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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
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+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
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+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz 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
diff --git a/README.md b/README.md
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+---
+license: other
+library_name: pytorch
+pipeline_tag: robotics
+tags:
+- robotics
+- imu
+- inertial-odometry
+- self-supervised-learning
+- legged-robots
+- humanoid
+- quadruped
+- drone
+datasets:
+- Open-IO/humanoid-g1-odometry
+- Open-IO/mipo-go1-odometry
+---
+
+# SSIO: Self-Supervised Inertial Odometry — Checkpoints
+
+[Paper](https://arxiv.org/abs/2610.25988) | [Project Page](https://ssio-imu.github.io) | [Code](https://github.com/amazon-far/SSIO) | [Collection](https://huggingface.co/collections/Open-IO/ssio-self-supervised-inertial-odometry-6ad670b4bf71f392cd23d1c8)
+
+Every model in the tables of **[SSIO](https://ssio-imu.github.io)**, which trains inertial
+odometry from a robot's own unlabeled IMU stream, with no velocity or position labels.
+SSIO trains in two steps: **Integration Self-Supervision**, where the network learns
+body-frame velocity from an IMU integration teacher on short windows ("Ours"), and optional
+**Pose Graph Distillation**, which fine-tunes it on sequence-consistent velocities from a
+pose graph ("Ours (w/ PGD)"). The supervised AirIO baselines are released alongside.
+
+## Checkpoints
+
+One directory per table cell, `<dataset>/<recipe>/`, named after the recipe in
+[`Config/experiment/<dataset>/<recipe>.yaml`](https://github.com/amazon-far/SSIO/tree/main/Config/experiment)
+that retrains it (`airio_full` is the `airio` recipe with `network=airio`). Scores are the released checkpoint's AVE (m/s) / ATE (m)
+on the test split. AirIO and AirIO† are supervised; the other columns are self-supervised.
+*Proprio* adds joint states (and, on MIPO, the four calf-mounted IMUs) to the network input.
+
+| Dataset | Test split | AirIO | AirIO† | Ours | Ours (w/ PGD) | AirIO† + *Proprio* | Ours + *Proprio* |
+|---|---|---|---|---|---|---|---|
+| TLIO | `TLIO_Test` | [`tlio/airio_full`](https://huggingface.co/Open-IO/SSIO/tree/main/tlio/airio_full) 0.081 / 1.89 | [`tlio/airio`](https://huggingface.co/Open-IO/SSIO/tree/main/tlio/airio) 0.084 / 2.08 | [`tlio/ssio`](https://huggingface.co/Open-IO/SSIO/tree/main/tlio/ssio) 0.104 / 3.04 | [`tlio/ssio_pgd`](https://huggingface.co/Open-IO/SSIO/tree/main/tlio/ssio_pgd) 0.101 / 2.99 | – | – |
+| EuRoC | `EuRoC_Test` | [`euroc/airio_full`](https://huggingface.co/Open-IO/SSIO/tree/main/euroc/airio_full) 0.335 / 3.72 | [`euroc/airio`](https://huggingface.co/Open-IO/SSIO/tree/main/euroc/airio) 0.344 / 3.72 | [`euroc/ssio`](https://huggingface.co/Open-IO/SSIO/tree/main/euroc/ssio) 0.423 / 9.03 | [`euroc/ssio_pgd`](https://huggingface.co/Open-IO/SSIO/tree/main/euroc/ssio_pgd) 0.403 / 9.93 | – | – |
+| Blackbird | `BlackBird_Test` | [`blackbird/airio_full`](https://huggingface.co/Open-IO/SSIO/tree/main/blackbird/airio_full) 0.318 / 6.10 | [`blackbird/airio`](https://huggingface.co/Open-IO/SSIO/tree/main/blackbird/airio) 0.362 / 6.39 | [`blackbird/ssio`](https://huggingface.co/Open-IO/SSIO/tree/main/blackbird/ssio) 0.475 / 18.39 | [`blackbird/ssio_pgd`](https://huggingface.co/Open-IO/SSIO/tree/main/blackbird/ssio_pgd) 0.429 / 17.73 | – | – |
+| MIPO (Go1) | `MIPO_Test` | [`mipo/airio_full`](https://huggingface.co/Open-IO/SSIO/tree/main/mipo/airio_full) 0.120 / 0.31 | [`mipo/airio`](https://huggingface.co/Open-IO/SSIO/tree/main/mipo/airio) 0.121 / 0.31 | [`mipo/ssio`](https://huggingface.co/Open-IO/SSIO/tree/main/mipo/ssio) 0.182 / 1.63 | [`mipo/ssio_pgd`](https://huggingface.co/Open-IO/SSIO/tree/main/mipo/ssio_pgd) 0.169 / 1.58 | [`mipo/airio_proprio`](https://huggingface.co/Open-IO/SSIO/tree/main/mipo/airio_proprio) 0.116 / 0.19 | [`mipo/ssio_proprio`](https://huggingface.co/Open-IO/SSIO/tree/main/mipo/ssio_proprio) 0.146 / 0.82 |
+| GrandTour (ANYmal) | `ANYmal_Test` | [`grandtour/airio_full`](https://huggingface.co/Open-IO/SSIO/tree/main/grandtour/airio_full) 0.068 / 3.19 | [`grandtour/airio`](https://huggingface.co/Open-IO/SSIO/tree/main/grandtour/airio) 0.070 / 3.38 | [`grandtour/ssio`](https://huggingface.co/Open-IO/SSIO/tree/main/grandtour/ssio) 0.096 / 4.37 | [`grandtour/ssio_pgd`](https://huggingface.co/Open-IO/SSIO/tree/main/grandtour/ssio_pgd) 0.096 / 4.37 | [`grandtour/airio_proprio`](https://huggingface.co/Open-IO/SSIO/tree/main/grandtour/airio_proprio) 0.073 / 3.62 | [`grandtour/ssio_proprio`](https://huggingface.co/Open-IO/SSIO/tree/main/grandtour/ssio_proprio) 0.091 / 3.66 |
+| Humanoid (G1) | `HumanoidOdom_Test` (*Proprio*: `HumanoidOdom_Joints_Test`) | [`humanoid/airio_full`](https://huggingface.co/Open-IO/SSIO/tree/main/humanoid/airio_full) 0.087 / 1.26 | [`humanoid/airio`](https://huggingface.co/Open-IO/SSIO/tree/main/humanoid/airio) 0.096 / 1.40 | [`humanoid/ssio`](https://huggingface.co/Open-IO/SSIO/tree/main/humanoid/ssio) 0.167 / 4.36 | [`humanoid/ssio_pgd`](https://huggingface.co/Open-IO/SSIO/tree/main/humanoid/ssio_pgd) 0.155 / 4.38 | [`humanoid/airio_proprio`](https://huggingface.co/Open-IO/SSIO/tree/main/humanoid/airio_proprio) 0.095 / 2.35 | [`humanoid/ssio_proprio`](https://huggingface.co/Open-IO/SSIO/tree/main/humanoid/ssio_proprio) 0.161 / 3.20 |
+
+The released "Ours (w/ PGD)" checkpoints do not match the paper's PGD row exactly;
+[`Doc/recipes.md`](https://github.com/amazon-far/SSIO/blob/main/Doc/recipes.md) lists the
+paper and checkpoint scores side by side, with the recipe that retrains each run.
+
+## Repository Layout
+
+```
+<dataset>/                 tlio, euroc, blackbird, mipo, grandtour, humanoid
+├── airio_full/            AirIO              (train_ssio.py, supervised)
+├── airio/                 AirIO†             (train_ssio.py, supervised)
+├── ssio/                  Ours               (train_ssio.py)
+├── ssio_pgd/              Ours (w/ PGD)      (train_pgd.py, warm-started from ssio/)
+├── airio_proprio/         AirIO† + Proprio   (mipo, grandtour, humanoid)
+└── ssio_proprio/          Ours + Proprio     (mipo, grandtour, humanoid)
+calibration/grand_tour/anymal_imu_gt_offsets_per_imu.json
+```
+
+Each directory holds `best_model.pt`, a bare PyTorch `state_dict` selected on the lowest
+validation loss (no labels), and the training run's Hydra config in `.hydra/`. The GrandTour
+calibration file holds the per-IMU IMU-to-ground-truth time offsets the GrandTour runs were
+trained with; it is not part of the GrandTour release.
+
+## Quick Usage
+
+With the [SSIO code](https://github.com/amazon-far/SSIO) installed and the datasets under
+`$DATA_ROOT`:
+
+```bash
+hf download Open-IO/SSIO --include "euroc/ssio/*" --local-dir ckpts
+python evaluate.py ckpts/euroc/ssio --checkpoint best_model.pt --data Config/dataset/EuRoC_Test.yaml
+```
+
+Always pass `--checkpoint best_model.pt` and `--data`: the released runs ship no
+`checkpoint_*.pt` and store their splits under `val_dataset` / `test_dataset`. To fine-tune a released "Ours" run with Pose Graph Distillation:
+
+```bash
+python train_pgd.py +experiment=euroc/ssio_pgd train.resume_from=file:ckpts/euroc/ssio/best_model.pt
+```
+
+The evaluator reports AVE (average velocity error, m/s, the primary metric), ATE (RMSE of
+the position error, m), Δv error, and RVTE / nRVTE.
