 58 |
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| 59 |
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| 60 |
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"all": 0.4118974101786711
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| 61 |
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|
| 62 |
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| 63 |
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"replay_gap_pct": {
|
| 64 |
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"shuffled": 69.292,
|
| 65 |
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|
| 66 |
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| 67 |
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| 68 |
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| 69 |
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"fm_real": {
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| 101 |
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"fm_zero": {
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"outside": [
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"fm_camera_shuffled": {
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"outside": [
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"fm_zero_camera_shuffled": {
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| 149 |
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"gap_shuffled_inside_pct": [
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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"gap_shuffled_outside_pct": [
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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|
| 161 |
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|
| 162 |
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],
|
| 163 |
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"gap_zero_inside_pct": [
|
| 164 |
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| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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],
|
| 170 |
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"gap_zero_outside_pct": [
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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|
| 175 |
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| 176 |
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| 177 |
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"gap_camera_shuffled_inside_pct": [
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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|
| 183 |
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|
| 184 |
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"gap_camera_shuffled_outside_pct": [
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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"gap_zero_camera_shuffled_inside_pct": [
|
| 192 |
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| 193 |
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| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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"gap_zero_camera_shuffled_outside_pct": [
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| 199 |
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| 200 |
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|
| 201 |
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|
| 202 |
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9.026,
|
| 203 |
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|
| 204 |
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]
|
| 205 |
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}
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S_global/config.json
ADDED
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@@ -0,0 +1,77 @@
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| 1 |
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{
|
| 2 |
+
"run": "S_global",
|
| 3 |
+
"step": 60000,
|
| 4 |
+
"weights": "EMA of the parameters (decay 0.9995)",
|
| 5 |
+
"parameters": 50129424,
|
| 6 |
+
"model": {
|
| 7 |
+
"size": "S",
|
| 8 |
+
"action": "global",
|
| 9 |
+
"camera": true,
|
| 10 |
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"latent_shape": [
|
| 11 |
+
48,
|
| 12 |
+
14,
|
| 13 |
+
20
|
| 14 |
+
],
|
| 15 |
+
"du": 8,
|
| 16 |
+
"dg": 24,
|
| 17 |
+
"n_slots": 4,
|
| 18 |
+
"n_codes": 12,
|
| 19 |
+
"vq_weight": 1.0,
|
| 20 |
+
"kin_dim": 28,
|
| 21 |
+
"arm_pool": "region",
|
| 22 |
+
"scene": false,
|
| 23 |
+
"stabilise": false,
|
| 24 |
+
"use_ui": false,
|
| 25 |
+
"kl_weight": 0.0001,
|
| 26 |
+
"fwd_weight": 1.0,
|
| 27 |
+
"fwd_dim": 256,
|
| 28 |
+
"fwd_depth": 4,
|
| 29 |
+
"idm_dim": 256,
|
| 30 |
+
"idm_depth": 2,
|
| 31 |
+
"idm_heads": 4,
|
| 32 |
+
"p_drop_actions": 0.1,
|
| 33 |
+
"p_drop_learned": 0.0,
|
| 34 |
+
"p_context": 0.75,
|
| 35 |
+
"max_context": 3,
|
| 36 |
+
"p_shared_tau": 0.5,
|
| 37 |
+
"p_noisy_context": 0.3,
|
| 38 |
+
"ctx_noise": 0.1,
|
| 39 |
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"grad_checkpoint": false,
|
| 40 |
+
"extra": {}
|
| 41 |
+
},
|
| 42 |
+
"train": {
|
| 43 |
+
"name": "S_global",
|
| 44 |
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"action": "global",
|
| 45 |
+
"size": "S",
|
| 46 |
+
"no_camera": false,
|
| 47 |
+
"du": 8,
|
| 48 |
+
"dg": 24,
|
| 49 |
+
"kl": 0.0001,
|
| 50 |
+
"fwd": 1.0,
|
| 51 |
+
"kl_warmup": 10000,
|
| 52 |
+
"arm_pool": "region",
|
| 53 |
+
"scene": false,
|
| 54 |
+
"stabilise": false,
|
| 55 |
+
"p_drop_learned": 0.0,
|
| 56 |
+
"use_ui": false,
|
| 57 |
+
"fp8": false,
|
| 58 |
+
"steps": 60000,
|
| 59 |
+
"bs": 32,
|
| 60 |
+
"lr": 0.0001,
|
| 61 |
+
"warmup": 2000,
|
| 62 |
+
"wd": 0.01,
|
| 63 |
+
"ema": 0.9995,
|
| 64 |
+
"grad_ckpt": false,
|
| 65 |
+
"no_compile": false,
|
| 66 |
+
"train_fraction": 1.0,
|
| 67 |
+
"data": "surgvu",
|
| 68 |
+
"stems": null,
|
| 69 |
+
"drop_no_signal": false,
|
| 70 |
+
"init": null,
|
| 71 |
+
"eval_every": 10000,
|
| 72 |
+
"save_every": 5000,
|
| 73 |
+
"workers": 6,
|
| 74 |
+
"seed": 0,
|
| 75 |
+
"resume": true
|
| 76 |
+
}
|
| 77 |
+
}
|
S_global/control.json
ADDED
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@@ -0,0 +1,27 @@
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|
| 1 |
+
{
|
| 2 |
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| 3 |
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| 4 |
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| 6 |
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| 7 |
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| 8 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 26 |
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|
| 27 |
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|
S_global/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 200539520
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S_global/replay.json
ADDED
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@@ -0,0 +1,199 @@
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{
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