S_arms_nocam: EMA weights at step 60000, config and evaluation
Browse files- S_arms_nocam/action_use.json +224 -0
- S_arms_nocam/config.json +77 -0
- S_arms_nocam/control.json +14 -0
- S_arms_nocam/model.safetensors +3 -0
- S_arms_nocam/replay.json +199 -0
S_arms_nocam/action_use.json
ADDED
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@@ -0,0 +1,224 @@
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| 1 |
+
{
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| 2 |
+
"run": "S_arms_nocam",
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| 3 |
+
"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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| 7 |
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"case_012_p001",
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| 8 |
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"case_012_p002",
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| 9 |
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"case_021_p001",
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| 10 |
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"case_021_p002",
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| 11 |
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"case_051_p001",
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| 12 |
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"case_051_p002",
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| 13 |
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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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| 18 |
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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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0.3,
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| 32 |
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0.5,
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| 33 |
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0.7,
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| 34 |
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0.9
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| 35 |
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],
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| 36 |
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"replay": {
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| 37 |
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"real": {
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| 38 |
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"inside": 0.4386705327767653,
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| 39 |
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"outside": 0.35000636902414883,
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| 40 |
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"all": 0.36270872622120137
|
| 41 |
+
},
|
| 42 |
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"shuffled": {
|
| 43 |
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"inside": 0.6671146619738485,
|
| 44 |
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"outside": 0.502518345224844,
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| 45 |
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"all": 0.5260990245001657
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| 46 |
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},
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| 47 |
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"camera_shuffled": {
|
| 48 |
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"inside": 0.4386705327767653,
|
| 49 |
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"outside": 0.35000636902414883,
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| 50 |
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"all": 0.36270872622120137
|
| 51 |
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},
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| 52 |
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"zero": {
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| 53 |
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"inside": 0.810748493775562,
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| 54 |
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"outside": 0.7097844740038406,
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| 55 |
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"all": 0.7242489542279925
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| 56 |
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| 57 |
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"zero_camera_shuffled": {
|
| 58 |
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| 59 |
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"outside": 0.7097844740038406,
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| 60 |
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"all": 0.7242489542279925
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| 61 |
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}
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| 62 |
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},
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| 63 |
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"replay_gap_pct": {
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| 64 |
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"shuffled": 45.047,
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| 65 |
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"camera_shuffled": 0.0,
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| 66 |
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"zero": 99.678,
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| 67 |
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"zero_camera_shuffled": 0.0
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| 68 |
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},
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| 69 |
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"posterior": {
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| 70 |
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"active_arm_fraction": 0.51092529296875,
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| 71 |
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"region_area": 0.07873738557100296,
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| 72 |
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"mean_abs_mu": 0.719895601272583,
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| 73 |
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"mean_post_var": 0.022606436163187027,
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| 74 |
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"kl_per_arm": 17.60687255859375,
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| 75 |
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"var_mu_per_dim": [
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| 76 |
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| 77 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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],
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| 85 |
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"active_units": 8,
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| 86 |
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"sensitivity_scale3": 0.02467717370018363
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| 87 |
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},
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| 88 |
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"fm_real": {
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| 89 |
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"inside": [
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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"outside": [
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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"fm_shuffled": {
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| 105 |
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| 106 |
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| 111 |
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| 112 |
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"outside": [
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| 118 |
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| 119 |
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| 120 |
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"fm_zero": {
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| 121 |
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"inside": [
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 127 |
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| 128 |
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"outside": [
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| 129 |
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| 134 |
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| 135 |
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| 136 |
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"fm_camera_shuffled": {
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| 137 |
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| 138 |
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| 139 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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"outside": [
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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"fm_zero_camera_shuffled": {
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| 153 |
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"inside": [
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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"outside": [
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| 161 |
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| 163 |
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| 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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"gap_shuffled_inside_pct": [
|
| 169 |
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0.028,
|
| 170 |
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0.214,
|
| 171 |
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1.616,
|
| 172 |
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12.305,
|
| 173 |
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78.104
|
| 174 |
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],
|
| 175 |
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"gap_shuffled_outside_pct": [
|
| 176 |
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0.026,
|
| 177 |
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0.161,
|
| 178 |
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1.31,
|
| 179 |
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10.485,
|
| 180 |
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67.73
|
| 181 |
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],
|
| 182 |
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"gap_zero_inside_pct": [
|
| 183 |
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0.012,
|
| 184 |
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0.112,
|
| 185 |
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0.736,
|
| 186 |
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4.195,
|
| 187 |
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27.602
|
| 188 |
+
],
|
| 189 |
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"gap_zero_outside_pct": [
|
| 190 |
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0.007,
|
| 191 |
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0.044,
|
| 192 |
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0.293,
|
| 193 |
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1.903,
|
| 194 |
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17.056
|
| 195 |
+
],
|
| 196 |
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"gap_camera_shuffled_inside_pct": [
|
| 197 |
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0.0,
|
| 198 |
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0.0,
|
| 199 |
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0.0,
|
| 200 |
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0.0,
|
| 201 |
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0.0
|
| 202 |
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],
|
| 203 |
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"gap_camera_shuffled_outside_pct": [
|
| 204 |
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0.0,
|
| 205 |
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0.0,
|
| 206 |
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0.0,
|
| 207 |
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0.0,
|
| 208 |
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0.0
|
| 209 |
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],
|
| 210 |
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"gap_zero_camera_shuffled_inside_pct": [
|
| 211 |
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0.0,
|
| 212 |
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0.0,
|
| 213 |
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0.0,
|
| 214 |
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0.0,
|
| 215 |
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0.0
|
| 216 |
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],
|
| 217 |
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"gap_zero_camera_shuffled_outside_pct": [
|
| 218 |
+
0.0,
|
| 219 |
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0.0,
|
| 220 |
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0.0,
|
| 221 |
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0.0,
|
| 222 |
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0.0
|
| 223 |
+
]
|
| 224 |
+
}
|
S_arms_nocam/config.json
ADDED
|
@@ -0,0 +1,77 @@
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|
| 1 |
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{
|
| 2 |
+
"run": "S_arms_nocam",
|
| 3 |
+
"step": 60000,
|
| 4 |
+
"weights": "EMA of the parameters (decay 0.9995)",
|
| 5 |
+
"parameters": 49817840,
|
| 6 |
+
"model": {
|
| 7 |
+
"size": "S",
|
| 8 |
+
"action": "arms",
|
| 9 |
+
"camera": false,
|
| 10 |
+
"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 |
+
"grad_checkpoint": false,
|
| 40 |
+
"extra": {}
|
| 41 |
+
},
|
| 42 |
+
"train": {
|
| 43 |
+
"name": "S_arms_nocam",
|
| 44 |
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"action": "arms",
|
| 45 |
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"size": "S",
|
| 46 |
+
"no_camera": true,
|
| 47 |
+
"du": 8,
|
| 48 |
+
"dg": 24,
|
| 49 |
+
"kl": 0.0001,
|
| 50 |
+
"fwd": 1.0,
|
| 51 |
+
"kl_warmup": 10000,
|
| 52 |
+
"arm_pool": "region",
|
| 53 |
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| 56 |
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| 76 |
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S_arms_nocam/control.json
ADDED
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@@ -0,0 +1,14 @@
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{
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"step": 60000,
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S_arms_nocam/model.safetensors
ADDED
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@@ -0,0 +1,3 @@
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S_arms_nocam/replay.json
ADDED
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