+
+## Citation
+
+```bibtex
+@misc{qiu2026ssioselfsupervisedinertialodometry,
+      title={SSIO: Self-Supervised Inertial Odometry},
+      author={Yuheng Qiu and Yutian Chen and Carlton Cort and Weison Huang and Shibo Zhao and Pieter Abbeel and Rocky Duan and Koushil Sreenath and C. Karen Liu and Carmelo Sferrazza and Junyi Geng and Sebastian Scherer and Guanya Shi},
+      year={2026},
+      eprint={2610.25988},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2610.25988},
+}
+```
diff --git a/blackbird/airio/.hydra/config.yaml b/blackbird/airio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6ac5126acbea5846a0ef71d0173d15b82f93798e
--- /dev/null
+++ b/blackbird/airio/.hydra/config.yaml
@@ -0,0 +1,1546 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed3p25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed1p0
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed3p0
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: egg/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed7p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed1p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed3p0
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 120
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/blackbird/airio/.hydra/hydra.yaml b/blackbird/airio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7303bc2024a8744bd4fddf73ed5e70b40e6f7ef8
--- /dev/null
+++ b/blackbird/airio/.hydra/hydra.yaml
@@ -0,0 +1,173 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio_imu_only
+    - train.epoch=120
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=BlackBird_Train_Randomized
+    - dataset@eval_dataset=BlackBird_Valid
+    - dataset@test_dataset=BlackBird_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=BlackBird_Valid,dataset@test_dataset=BlackBird_Test,dataset@train_dataset=BlackBird_Train_Randomized,loss=supervised_only,network=airio_imu_only,train.checkpoint_every_epochs=5,train.epoch=120,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/BlackBird_Train_Randomized/20260913_220103
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: BlackBird_Test
+      dataset@eval_dataset: BlackBird_Valid
+      dataset@train_dataset: BlackBird_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/blackbird/airio/.hydra/overrides.yaml b/blackbird/airio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bce0ce4d09cb66674e84de6a7247d9111cbcca23
--- /dev/null
+++ b/blackbird/airio/.hydra/overrides.yaml
@@ -0,0 +1,8 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio_imu_only
+- train.epoch=120
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=BlackBird_Train_Randomized
+- dataset@eval_dataset=BlackBird_Valid
+- dataset@test_dataset=BlackBird_Test
diff --git a/blackbird/airio/best_model.pt b/blackbird/airio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..c91edf23d0b129bb9193198f6f1134659146a07b
--- /dev/null
+++ b/blackbird/airio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac3ea372375f98021e1f9d6f88ad0beba20730631c54ef10a68ec58616ffb8cd
+size 1355061
diff --git a/blackbird/airio_full/.hydra/config.yaml b/blackbird/airio_full/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7123ac0d408e31bfa1d31d42f8a6b16496259f3e
--- /dev/null
+++ b/blackbird/airio_full/.hydra/config.yaml
@@ -0,0 +1,1549 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed3p25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed1p0
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed3p0
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: egg/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed7p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed1p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed3p0
+network:
+  _target_: Model.airio.AirIONetwork
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  ori_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 120
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/blackbird/airio_full/.hydra/hydra.yaml b/blackbird/airio_full/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9bb4a75d96a9a36e6b77a3d9354d377f8873d124
--- /dev/null
+++ b/blackbird/airio_full/.hydra/hydra.yaml
@@ -0,0 +1,173 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio
+    - train.epoch=120
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=BlackBird_Train_Randomized
+    - dataset@eval_dataset=BlackBird_Valid
+    - dataset@test_dataset=BlackBird_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=BlackBird_Valid,dataset@test_dataset=BlackBird_Test,dataset@train_dataset=BlackBird_Train_Randomized,loss=supervised_only,network=airio,train.checkpoint_every_epochs=5,train.epoch=120,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/BlackBird_Train_Randomized/20260913_214725
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio
+      dataset@test_dataset: BlackBird_Test
+      dataset@eval_dataset: BlackBird_Valid
+      dataset@train_dataset: BlackBird_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/blackbird/airio_full/.hydra/overrides.yaml b/blackbird/airio_full/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f67dd3ea9365ffa1f9989b65c33f7e3c61e5131b
--- /dev/null
+++ b/blackbird/airio_full/.hydra/overrides.yaml
@@ -0,0 +1,8 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio
+- train.epoch=120
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=BlackBird_Train_Randomized
+- dataset@eval_dataset=BlackBird_Valid
+- dataset@test_dataset=BlackBird_Test
diff --git a/blackbird/airio_full/best_model.pt b/blackbird/airio_full/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..34eb2d88ab5d09fe6dd8c5c3526f84a035f98c91
--- /dev/null
+++ b/blackbird/airio_full/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c98250c81154687d8131b43498d55372e8fb87773d57204ce6dbe0f2b1613eb3
+size 1438197
diff --git a/blackbird/ssio/.hydra/config.yaml b/blackbird/ssio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..608d7429072d0f4bc226324818cbd8aab98bb8e5
--- /dev/null
+++ b/blackbird/ssio/.hydra/config.yaml
@@ -0,0 +1,1543 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed3p25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed1p0
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed3p0
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: egg/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed7p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed1p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed3p0
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.FixedDvLoss
+  dv:
+  - - 1
+    - 1.0
+  - - 3
+    - 1.0
+  - - 9
+    - 1.0
+  - - 27
+    - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 120
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.1
+  zupt_gate: imu
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/blackbird/ssio/.hydra/hydra.yaml b/blackbird/ssio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f8fa7cb8ec95db6dc18b811fbcc078bb1f2f6b93
--- /dev/null
+++ b/blackbird/ssio/.hydra/hydra.yaml
@@ -0,0 +1,174 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - network=airio_imu_only
+    - train.zupt_gate=imu
+    - loss=ssio_dv_1_3_9_27
+    - train.zupt_weight=0.1
+    - train.epoch=120
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=BlackBird_Train_Randomized
+    - dataset@val_dataset=BlackBird_Valid
+    - dataset@test_dataset=BlackBird_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=BlackBird_Test,dataset@train_dataset=BlackBird_Train_Randomized,dataset@val_dataset=BlackBird_Valid,loss=ssio_dv_1_3_9_27,network=airio_imu_only,train.checkpoint_every_epochs=5,train.epoch=120,train.zupt_gate=imu,train.zupt_weight=0.1
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/BlackBird_Train_Randomized/20260914_000110
+    choices:
+      loss: ssio_dv_1_3_9_27
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: BlackBird_Test
+      dataset@val_dataset: BlackBird_Valid
+      dataset@train_dataset: BlackBird_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/blackbird/ssio/.hydra/overrides.yaml b/blackbird/ssio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..25931c384656f84bf925bfc25e5e66fb0a5d6926
--- /dev/null
+++ b/blackbird/ssio/.hydra/overrides.yaml
@@ -0,0 +1,9 @@
+- network=airio_imu_only
+- train.zupt_gate=imu
+- loss=ssio_dv_1_3_9_27
+- train.zupt_weight=0.1
+- train.epoch=120
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=BlackBird_Train_Randomized
+- dataset@val_dataset=BlackBird_Valid
+- dataset@test_dataset=BlackBird_Test
diff --git a/blackbird/ssio/best_model.pt b/blackbird/ssio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..f13b21e090af11652c6498a179c505797983af38
--- /dev/null
+++ b/blackbird/ssio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95ac7559c86cc76f65e2361ae88f4be313d62184e63f16b03a30dbabe7b534fe
+size 1355061
diff --git a/blackbird/ssio_pgd/.hydra/config.yaml b/blackbird/ssio_pgd/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8b9ae7a7c6b85cf2da2e11dcb58920c664732ce5
--- /dev/null
+++ b/blackbird/ssio_pgd/.hydra/config.yaml
@@ -0,0 +1,1543 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: ampersand/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed3p25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: winter/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed6p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: dice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed3p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sphinx/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed0p5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: thrice/yawForward/maxSpeed5p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: oval/yawForward/maxSpeed4p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed1p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed2p0
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: figure8/yawConstant/maxSpeed1p0
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: tiltedThrice/yawForward/maxSpeed4p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: 3dFigure8/yawConstant/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: sid/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: halfMoon/yawForward/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: star/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: patrick/yawForward/maxSpeed3p0
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.BlackBird.BlackBird_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/BlackBird
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: 9.81007
+    debias: true
+    calibrater:
+      kind: imu
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed2p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: egg/yawForward/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: clover/yawForward/maxSpeed5p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed6p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: mouse/yawForward/maxSpeed7p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed1p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: picasso/yawConstant/maxSpeed3p0
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.BlackBird.BlackBird_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/BlackBird
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: 9.81007
+        debias: true
+        calibrater:
+          kind: imu
+        seq_name: bentDice/yawForward/maxSpeed3p0
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+graph:
+  _target_: Optimizer.sparse_pgo.Sparse_IMUPGOGraph
+  anchor_weight: 1000000.0
+  vel_prior_weight: 1000000.0
+  max_iter: 10
+  tol: 1.0e-05
+  obs_reject_chi2: null
+  obs_reject_all: true
+loss:
+  _target_: Loss.adapt.Adapt_MSE_Loss
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 5.0e-05
+  decay: 0.001
+  batch: 512
+  epoch: 30
+  window: 1024
+  step_size: 252
+  ema: true
+  ema_decay: 0.8
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 5
+  test_every_epochs: 1
+  label_refresh_every_steps: 1000000000
+  label_batch_windows: 64
+  label_obs_sigma: 2.0
+  dv_imu_input: corrected
+  pgo_gyro_sigma: null
+  pgo_acc_sigma: null
+  zupt_sigma: 0.0
+  zupt_weight: 0.0
+  zupt_gate: imu
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  resume_from: file:/tmp/resume.ckpt
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: 2b-blackbird-imu
diff --git a/blackbird/ssio_pgd/.hydra/hydra.yaml b/blackbird/ssio_pgd/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fa2200859bedec84e146ee2ff07fa5c059ce55a7
--- /dev/null
+++ b/blackbird/ssio_pgd/.hydra/hydra.yaml
@@ -0,0 +1,181 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_adapt_traj/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - train.resume_from=file:/tmp/resume.ckpt
+    - graph=sparse_imupgo
+    - loss=adapt_mse
+    - train.batch=512
+    - train.lr=5e-5
+    - train.checkpoint_every_epochs=1
+    - train.plot_every_epochs=5
+    - train.epoch=30
+    - train.label_obs_sigma=2.0
+    - train.dv_imu_input=corrected
+    - network=airio_imu_only
+    - dataset@train_dataset=BlackBird_Train_Randomized
+    - dataset@val_dataset=BlackBird_Valid
+    - dataset@test_dataset=BlackBird_Test
+    - +wandb.name=2b-blackbird-imu
+  job:
+    name: train_step2b_adapt
+    chdir: false
+    override_dirname: +wandb.name=2b-blackbird-imu,dataset@test_dataset=BlackBird_Test,dataset@train_dataset=BlackBird_Train_Randomized,dataset@val_dataset=BlackBird_Valid,graph=sparse_imupgo,loss=adapt_mse,network=airio_imu_only,train.batch=512,train.checkpoint_every_epochs=1,train.dv_imu_input=corrected,train.epoch=30,train.label_obs_sigma=2.0,train.lr=5e-5,train.plot_every_epochs=5,train.resume_from=file:/tmp/resume.ckpt
+    id: ???
+    num: ???
+    config_name: train_adapt_traj
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_adapt_traj/BlackBird_Train_Randomized/20260914_082110
+    choices:
+      loss: adapt_mse
+      graph: sparse_imupgo
+      network: airio_imu_only
+      scheduler: constant
+      optimizer: adamw
+      dataset@test_dataset: BlackBird_Test
+      dataset@val_dataset: BlackBird_Valid
+      dataset@train_dataset: BlackBird_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/blackbird/ssio_pgd/.hydra/overrides.yaml b/blackbird/ssio_pgd/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..25f4416f28e059c54363957562c979122696d0a0
--- /dev/null
+++ b/blackbird/ssio_pgd/.hydra/overrides.yaml
@@ -0,0 +1,15 @@
+- train.resume_from=file:/tmp/resume.ckpt
+- graph=sparse_imupgo
+- loss=adapt_mse
+- train.batch=512
+- train.lr=5e-5
+- train.checkpoint_every_epochs=1
+- train.plot_every_epochs=5
+- train.epoch=30
+- train.label_obs_sigma=2.0
+- train.dv_imu_input=corrected
+- network=airio_imu_only
+- dataset@train_dataset=BlackBird_Train_Randomized
+- dataset@val_dataset=BlackBird_Valid
+- dataset@test_dataset=BlackBird_Test
+- +wandb.name=2b-blackbird-imu
diff --git a/blackbird/ssio_pgd/best_model.pt b/blackbird/ssio_pgd/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..16b35cd5a7efe725328723f1b444cf3567e1e7cf
--- /dev/null
+++ b/blackbird/ssio_pgd/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6ea75adbb3e0310b5d87962e199547748b2c7ca190a35456becfddbe10ee988
+size 1355061
diff --git a/calibration/grand_tour/anymal_imu_gt_offsets_per_imu.json b/calibration/grand_tour/anymal_imu_gt_offsets_per_imu.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4d8996ae957ff99a1427046f8172f243de63f0e
--- /dev/null
+++ b/calibration/grand_tour/anymal_imu_gt_offsets_per_imu.json
@@ -0,0 +1,2036 @@
+{
+  "method": "gyro-magnitude vs cpt7 GT attitude-rate cross-correlation on a uniform grid",
+  "sign": "offset_ms = value to ADD to that IMU's timestamps to align onto the cpt7 GT signal",
+  "note": "conflates clock skew + per-sensor gyro group delay + Inertial-Explorer GT latency; cpt7_imu (co-located with GT) is itself nonzero, so these are signal-alignment values",
+  "params": {
+    "probe_rate_hz": 200.0,
+    "max_lag_s": 0.05,
+    "min_corr": 0.5,
+    "mad_k": 3.0,
+    "n_gnss_missions": 39
+  },
+  "sign_self_test": {
+    "recovered_L_samples": 4.0,
+    "expected": 4.0,
+    "corr": 1.0
+  },
+  "per_imu": {
+    "anymal_imu": {
+      "n_missions": 39,
+      "n_error": 0,
+      "n_low_corr": 0,
+      "n_mad_outliers": 0,
+      "n_outliers_total": 0,
+      "n_used": 39,
+      "mean_ms": -3.6131538461538466,
+      "std_ms": 0.16250563366129775,
+      "median_ms": -3.626,
+      "min_ms": -3.905,
+      "max_ms": -3.229,
+      "offset_to_add_s": -0.0036131538461538467
+    },
+    "stim320_imu": {
+      "n_missions": 39,
+      "n_error": 0,
+      "n_low_corr": 0,
+      "n_mad_outliers": 5,
+      "n_outliers_total": 5,
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+      "max_ms": -3.792,
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+      "n_error": 0,
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+      "n_mad_outliers": 3,
+      "n_outliers_total": 3,
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+      "max_ms": -3.524,
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+      "n_missions": 39,
+      "n_error": 0,
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+      "n_mad_outliers": 1,
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+      "n_error": 0,
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+      "min_ms": -4.372,
+      "max_ms": -3.809,
+      "offset_to_add_s": -0.004097000000000002
+    },
+    "cpt7_imu": {
+      "n_missions": 39,
+      "n_error": 4,
+      "n_low_corr": 0,
+      "n_mad_outliers": 4,
+      "n_outliers_total": 8,
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+      "min_ms": -5.044,
+      "max_ms": -4.961,
+      "offset_to_add_s": -0.005001709677419355
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+  },
+  "per_mission": {
+    "anymal_imu": [
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+        "seq": "2024-11-15-12-06-03",
+        "code": "ALB-3",
+        "offset_ms": -5.004,
+        "corr": 0.998,
+        "used": true
+      },
+      {
+        "seq": "2024-11-15-14-14-12",
+        "code": "LMB-1",
+        "offset_ms": -4.991,
+        "corr": 0.993,
+        "used": true
+      },
+      {
+        "seq": "2024-11-15-14-43-52",
+        "code": "LMB-2",
+        "offset_ms": -5.028,
+        "corr": 0.999,
+        "used": true
+      },
+      {
+        "seq": "2024-11-18-12-05-01",
+        "code": "ARC-1",
+        "offset_ms": -4.961,
+        "corr": 0.999,
+        "used": true
+      },
+      {
+        "seq": "2024-11-18-13-22-14",
+        "code": "ARC-2",
+        "error": "RuntimeError: topic absent"
+      },
+      {
+        "seq": "2024-11-18-13-48-19",
+        "code": "ARC-3",
+        "offset_ms": -5.008,
+        "corr": 0.999,
+        "used": true
+      },
+      {
+        "seq": "2024-11-18-15-46-05",
+        "code": "ARC-4",
+        "offset_ms": -5.002,
+        "corr": 1.0,
+        "used": true
+      },
+      {
+        "seq": "2024-11-18-16-59-23",
+        "code": "ARC-5",
+        "offset_ms": -5.038,
+        "corr": 0.999,
+        "used": true
+      },
+      {
+        "seq": "2024-12-03-13-15-38",
+        "code": "SBB-1",
+        "offset_ms": -5.019,
+        "corr": 0.999,
+        "used": true
+      },
+      {
+        "seq": "2024-12-03-13-26-40",
+        "code": "SBB-2",
+        "offset_ms": -5.015,
+        "corr": 0.999,
+        "used": true
+      },
+      {
+        "seq": "2024-11-14-13-45-37",
+        "code": "HEAP-1",
+        "offset_ms": -5.011,
+        "corr": 0.999,
+        "used": true
+      },
+      {
+        "seq": "2024-11-15-10-16-35",
+        "code": "TRIM-1",
+        "offset_ms": -5.011,
+        "corr": 0.998,
+        "used": true
+      },
+      {
+        "seq": "2024-11-15-16-41-14",
+        "code": "LEE-1",
+        "offset_ms": -5.006,
+        "corr": 0.999,
+        "used": true
+      },
+      {
+        "seq": "2024-10-01-11-29-55",
+        "code": "ETH-1",
+        "offset_ms": -5.063,
+        "corr": 0.998,
+        "used": true
+      },
+      {
+        "seq": "2024-10-01-12-00-49",
+        "code": "ETH-3",
+        "offset_ms": -5.044,
+        "corr": 0.999,
+        "used": true
+      },
+      {
+        "seq": "2024-11-25-14-57-08",
+        "code": "LEICA-1",
+        "offset_ms": -4.981,
+        "corr": 0.999,
+        "used": true
+      },
+      {
+        "seq": "2024-11-25-16-36-19",
+        "code": "LEICA-2",
+        "offset_ms": -5.001,
+        "corr": 1.0,
+        "used": true
+      },
+      {
+        "seq": "2024-11-04-16-05-00",
+        "code": "HIL-1",
+        "offset_ms": -4.966,
+        "corr": 0.999,
+        "used": true
+      },
+      {
+        "seq": "2024-11-04-10-57-34",
+        "code": "GRI-1",
+        "offset_ms": -4.987,
+        "corr": 0.999,
+        "used": true
+      },
+      {
+        "seq": "2024-11-11-14-29-44",
+        "code": "ROOT-1",
+        "offset_ms": -5.008,
+        "corr": 0.998,
+        "used": true
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/euroc/airio/.hydra/config.yaml b/euroc/airio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d902eee7971e25929dff9404c6b472adfd98af0d
--- /dev/null
+++ b/euroc/airio/.hydra/config.yaml
@@ -0,0 +1,419 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_02_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_04_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_01_easy
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 64
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 150
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 10
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/euroc/airio/.hydra/hydra.yaml b/euroc/airio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ecb211e5f23c260dffaadacf518cbeeff1781245
--- /dev/null
+++ b/euroc/airio/.hydra/hydra.yaml
@@ -0,0 +1,178 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio_imu_only
+    - train.lr=1.0e-3
+    - train.decay=1.0e-3
+    - train.batch=64
+    - train.window=1024
+    - train.ema=true
+    - train.epoch=150
+    - train.checkpoint_every_epochs=10
+    - dataset@train_dataset=EuRoC_Train_Randomized
+    - dataset@eval_dataset=EuRoC_Valid
+    - dataset@test_dataset=EuRoC_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=EuRoC_Valid,dataset@test_dataset=EuRoC_Test,dataset@train_dataset=EuRoC_Train_Randomized,loss=supervised_only,network=airio_imu_only,train.batch=64,train.checkpoint_every_epochs=10,train.decay=1.0e-3,train.ema=true,train.epoch=150,train.lr=1.0e-3,train.window=1024,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/EuRoC_Train_Randomized/20260913_214404
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: EuRoC_Test
+      dataset@eval_dataset: EuRoC_Valid
+      dataset@train_dataset: EuRoC_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/euroc/airio/.hydra/overrides.yaml b/euroc/airio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..035b7b6dddc938db9fb8bd08879baa6e4d7c3222
--- /dev/null
+++ b/euroc/airio/.hydra/overrides.yaml
@@ -0,0 +1,13 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio_imu_only
+- train.lr=1.0e-3
+- train.decay=1.0e-3
+- train.batch=64
+- train.window=1024
+- train.ema=true
+- train.epoch=150
+- train.checkpoint_every_epochs=10
+- dataset@train_dataset=EuRoC_Train_Randomized
+- dataset@eval_dataset=EuRoC_Valid
+- dataset@test_dataset=EuRoC_Test
diff --git a/euroc/airio/best_model.pt b/euroc/airio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..bd9903c922db64e04aac218efde9a5dd1d5381c6
--- /dev/null
+++ b/euroc/airio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae35e246042bfd822ef70baac46cdca09a5958a5e5ba67936193d5cedd7aaa6a
+size 1355061
diff --git a/euroc/airio_full/.hydra/config.yaml b/euroc/airio_full/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2ed248c0300e23faf7ff893e58d477e1ed2cd478
--- /dev/null
+++ b/euroc/airio_full/.hydra/config.yaml
@@ -0,0 +1,422 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_02_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_04_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_01_easy
+network:
+  _target_: Model.airio.AirIONetwork
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  ori_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 64
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 150
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 10
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/euroc/airio_full/.hydra/hydra.yaml b/euroc/airio_full/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6990ba3dbe91237c3dd7ba882d62d2baf49d2101
--- /dev/null
+++ b/euroc/airio_full/.hydra/hydra.yaml
@@ -0,0 +1,178 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio
+    - train.lr=1.0e-3
+    - train.decay=1.0e-3
+    - train.batch=64
+    - train.window=1024
+    - train.ema=true
+    - train.epoch=150
+    - train.checkpoint_every_epochs=10
+    - dataset@train_dataset=EuRoC_Train_Randomized
+    - dataset@eval_dataset=EuRoC_Valid
+    - dataset@test_dataset=EuRoC_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=EuRoC_Valid,dataset@test_dataset=EuRoC_Test,dataset@train_dataset=EuRoC_Train_Randomized,loss=supervised_only,network=airio,train.batch=64,train.checkpoint_every_epochs=10,train.decay=1.0e-3,train.ema=true,train.epoch=150,train.lr=1.0e-3,train.window=1024,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/EuRoC_Train_Randomized/20260913_215104
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio
+      dataset@test_dataset: EuRoC_Test
+      dataset@eval_dataset: EuRoC_Valid
+      dataset@train_dataset: EuRoC_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/euroc/airio_full/.hydra/overrides.yaml b/euroc/airio_full/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..26b2c27d69184b289146fd721f9af4d0b06c0aae
--- /dev/null
+++ b/euroc/airio_full/.hydra/overrides.yaml
@@ -0,0 +1,13 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio
+- train.lr=1.0e-3
+- train.decay=1.0e-3
+- train.batch=64
+- train.window=1024
+- train.ema=true
+- train.epoch=150
+- train.checkpoint_every_epochs=10
+- dataset@train_dataset=EuRoC_Train_Randomized
+- dataset@eval_dataset=EuRoC_Valid
+- dataset@test_dataset=EuRoC_Test
diff --git a/euroc/airio_full/best_model.pt b/euroc/airio_full/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..378c8f93e975f5475aec098283f59d963ef72e5c
--- /dev/null
+++ b/euroc/airio_full/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2be26b4b25e39cea29f1baaa9e762e73e931aa485aeba7eab4a107081f6cd3c3
+size 1438197
diff --git a/euroc/ssio/.hydra/config.yaml b/euroc/ssio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..378c45e226a43070ed3fa0a577d03a6d13f45da2
--- /dev/null
+++ b/euroc/ssio/.hydra/config.yaml
@@ -0,0 +1,416 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_02_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_04_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_01_easy
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.FixedDvLoss
+  dv:
+  - - 1
+    - 1.0
+  - - 3
+    - 1.0
+  - - 9
+    - 1.0
+  - - 27
+    - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 64
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 150
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 10
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.1
+  zupt_gate: imu
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/euroc/ssio/.hydra/hydra.yaml b/euroc/ssio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..13651b7461e4fdd1e70c489df7b788e4ebe3c3cb
--- /dev/null
+++ b/euroc/ssio/.hydra/hydra.yaml
@@ -0,0 +1,179 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - network=airio_imu_only
+    - train.zupt_gate=imu
+    - loss=ssio_dv_1_3_9_27
+    - train.zupt_weight=0.1
+    - train.lr=1.0e-3
+    - train.decay=1.0e-3
+    - train.batch=64
+    - train.window=1024
+    - train.ema=true
+    - train.epoch=150
+    - train.checkpoint_every_epochs=10
+    - dataset@train_dataset=EuRoC_Train_Randomized
+    - dataset@val_dataset=EuRoC_Valid
+    - dataset@test_dataset=EuRoC_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=EuRoC_Test,dataset@train_dataset=EuRoC_Train_Randomized,dataset@val_dataset=EuRoC_Valid,loss=ssio_dv_1_3_9_27,network=airio_imu_only,train.batch=64,train.checkpoint_every_epochs=10,train.decay=1.0e-3,train.ema=true,train.epoch=150,train.lr=1.0e-3,train.window=1024,train.zupt_gate=imu,train.zupt_weight=0.1
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/EuRoC_Train_Randomized/20260913_235931
+    choices:
+      loss: ssio_dv_1_3_9_27
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: EuRoC_Test
+      dataset@val_dataset: EuRoC_Valid
+      dataset@train_dataset: EuRoC_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/euroc/ssio/.hydra/overrides.yaml b/euroc/ssio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..469d0763164ac5d467c69f26b3d54b3144ecbb06
--- /dev/null
+++ b/euroc/ssio/.hydra/overrides.yaml
@@ -0,0 +1,14 @@
+- network=airio_imu_only
+- train.zupt_gate=imu
+- loss=ssio_dv_1_3_9_27
+- train.zupt_weight=0.1
+- train.lr=1.0e-3
+- train.decay=1.0e-3
+- train.batch=64
+- train.window=1024
+- train.ema=true
+- train.epoch=150
+- train.checkpoint_every_epochs=10
+- dataset@train_dataset=EuRoC_Train_Randomized
+- dataset@val_dataset=EuRoC_Valid
+- dataset@test_dataset=EuRoC_Test
diff --git a/euroc/ssio/best_model.pt b/euroc/ssio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..2bd6f931af6467f97cdd202268bf5ad2df79993f
--- /dev/null
+++ b/euroc/ssio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dff0eb0aa689865211f6d95754b12352926e048c65775f05eaccfede90d5ac8
+size 1355061
diff --git a/euroc/ssio_pgd/.hydra/config.yaml b/euroc/ssio_pgd/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0ae8ee64806fe1f6e16c343fae620756004a9d71
--- /dev/null
+++ b/euroc/ssio_pgd/.hydra/config.yaml
@@ -0,0 +1,416 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_01_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_03_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_05_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_01_easy
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.EuRoC.EuRoC_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/EuRoC
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    debias: true
+    calibrater:
+      kind: imu
+    gravity: 9.81007
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_02_easy
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: MH_04_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_03_difficult
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V2_02_medium
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.EuRoC.EuRoC_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/EuRoC
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        debias: true
+        calibrater:
+          kind: imu
+        gravity: 9.81007
+        seq_name: V1_01_easy
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+graph:
+  _target_: Optimizer.sparse_pgo.Sparse_IMUPGOGraph
+  anchor_weight: 1000000.0
+  vel_prior_weight: 1000000.0
+  max_iter: 10
+  tol: 1.0e-05
+  obs_reject_chi2: null
+  obs_reject_all: true
+loss:
+  _target_: Loss.adapt.Adapt_MSE_Loss
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 5.0e-05
+  decay: 0.001
+  batch: 512
+  epoch: 150
+  window: 1024
+  step_size: 252
+  ema: true
+  ema_decay: 0.8
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 5
+  test_every_epochs: 1
+  label_refresh_every_steps: 1000000000
+  label_batch_windows: 64
+  label_obs_sigma: 1.0
+  dv_imu_input: corrected
+  pgo_gyro_sigma: null
+  pgo_acc_sigma: null
+  zupt_sigma: 0.0
+  zupt_weight: 0.0
+  zupt_gate: imu
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  resume_from: file:/tmp/resume.ckpt
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: 2b-euroc-imu
diff --git a/euroc/ssio_pgd/.hydra/hydra.yaml b/euroc/ssio_pgd/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2caa7691535a9696ead976341fbbe31663ee879f
--- /dev/null
+++ b/euroc/ssio_pgd/.hydra/hydra.yaml
@@ -0,0 +1,181 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_adapt_traj/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - train.resume_from=file:/tmp/resume.ckpt
+    - graph=sparse_imupgo
+    - loss=adapt_mse
+    - train.batch=512
+    - train.lr=5e-5
+    - train.checkpoint_every_epochs=1
+    - train.plot_every_epochs=5
+    - train.epoch=150
+    - train.label_obs_sigma=1.0
+    - train.dv_imu_input=corrected
+    - network=airio_imu_only
+    - dataset@train_dataset=EuRoC_Train_Randomized
+    - dataset@val_dataset=EuRoC_Valid
+    - dataset@test_dataset=EuRoC_Test
+    - +wandb.name=2b-euroc-imu
+  job:
+    name: train_step2b_adapt
+    chdir: false
+    override_dirname: +wandb.name=2b-euroc-imu,dataset@test_dataset=EuRoC_Test,dataset@train_dataset=EuRoC_Train_Randomized,dataset@val_dataset=EuRoC_Valid,graph=sparse_imupgo,loss=adapt_mse,network=airio_imu_only,train.batch=512,train.checkpoint_every_epochs=1,train.dv_imu_input=corrected,train.epoch=150,train.label_obs_sigma=1.0,train.lr=5e-5,train.plot_every_epochs=5,train.resume_from=file:/tmp/resume.ckpt
+    id: ???
+    num: ???
+    config_name: train_adapt_traj
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_adapt_traj/EuRoC_Train_Randomized/20260914_081234
+    choices:
+      loss: adapt_mse
+      graph: sparse_imupgo
+      network: airio_imu_only
+      scheduler: constant
+      optimizer: adamw
+      dataset@test_dataset: EuRoC_Test
+      dataset@val_dataset: EuRoC_Valid
+      dataset@train_dataset: EuRoC_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/euroc/ssio_pgd/.hydra/overrides.yaml b/euroc/ssio_pgd/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..145efaa905186450cbbc627124badef67a195cd6
--- /dev/null
+++ b/euroc/ssio_pgd/.hydra/overrides.yaml
@@ -0,0 +1,15 @@
+- train.resume_from=file:/tmp/resume.ckpt
+- graph=sparse_imupgo
+- loss=adapt_mse
+- train.batch=512
+- train.lr=5e-5
+- train.checkpoint_every_epochs=1
+- train.plot_every_epochs=5
+- train.epoch=150
+- train.label_obs_sigma=1.0
+- train.dv_imu_input=corrected
+- network=airio_imu_only
+- dataset@train_dataset=EuRoC_Train_Randomized
+- dataset@val_dataset=EuRoC_Valid
+- dataset@test_dataset=EuRoC_Test
+- +wandb.name=2b-euroc-imu
diff --git a/euroc/ssio_pgd/best_model.pt b/euroc/ssio_pgd/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..6e05a94b873e6b276685f93c106b1cf8008bc2f0
--- /dev/null
+++ b/euroc/ssio_pgd/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13ddea1d63529805c47521b7a07660726926f43215b2b346d8caa3de924866ee
+size 1355061
diff --git a/grandtour/airio/.hydra/config.yaml b/grandtour/airio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fe8fd329ab82646c87c61b274c7cfc259ea6dda9
--- /dev/null
+++ b/grandtour/airio/.hydra/config.yaml
@@ -0,0 +1,987 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  _ici:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: state_estimator
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-10-25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-18-32
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-12-55-59
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-07-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-11-17-02
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-15-22-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-16-04-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-18-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-37-15
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-12-06-03
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-14-12
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-43-52
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-22-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-48-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-15-46-05
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-16-59-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-15-38
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-26-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-14-57-08
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-16-36-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-10-01-11-47-44
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-11-16-14-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-13-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-31-36
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-34-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-41-46
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-28-28
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-53-11
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-10-16-35
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-16-41-14
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-42-47
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-52-45
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-11-29-55
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-12-00-49
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-10-57-34
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-13-51-43
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-13-45-37
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-21-12-51
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-57-34
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: false
+  use_joints: false
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 30
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/grandtour/airio/.hydra/hydra.yaml b/grandtour/airio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..26390c9227fd3f9628365d5d0aac8141e91a9a56
--- /dev/null
+++ b/grandtour/airio/.hydra/hydra.yaml
@@ -0,0 +1,175 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio_imu_only
+    - modality.use_joints=false
+    - modality.use_aux_imu=false
+    - train.epoch=30
+    - train.checkpoint_every_epochs=1
+    - dataset@train_dataset=ANYmal_SSL
+    - dataset@val_dataset=ANYmal_Val
+    - dataset@test_dataset=ANYmal_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=ANYmal_Test,dataset@train_dataset=ANYmal_SSL,dataset@val_dataset=ANYmal_Val,loss=supervised_only,modality.use_aux_imu=false,modality.use_joints=false,network=airio_imu_only,train.checkpoint_every_epochs=1,train.epoch=30,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/ANYmal_SSL/20260913_225232
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: ANYmal_Test
+      dataset@val_dataset: ANYmal_Val
+      dataset@train_dataset: ANYmal_SSL
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/grandtour/airio/.hydra/overrides.yaml b/grandtour/airio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..08aeaac76ca08a446e95c0a7d70d4409fd91313c
--- /dev/null
+++ b/grandtour/airio/.hydra/overrides.yaml
@@ -0,0 +1,10 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio_imu_only
+- modality.use_joints=false
+- modality.use_aux_imu=false
+- train.epoch=30
+- train.checkpoint_every_epochs=1
+- dataset@train_dataset=ANYmal_SSL
+- dataset@val_dataset=ANYmal_Val
+- dataset@test_dataset=ANYmal_Test
diff --git a/grandtour/airio/best_model.pt b/grandtour/airio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..310bf281c83e5a877c5a43de2cb7ce8140b35972
--- /dev/null
+++ b/grandtour/airio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e4311c9f609262b6854422142f8f6471b4f1b79f8aa2caf4f129ca41602d502
+size 1355061
diff --git a/grandtour/airio_full/.hydra/config.yaml b/grandtour/airio_full/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0708ac86f0d121b92cea6e8f57a96bf836475958
--- /dev/null
+++ b/grandtour/airio_full/.hydra/config.yaml
@@ -0,0 +1,990 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  _ici:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: state_estimator
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-10-25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-18-32
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-12-55-59
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-07-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-11-17-02
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-15-22-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-16-04-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-18-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-37-15
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-12-06-03
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-14-12
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-43-52
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-22-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-48-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-15-46-05
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-16-59-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-15-38
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-26-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-14-57-08
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-16-36-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-10-01-11-47-44
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-11-16-14-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-13-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-31-36
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-34-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-41-46
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-28-28
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-53-11
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-10-16-35
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-16-41-14
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-42-47
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-52-45
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-11-29-55
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-12-00-49
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-10-57-34
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-13-51-43
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-13-45-37
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-21-12-51
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-57-34
+network:
+  _target_: Model.airio.AirIONetwork
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  ori_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: false
+  use_joints: false
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 30
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/grandtour/airio_full/.hydra/hydra.yaml b/grandtour/airio_full/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..21a4f7dfbee0de25f61ed297853f0ef7c3edc7c8
--- /dev/null
+++ b/grandtour/airio_full/.hydra/hydra.yaml
@@ -0,0 +1,175 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio
+    - modality.use_joints=false
+    - modality.use_aux_imu=false
+    - train.epoch=30
+    - train.checkpoint_every_epochs=1
+    - dataset@train_dataset=ANYmal_SSL
+    - dataset@val_dataset=ANYmal_Val
+    - dataset@test_dataset=ANYmal_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=ANYmal_Test,dataset@train_dataset=ANYmal_SSL,dataset@val_dataset=ANYmal_Val,loss=supervised_only,modality.use_aux_imu=false,modality.use_joints=false,network=airio,train.checkpoint_every_epochs=1,train.epoch=30,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/ANYmal_SSL/20260913_224936
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio
+      dataset@test_dataset: ANYmal_Test
+      dataset@val_dataset: ANYmal_Val
+      dataset@train_dataset: ANYmal_SSL
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/grandtour/airio_full/.hydra/overrides.yaml b/grandtour/airio_full/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..24f53a863c626082f960f88230d686037ca0ae11
--- /dev/null
+++ b/grandtour/airio_full/.hydra/overrides.yaml
@@ -0,0 +1,10 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio
+- modality.use_joints=false
+- modality.use_aux_imu=false
+- train.epoch=30
+- train.checkpoint_every_epochs=1
+- dataset@train_dataset=ANYmal_SSL
+- dataset@val_dataset=ANYmal_Val
+- dataset@test_dataset=ANYmal_Test
diff --git a/grandtour/airio_full/best_model.pt b/grandtour/airio_full/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..a36cbbc4a97dd96848dd1386bf5ae4586fcb8360
--- /dev/null
+++ b/grandtour/airio_full/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6346c8c8e946915712fba888f57eb47546cd28ebcaa36372a96ee5e76c1a4558
+size 1438197
diff --git a/grandtour/airio_proprio/.hydra/config.yaml b/grandtour/airio_proprio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7b4936c26c2ab0655b4855cd8088969c415c6fc1
--- /dev/null
+++ b/grandtour/airio_proprio/.hydra/config.yaml
@@ -0,0 +1,996 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  _ici:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: state_estimator
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-10-25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-18-32
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-12-55-59
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-07-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-11-17-02
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-15-22-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-16-04-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-18-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-37-15
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-12-06-03
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-14-12
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-43-52
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-22-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-48-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-15-46-05
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-16-59-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-15-38
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-26-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-14-57-08
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-16-36-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-10-01-11-47-44
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-11-16-14-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-13-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-31-36
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-34-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-41-46
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-28-28
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-53-11
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-10-16-35
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-16-41-14
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-42-47
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-52-45
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-11-29-55
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-12-00-49
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-10-57-34
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-13-51-43
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-13-45-37
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-21-12-51
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-57-34
+network:
+  _target_: Model.airio.JointsAirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  num_imus: 1
+  num_joints: 12
+  joint_channels:
+  - position
+  - velocity
+  - effort
+  imu_encoder_channels:
+  - 32
+  - 64
+  joint_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  fusion_hidden: 128
+  gru1_hidden: 64
+  gru2_hidden: 128
+  bidirectional: true
+  decoder_hidden: 128
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: false
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 30
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/grandtour/airio_proprio/.hydra/hydra.yaml b/grandtour/airio_proprio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e541cb5329e3fbdedcc8150cead396137e117428
--- /dev/null
+++ b/grandtour/airio_proprio/.hydra/hydra.yaml
@@ -0,0 +1,175 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio_joints_imu_only_anymal
+    - modality.use_joints=true
+    - modality.use_aux_imu=false
+    - train.epoch=30
+    - train.checkpoint_every_epochs=1
+    - dataset@train_dataset=ANYmal_SSL
+    - dataset@val_dataset=ANYmal_Val
+    - dataset@test_dataset=ANYmal_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=ANYmal_Test,dataset@train_dataset=ANYmal_SSL,dataset@val_dataset=ANYmal_Val,loss=supervised_only,modality.use_aux_imu=false,modality.use_joints=true,network=airio_joints_imu_only_anymal,train.checkpoint_every_epochs=1,train.epoch=30,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/ANYmal_SSL/20260913_225239
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio_joints_imu_only_anymal
+      dataset@test_dataset: ANYmal_Test
+      dataset@val_dataset: ANYmal_Val
+      dataset@train_dataset: ANYmal_SSL
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/grandtour/airio_proprio/.hydra/overrides.yaml b/grandtour/airio_proprio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2d064778b217aa4358e62a051cfc1833c04f241f
--- /dev/null
+++ b/grandtour/airio_proprio/.hydra/overrides.yaml
@@ -0,0 +1,10 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio_joints_imu_only_anymal
+- modality.use_joints=true
+- modality.use_aux_imu=false
+- train.epoch=30
+- train.checkpoint_every_epochs=1
+- dataset@train_dataset=ANYmal_SSL
+- dataset@val_dataset=ANYmal_Val
+- dataset@test_dataset=ANYmal_Test
diff --git a/grandtour/airio_proprio/best_model.pt b/grandtour/airio_proprio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..8f03134a6b5d77c22456e6c9327484feb7d76fcd
--- /dev/null
+++ b/grandtour/airio_proprio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84b37addf729f143e9f8cac6e973e5854ed5c1bb44f7a9f14d7da2bd3e108d21
+size 1618549
diff --git a/grandtour/ssio/.hydra/config.yaml b/grandtour/ssio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5674557e1935fa5f440d694e22b6615962d4bd83
--- /dev/null
+++ b/grandtour/ssio/.hydra/config.yaml
@@ -0,0 +1,986 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  _ici:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: state_estimator
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-10-25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-18-32
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-12-55-59
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-07-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-11-17-02
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-15-22-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-16-04-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-18-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-37-15
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-12-06-03
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-14-12
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-43-52
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-22-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-48-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-15-46-05
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-16-59-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-15-38
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-26-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-14-57-08
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-16-36-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-10-01-11-47-44
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-11-16-14-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-13-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-31-36
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-34-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-41-46
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-28-28
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-53-11
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-10-16-35
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-16-41-14
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-42-47
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-52-45
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-11-29-55
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-12-00-49
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-10-57-34
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-13-51-43
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-13-45-37
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-21-12-51
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-57-34
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.FixedDvLoss
+  dv:
+  - - 1
+    - 1.0
+  - - 3
+    - 1.0
+  - - 9
+    - 1.0
+  - - 27
+    - 1.0
+  - - 81
+    - 1.0
+modality:
+  use_aux_imu: false
+  use_joints: false
+train:
+  lr: 5.0e-05
+  decay: 1.0e-05
+  batch: 256
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 120
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 10
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 1.0
+  zupt_gate: imu
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/grandtour/ssio/.hydra/hydra.yaml b/grandtour/ssio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..86daecfe35af8ae466fa48927483ecf8a6654450
--- /dev/null
+++ b/grandtour/ssio/.hydra/hydra.yaml
@@ -0,0 +1,181 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - network=airio_imu_only
+    - modality.use_joints=false
+    - modality.use_aux_imu=false
+    - loss=ssio_dv_1_3_9_27_81
+    - train.zupt_gate=imu
+    - train.zupt_weight=1.0
+    - train.zupt_sched_enable=false
+    - train.lr=5.0e-5
+    - train.decay=1.0e-5
+    - train.batch=256
+    - train.ema=true
+    - train.epoch=120
+    - train.checkpoint_every_epochs=10
+    - dataset@train_dataset=ANYmal_SSL
+    - dataset@val_dataset=ANYmal_Val
+    - dataset@test_dataset=ANYmal_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=ANYmal_Test,dataset@train_dataset=ANYmal_SSL,dataset@val_dataset=ANYmal_Val,loss=ssio_dv_1_3_9_27_81,modality.use_aux_imu=false,modality.use_joints=false,network=airio_imu_only,train.batch=256,train.checkpoint_every_epochs=10,train.decay=1.0e-5,train.ema=true,train.epoch=120,train.lr=5.0e-5,train.zupt_gate=imu,train.zupt_sched_enable=false,train.zupt_weight=1.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/ANYmal_SSL/20260914_000850
+    choices:
+      loss: ssio_dv_1_3_9_27_81
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: ANYmal_Test
+      dataset@val_dataset: ANYmal_Val
+      dataset@train_dataset: ANYmal_SSL
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/grandtour/ssio/.hydra/overrides.yaml b/grandtour/ssio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..76028032faa989f9f38757e3aa5f9784ada63df0
--- /dev/null
+++ b/grandtour/ssio/.hydra/overrides.yaml
@@ -0,0 +1,16 @@
+- network=airio_imu_only
+- modality.use_joints=false
+- modality.use_aux_imu=false
+- loss=ssio_dv_1_3_9_27_81
+- train.zupt_gate=imu
+- train.zupt_weight=1.0
+- train.zupt_sched_enable=false
+- train.lr=5.0e-5
+- train.decay=1.0e-5
+- train.batch=256
+- train.ema=true
+- train.epoch=120
+- train.checkpoint_every_epochs=10
+- dataset@train_dataset=ANYmal_SSL
+- dataset@val_dataset=ANYmal_Val
+- dataset@test_dataset=ANYmal_Test
diff --git a/grandtour/ssio/best_model.pt b/grandtour/ssio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..52dd117c3630af1e48b25b6951fbf146ebe4b376
--- /dev/null
+++ b/grandtour/ssio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79804764cc6de5c4d2ba1934aea7aa18d0b6e6791b834b5de682304ee8d34312
+size 1355061
diff --git a/grandtour/ssio_pgd/.hydra/config.yaml b/grandtour/ssio_pgd/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9791ca84f13acb360dfae366a9da8b34f1e08c60
--- /dev/null
+++ b/grandtour/ssio_pgd/.hydra/config.yaml
@@ -0,0 +1,984 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  _ici:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: state_estimator
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-10-25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-18-32
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-12-55-59
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-07-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-11-17-02
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-15-22-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-16-04-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-18-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-37-15
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-12-06-03
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-14-12
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-43-52
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-22-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-48-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-15-46-05
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-16-59-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-15-38
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-26-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-14-57-08
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-16-36-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-10-01-11-47-44
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-11-16-14-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-13-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-31-36
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-34-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-41-46
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-28-28
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-53-11
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-10-16-35
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-16-41-14
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-42-47
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-52-45
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-11-29-55
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-12-00-49
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-10-57-34
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-13-51-43
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-13-45-37
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-21-12-51
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-57-34
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+graph:
+  _target_: Optimizer.sparse_pgo.Sparse_IMUPGOGraph
+  anchor_weight: 1000000.0
+  vel_prior_weight: 1000000.0
+  max_iter: 10
+  tol: 1.0e-05
+  obs_reject_chi2: null
+  obs_reject_all: true
+loss:
+  _target_: Loss.adapt.Adapt_MSE_Loss
+modality:
+  use_aux_imu: false
+  use_joints: false
+train:
+  lr: 5.0e-05
+  decay: 0.001
+  batch: 512
+  epoch: 25
+  window: 1024
+  step_size: 252
+  ema: true
+  ema_decay: 0.8
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 5
+  test_every_epochs: 1
+  label_refresh_every_steps: 1000000000
+  label_batch_windows: 64
+  label_obs_sigma: 2.0
+  dv_imu_input: corrected
+  pgo_gyro_sigma: null
+  pgo_acc_sigma: null
+  zupt_sigma: 0.0
+  zupt_weight: 0.0
+  zupt_gate: imu
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  resume_from: file:/tmp/resume.ckpt
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: 2b-anymal-imu
diff --git a/grandtour/ssio_pgd/.hydra/hydra.yaml b/grandtour/ssio_pgd/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..044db289055cb2387c0972e13cc348ec673548d6
--- /dev/null
+++ b/grandtour/ssio_pgd/.hydra/hydra.yaml
@@ -0,0 +1,183 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_adapt_traj/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - train.resume_from=file:/tmp/resume.ckpt
+    - graph=sparse_imupgo
+    - loss=adapt_mse
+    - train.batch=512
+    - train.lr=5e-5
+    - train.checkpoint_every_epochs=1
+    - train.plot_every_epochs=5
+    - train.epoch=25
+    - train.label_obs_sigma=2.0
+    - train.dv_imu_input=corrected
+    - network=airio_imu_only
+    - modality.use_aux_imu=false
+    - modality.use_joints=false
+    - dataset@train_dataset=ANYmal_SSL
+    - dataset@val_dataset=ANYmal_Val
+    - dataset@test_dataset=ANYmal_Test
+    - +wandb.name=2b-anymal-imu
+  job:
+    name: train_step2b_adapt
+    chdir: false
+    override_dirname: +wandb.name=2b-anymal-imu,dataset@test_dataset=ANYmal_Test,dataset@train_dataset=ANYmal_SSL,dataset@val_dataset=ANYmal_Val,graph=sparse_imupgo,loss=adapt_mse,modality.use_aux_imu=false,modality.use_joints=false,network=airio_imu_only,train.batch=512,train.checkpoint_every_epochs=1,train.dv_imu_input=corrected,train.epoch=25,train.label_obs_sigma=2.0,train.lr=5e-5,train.plot_every_epochs=5,train.resume_from=file:/tmp/resume.ckpt
+    id: ???
+    num: ???
+    config_name: train_adapt_traj
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_adapt_traj/ANYmal_SSL/20260914_082116
+    choices:
+      loss: adapt_mse
+      graph: sparse_imupgo
+      network: airio_imu_only
+      scheduler: constant
+      optimizer: adamw
+      dataset@test_dataset: ANYmal_Test
+      dataset@val_dataset: ANYmal_Val
+      dataset@train_dataset: ANYmal_SSL
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/grandtour/ssio_pgd/.hydra/overrides.yaml b/grandtour/ssio_pgd/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5acbdb1b21139bc3534a957f9aa104e787cc0132
--- /dev/null
+++ b/grandtour/ssio_pgd/.hydra/overrides.yaml
@@ -0,0 +1,17 @@
+- train.resume_from=file:/tmp/resume.ckpt
+- graph=sparse_imupgo
+- loss=adapt_mse
+- train.batch=512
+- train.lr=5e-5
+- train.checkpoint_every_epochs=1
+- train.plot_every_epochs=5
+- train.epoch=25
+- train.label_obs_sigma=2.0
+- train.dv_imu_input=corrected
+- network=airio_imu_only
+- modality.use_aux_imu=false
+- modality.use_joints=false
+- dataset@train_dataset=ANYmal_SSL
+- dataset@val_dataset=ANYmal_Val
+- dataset@test_dataset=ANYmal_Test
+- +wandb.name=2b-anymal-imu
diff --git a/grandtour/ssio_pgd/best_model.pt b/grandtour/ssio_pgd/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..52dd117c3630af1e48b25b6951fbf146ebe4b376
--- /dev/null
+++ b/grandtour/ssio_pgd/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79804764cc6de5c4d2ba1934aea7aa18d0b6e6791b834b5de682304ee8d34312
+size 1355061
diff --git a/grandtour/ssio_proprio/.hydra/config.yaml b/grandtour/ssio_proprio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6600e2458f214b440360fbcf77b62b5a10bc8f4d
--- /dev/null
+++ b/grandtour/ssio_proprio/.hydra/config.yaml
@@ -0,0 +1,995 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  _ici:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: state_estimator
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-10-25
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-17-18-32
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-12-55-59
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-07-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-11-17-02
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-15-22-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-16-04-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-18-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-11-37-15
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-12-06-03
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-14-12
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-14-43-52
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-22-14
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-13-48-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-15-46-05
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-18-16-59-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-15-38
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-12-03-13-26-40
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-14-57-08
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-25-16-36-19
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-10-01-11-47-44
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-11-16-14-23
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-13-09
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-11-18-17-31-36
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-34-43
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-09-41-46
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-28-28
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: state_estimator
+        seq_name: 2024-12-09-11-53-11
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-10-16-35
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-15-16-41-14
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-11-12-42-47
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-52-45
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.ANYmal.ANYmal_Sequence
+  _icg:
+    data_root: ${host_env:DATA_ROOT}/grand_tour
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 1
+    num_joints: 12
+    target_rate: 200.0
+    debias: true
+    calibrater:
+      kind: imu
+      gyro_mean_max: 0.005
+    gt_source: cpt7_ie
+    imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-11-29-55
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-10-01-12-00-49
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-04-10-57-34
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-13-51-43
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-14-13-45-37
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-02-21-12-51
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.ANYmal.ANYmal_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/grand_tour
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 1
+        num_joints: 12
+        target_rate: 200.0
+        debias: true
+        calibrater:
+          kind: imu
+          gyro_mean_max: 0.005
+        gt_source: cpt7_ie
+        imu_gt_offsets_json: ${host_env:DATA_ROOT}/grand_tour/anymal_imu_gt_offsets_per_imu.json
+        seq_name: 2024-11-03-07-57-34
+network:
+  _target_: Model.airio.JointsAirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  num_imus: 1
+  num_joints: 12
+  joint_channels:
+  - position
+  - velocity
+  - effort
+  imu_encoder_channels:
+  - 32
+  - 64
+  joint_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  fusion_hidden: 128
+  gru1_hidden: 64
+  gru2_hidden: 128
+  bidirectional: true
+  decoder_hidden: 128
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.FixedDvLoss
+  dv:
+  - - 1
+    - 1.0
+  - - 3
+    - 1.0
+  - - 9
+    - 1.0
+  - - 27
+    - 1.0
+  - - 81
+    - 1.0
+modality:
+  use_aux_imu: false
+  use_joints: true
+train:
+  lr: 5.0e-05
+  decay: 1.0e-05
+  batch: 256
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 60
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.1
+  zupt_gate: imu
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/grandtour/ssio_proprio/.hydra/hydra.yaml b/grandtour/ssio_proprio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..722d92b40a79ac70e2d55a29287c8533df561844
--- /dev/null
+++ b/grandtour/ssio_proprio/.hydra/hydra.yaml
@@ -0,0 +1,181 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - network=airio_joints_imu_only_anymal
+    - modality.use_joints=true
+    - modality.use_aux_imu=false
+    - loss=ssio_dv_1_3_9_27_81
+    - train.zupt_gate=imu
+    - train.zupt_weight=0.1
+    - train.zupt_sched_enable=false
+    - train.lr=5.0e-5
+    - train.decay=1.0e-5
+    - train.batch=256
+    - train.ema=true
+    - train.epoch=60
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=ANYmal_SSL
+    - dataset@val_dataset=ANYmal_Val
+    - dataset@test_dataset=ANYmal_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=ANYmal_Test,dataset@train_dataset=ANYmal_SSL,dataset@val_dataset=ANYmal_Val,loss=ssio_dv_1_3_9_27_81,modality.use_aux_imu=false,modality.use_joints=true,network=airio_joints_imu_only_anymal,train.batch=256,train.checkpoint_every_epochs=5,train.decay=1.0e-5,train.ema=true,train.epoch=60,train.lr=5.0e-5,train.zupt_gate=imu,train.zupt_sched_enable=false,train.zupt_weight=0.1
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/ANYmal_SSL/20260914_000928
+    choices:
+      loss: ssio_dv_1_3_9_27_81
+      scheduler: constant
+      optimizer: adamw
+      network: airio_joints_imu_only_anymal
+      dataset@test_dataset: ANYmal_Test
+      dataset@val_dataset: ANYmal_Val
+      dataset@train_dataset: ANYmal_SSL
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/grandtour/ssio_proprio/.hydra/overrides.yaml b/grandtour/ssio_proprio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c0868bb5b7ec9f91d3517b67c6b93ffe4709463a
--- /dev/null
+++ b/grandtour/ssio_proprio/.hydra/overrides.yaml
@@ -0,0 +1,16 @@
+- network=airio_joints_imu_only_anymal
+- modality.use_joints=true
+- modality.use_aux_imu=false
+- loss=ssio_dv_1_3_9_27_81
+- train.zupt_gate=imu
+- train.zupt_weight=0.1
+- train.zupt_sched_enable=false
+- train.lr=5.0e-5
+- train.decay=1.0e-5
+- train.batch=256
+- train.ema=true
+- train.epoch=60
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=ANYmal_SSL
+- dataset@val_dataset=ANYmal_Val
+- dataset@test_dataset=ANYmal_Test
diff --git a/grandtour/ssio_proprio/best_model.pt b/grandtour/ssio_proprio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..e9dbc931bc5037ce1796aee081e1f248bdc7c25f
--- /dev/null
+++ b/grandtour/ssio_proprio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:117b8f2b2014bd2cdf959a8205be1dbb002779f34bc15892a57e3fc9b399d652
+size 1618549
diff --git a/humanoid/airio/.hydra/config.yaml b/humanoid/airio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d9e1debd2a7ca60f75db26926b1becc50f43d49c
--- /dev/null
+++ b/humanoid/airio/.hydra/config.yaml
@@ -0,0 +1,1242 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193508
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193939
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194157
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194721
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_155255
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_160242
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_161048
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_162115
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_163655
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_164227
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_141248
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_142817
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_143729
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_172431
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_185111
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_191857
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_192546
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_152903
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_221759
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_222557
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224042
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224956
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230203
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230500
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_kick_20260614_144639
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_135200
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140145
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140517
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_183949
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184302
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184444
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193508
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193939
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194157
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194721
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_155255
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_160242
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_161048
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_162115
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_163655
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_164227
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_141248
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_142817
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_143729
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_172431
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_185111
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_191857
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_192546
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_152903
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_221759
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_222557
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224042
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224956
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230203
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230500
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_kick_20260614_144639
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_135200
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140145
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140517
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_183949
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184302
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184444
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_223451
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 128
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/humanoid/airio/.hydra/hydra.yaml b/humanoid/airio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4e3c49f51e110eb824d5832451cdf3528e5f532f
--- /dev/null
+++ b/humanoid/airio/.hydra/hydra.yaml
@@ -0,0 +1,173 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio_imu_only
+    - train.epoch=128
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=HumanoidOdom_Train
+    - dataset@eval_dataset=HumanoidOdom_Valid
+    - dataset@test_dataset=HumanoidOdom_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=HumanoidOdom_Valid,dataset@test_dataset=HumanoidOdom_Test,dataset@train_dataset=HumanoidOdom_Train,loss=supervised_only,network=airio_imu_only,train.checkpoint_every_epochs=5,train.epoch=128,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/HumanoidOdom_Train/20260913_215246
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: HumanoidOdom_Test
+      dataset@eval_dataset: HumanoidOdom_Valid
+      dataset@train_dataset: HumanoidOdom_Train
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/humanoid/airio/.hydra/overrides.yaml b/humanoid/airio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..615a951c1fc627cbe828ccd15b809b064a373bb1
--- /dev/null
+++ b/humanoid/airio/.hydra/overrides.yaml
@@ -0,0 +1,8 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio_imu_only
+- train.epoch=128
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=HumanoidOdom_Train
+- dataset@eval_dataset=HumanoidOdom_Valid
+- dataset@test_dataset=HumanoidOdom_Test
diff --git a/humanoid/airio/best_model.pt b/humanoid/airio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..0eeba8ea48b1aa32d79b8567e9fb9a2e50b39ed8
--- /dev/null
+++ b/humanoid/airio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:057eb58493108effe04c2be347661ef7a57959ec15e6f3c68dd7c32dc64cdc4a
+size 1355061
diff --git a/humanoid/airio_full/.hydra/config.yaml b/humanoid/airio_full/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1378124ea2bbad0bc6fd5ddea0b55154ef44736a
--- /dev/null
+++ b/humanoid/airio_full/.hydra/config.yaml
@@ -0,0 +1,1245 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193508
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193939
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194157
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194721
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_155255
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_160242
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_161048
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_162115
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_163655
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_164227
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_141248
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_142817
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_143729
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_172431
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_185111
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_191857
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_192546
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_152903
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_221759
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_222557
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224042
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224956
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230203
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230500
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_kick_20260614_144639
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_135200
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140145
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140517
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_183949
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184302
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184444
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193508
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193939
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194157
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194721
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_155255
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_160242
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_161048
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_162115
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_163655
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_164227
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_141248
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_142817
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_143729
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_172431
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_185111
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_191857
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_192546
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_152903
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_221759
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_222557
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224042
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224956
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230203
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230500
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_kick_20260614_144639
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_135200
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140145
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140517
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_183949
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184302
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184444
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_223451
+network:
+  _target_: Model.airio.AirIONetwork
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  ori_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 128
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/humanoid/airio_full/.hydra/hydra.yaml b/humanoid/airio_full/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d65a560e8464dc36f497b8fa0fb010b4dffce962
--- /dev/null
+++ b/humanoid/airio_full/.hydra/hydra.yaml
@@ -0,0 +1,173 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio
+    - train.epoch=128
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=HumanoidOdom_Train
+    - dataset@eval_dataset=HumanoidOdom_Valid
+    - dataset@test_dataset=HumanoidOdom_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=HumanoidOdom_Valid,dataset@test_dataset=HumanoidOdom_Test,dataset@train_dataset=HumanoidOdom_Train,loss=supervised_only,network=airio,train.checkpoint_every_epochs=5,train.epoch=128,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/HumanoidOdom_Train/20260913_214820
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio
+      dataset@test_dataset: HumanoidOdom_Test
+      dataset@eval_dataset: HumanoidOdom_Valid
+      dataset@train_dataset: HumanoidOdom_Train
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/humanoid/airio_full/.hydra/overrides.yaml b/humanoid/airio_full/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e9b3cf85eb989794e1abbf1312a57979441f3161
--- /dev/null
+++ b/humanoid/airio_full/.hydra/overrides.yaml
@@ -0,0 +1,8 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio
+- train.epoch=128
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=HumanoidOdom_Train
+- dataset@eval_dataset=HumanoidOdom_Valid
+- dataset@test_dataset=HumanoidOdom_Test
diff --git a/humanoid/airio_full/best_model.pt b/humanoid/airio_full/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..db4bd2f8e2c623431ab34ac2056ce5cd8ed5818b
--- /dev/null
+++ b/humanoid/airio_full/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05aff50f63ce6e2c0143b5d7a033439e8b12ef5f03ab02e542b738301e7e5a6d
+size 1438197
diff --git a/humanoid/airio_proprio/.hydra/config.yaml b/humanoid/airio_proprio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..85744f92ddb3cea9582df4c0b7d9dca9570d1678
--- /dev/null
+++ b/humanoid/airio_proprio/.hydra/config.yaml
@@ -0,0 +1,1317 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193508
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193939
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194157
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194721
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_155255
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_160242
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_161048
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_162115
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_163655
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_164227
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_141248
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_142817
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_143729
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_172431
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_185111
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_191857
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_192546
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_152903
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_221759
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_222557
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224042
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224956
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230203
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230500
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_kick_20260614_144639
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_135200
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140145
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140517
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_183949
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184302
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184444
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193508
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193939
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194157
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194721
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_155255
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_160242
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_161048
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_162115
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_163655
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_164227
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_141248
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_142817
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_143729
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_172431
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_185111
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_191857
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_192546
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_152903
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_221759
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_222557
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224042
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224956
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230203
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230500
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_kick_20260614_144639
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_135200
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140145
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140517
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_183949
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184302
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184444
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_223451
+network:
+  _target_: Model.airio.JointsAirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  num_imus: 1
+  num_joints: 29
+  joint_channels:
+  - position
+  - velocity
+  - effort
+  imu_encoder_channels:
+  - 32
+  - 64
+  joint_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  fusion_hidden: 128
+  gru1_hidden: 64
+  gru2_hidden: 128
+  bidirectional: true
+  decoder_hidden: 128
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 128
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/humanoid/airio_proprio/.hydra/hydra.yaml b/humanoid/airio_proprio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d7a6793ad86985b4246cff17768067399c8a55ba
--- /dev/null
+++ b/humanoid/airio_proprio/.hydra/hydra.yaml
@@ -0,0 +1,174 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio_joints_imu_only_humanoid
+    - modality.use_joints=true
+    - train.epoch=128
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=HumanoidOdom_Joints_Train
+    - dataset@eval_dataset=HumanoidOdom_Joints_Valid
+    - dataset@test_dataset=HumanoidOdom_Joints_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=HumanoidOdom_Joints_Valid,dataset@test_dataset=HumanoidOdom_Joints_Test,dataset@train_dataset=HumanoidOdom_Joints_Train,loss=supervised_only,modality.use_joints=true,network=airio_joints_imu_only_humanoid,train.checkpoint_every_epochs=5,train.epoch=128,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/HumanoidOdom_Joints_Train/20260913_220038
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio_joints_imu_only_humanoid
+      dataset@test_dataset: HumanoidOdom_Joints_Test
+      dataset@eval_dataset: HumanoidOdom_Joints_Valid
+      dataset@train_dataset: HumanoidOdom_Joints_Train
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/humanoid/airio_proprio/.hydra/overrides.yaml b/humanoid/airio_proprio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1b72db50625097ea5bc9f2c32bb6dca2f11aec2a
--- /dev/null
+++ b/humanoid/airio_proprio/.hydra/overrides.yaml
@@ -0,0 +1,9 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio_joints_imu_only_humanoid
+- modality.use_joints=true
+- train.epoch=128
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=HumanoidOdom_Joints_Train
+- dataset@eval_dataset=HumanoidOdom_Joints_Valid
+- dataset@test_dataset=HumanoidOdom_Joints_Test
diff --git a/humanoid/airio_proprio/best_model.pt b/humanoid/airio_proprio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..ebda1ea5cb803a5dde01dda3ef2ae20371e26ecf
--- /dev/null
+++ b/humanoid/airio_proprio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a214c3ef743afde1b6f25c95a8b4a1bbda41001011f42ec5ef9952faf4be1ac1
+size 1664309
diff --git a/humanoid/ssio/.hydra/config.yaml b/humanoid/ssio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..aebd1a6614b59f9f789a0391ee2aa254c6f1c246
--- /dev/null
+++ b/humanoid/ssio/.hydra/config.yaml
@@ -0,0 +1,1239 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193508
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193939
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194157
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194721
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_155255
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_160242
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_161048
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_162115
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_163655
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_164227
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_141248
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_142817
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_143729
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_172431
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_185111
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_191857
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_192546
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_152903
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_221759
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_222557
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224042
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224956
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230203
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230500
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_kick_20260614_144639
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_135200
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140145
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140517
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_183949
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184302
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184444
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193508
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193939
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194157
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194721
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_155255
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_160242
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_161048
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_162115
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_163655
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_164227
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_141248
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_142817
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_143729
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_172431
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_185111
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_191857
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_192546
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_152903
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_221759
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_222557
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224042
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224956
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230203
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230500
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_kick_20260614_144639
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_135200
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140145
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140517
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_183949
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184302
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184444
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_223451
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.FixedDvLoss
+  dv:
+  - - 1
+    - 1.0
+  - - 3
+    - 1.0
+  - - 9
+    - 1.0
+  - - 27
+    - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 50
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 1.0
+  zupt_gate: imu
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/humanoid/ssio/.hydra/hydra.yaml b/humanoid/ssio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..71ce580809a2832c0677c8153dcafb138f3dba11
--- /dev/null
+++ b/humanoid/ssio/.hydra/hydra.yaml
@@ -0,0 +1,174 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - network=airio_imu_only
+    - train.zupt_gate=imu
+    - loss=ssio_dv_1_3_9_27
+    - train.zupt_weight=1.0
+    - train.epoch=50
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=HumanoidOdom_Train
+    - dataset@val_dataset=HumanoidOdom_Valid
+    - dataset@test_dataset=HumanoidOdom_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=HumanoidOdom_Test,dataset@train_dataset=HumanoidOdom_Train,dataset@val_dataset=HumanoidOdom_Valid,loss=ssio_dv_1_3_9_27,network=airio_imu_only,train.checkpoint_every_epochs=5,train.epoch=50,train.zupt_gate=imu,train.zupt_weight=1.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/HumanoidOdom_Train/20260914_013133
+    choices:
+      loss: ssio_dv_1_3_9_27
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: HumanoidOdom_Test
+      dataset@val_dataset: HumanoidOdom_Valid
+      dataset@train_dataset: HumanoidOdom_Train
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/humanoid/ssio/.hydra/overrides.yaml b/humanoid/ssio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7458406718c4bdd7735c4d6d965feee4dfdb2282
--- /dev/null
+++ b/humanoid/ssio/.hydra/overrides.yaml
@@ -0,0 +1,9 @@
+- network=airio_imu_only
+- train.zupt_gate=imu
+- loss=ssio_dv_1_3_9_27
+- train.zupt_weight=1.0
+- train.epoch=50
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=HumanoidOdom_Train
+- dataset@val_dataset=HumanoidOdom_Valid
+- dataset@test_dataset=HumanoidOdom_Test
diff --git a/humanoid/ssio/best_model.pt b/humanoid/ssio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..bbec30ea3540c51ddf1a9544a5e14d3bc09d4ce1
--- /dev/null
+++ b/humanoid/ssio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a9b26e846608e8940391dea454bd3687ffc722f538e07af2c74aad249ef720
+size 1355061
diff --git a/humanoid/ssio_pgd/.hydra/config.yaml b/humanoid/ssio_pgd/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..84dc84daf026259fbbfb73851164926ffac57a93
--- /dev/null
+++ b/humanoid/ssio_pgd/.hydra/config.yaml
@@ -0,0 +1,1239 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193508
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193939
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194157
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194721
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_155255
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_160242
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_161048
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_162115
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_163655
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_164227
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_141248
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_142817
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_143729
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_172431
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_185111
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_191857
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_192546
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_152903
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_221759
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_222557
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224042
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224956
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230203
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230500
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_kick_20260614_144639
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_135200
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140145
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140517
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_183949
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184302
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184444
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193508
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193939
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194157
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194721
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_155255
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_160242
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_161048
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_162115
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_163655
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_164227
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_141248
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_142817
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_143729
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_172431
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_185111
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_191857
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_192546
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_152903
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_221759
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_222557
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224042
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224956
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230203
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230500
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_kick_20260614_144639
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_135200
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140145
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140517
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_183949
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184302
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184444
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_223451
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+graph:
+  _target_: Optimizer.sparse_pgo.Sparse_IMUPGOGraph
+  anchor_weight: 1000000.0
+  vel_prior_weight: 1000000.0
+  max_iter: 10
+  tol: 1.0e-05
+  obs_reject_chi2: null
+  obs_reject_all: true
+loss:
+  _target_: Loss.adapt.Adapt_MSE_Loss
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 5.0e-05
+  decay: 0.001
+  batch: 512
+  epoch: 50
+  window: 1024
+  step_size: 252
+  ema: true
+  ema_decay: 0.8
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 5
+  test_every_epochs: 1
+  label_refresh_every_steps: 1000000000
+  label_batch_windows: 64
+  label_obs_sigma: 0.2
+  dv_imu_input: corrected
+  pgo_gyro_sigma: null
+  pgo_acc_sigma: null
+  zupt_sigma: 0.0
+  zupt_weight: 0.0
+  zupt_gate: imu
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  resume_from: file:/tmp/resume.ckpt
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: 2b-humanoid-imu
diff --git a/humanoid/ssio_pgd/.hydra/hydra.yaml b/humanoid/ssio_pgd/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..25b46ae8a815da4df658edc36634f12bcec69c18
--- /dev/null
+++ b/humanoid/ssio_pgd/.hydra/hydra.yaml
@@ -0,0 +1,181 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_adapt_traj/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - train.resume_from=file:/tmp/resume.ckpt
+    - graph=sparse_imupgo
+    - loss=adapt_mse
+    - train.batch=512
+    - train.lr=5e-5
+    - train.checkpoint_every_epochs=1
+    - train.plot_every_epochs=5
+    - train.epoch=50
+    - train.label_obs_sigma=0.2
+    - train.dv_imu_input=corrected
+    - network=airio_imu_only
+    - dataset@train_dataset=HumanoidOdom_Train
+    - dataset@val_dataset=HumanoidOdom_Valid
+    - dataset@test_dataset=HumanoidOdom_Test
+    - +wandb.name=2b-humanoid-imu
+  job:
+    name: train_step2b_adapt
+    chdir: false
+    override_dirname: +wandb.name=2b-humanoid-imu,dataset@test_dataset=HumanoidOdom_Test,dataset@train_dataset=HumanoidOdom_Train,dataset@val_dataset=HumanoidOdom_Valid,graph=sparse_imupgo,loss=adapt_mse,network=airio_imu_only,train.batch=512,train.checkpoint_every_epochs=1,train.dv_imu_input=corrected,train.epoch=50,train.label_obs_sigma=0.2,train.lr=5e-5,train.plot_every_epochs=5,train.resume_from=file:/tmp/resume.ckpt
+    id: ???
+    num: ???
+    config_name: train_adapt_traj
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_adapt_traj/HumanoidOdom_Train/20260914_081613
+    choices:
+      loss: adapt_mse
+      graph: sparse_imupgo
+      network: airio_imu_only
+      scheduler: constant
+      optimizer: adamw
+      dataset@test_dataset: HumanoidOdom_Test
+      dataset@val_dataset: HumanoidOdom_Valid
+      dataset@train_dataset: HumanoidOdom_Train
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/humanoid/ssio_pgd/.hydra/overrides.yaml b/humanoid/ssio_pgd/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4c66dcf8f351fcb0412d10eee4af75776c543cf9
--- /dev/null
+++ b/humanoid/ssio_pgd/.hydra/overrides.yaml
@@ -0,0 +1,15 @@
+- train.resume_from=file:/tmp/resume.ckpt
+- graph=sparse_imupgo
+- loss=adapt_mse
+- train.batch=512
+- train.lr=5e-5
+- train.checkpoint_every_epochs=1
+- train.plot_every_epochs=5
+- train.epoch=50
+- train.label_obs_sigma=0.2
+- train.dv_imu_input=corrected
+- network=airio_imu_only
+- dataset@train_dataset=HumanoidOdom_Train
+- dataset@val_dataset=HumanoidOdom_Valid
+- dataset@test_dataset=HumanoidOdom_Test
+- +wandb.name=2b-humanoid-imu
diff --git a/humanoid/ssio_pgd/best_model.pt b/humanoid/ssio_pgd/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..99a68bbce56d26cd816c8cdd5bad5d4186777fb4
--- /dev/null
+++ b/humanoid/ssio_pgd/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4900631fd15c064234111efd6626ae3e72895a19a12ca6b024bf0581a9050f93
+size 1355061
diff --git a/humanoid/ssio_proprio/.hydra/config.yaml b/humanoid/ssio_proprio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a73420f66e6f7d903486e52578f358c7117ea561
--- /dev/null
+++ b/humanoid/ssio_proprio/.hydra/config.yaml
@@ -0,0 +1,1314 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193508
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193939
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194157
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194721
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_155255
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_160242
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_161048
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_162115
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_163655
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_164227
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_141248
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_142817
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_143729
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_172431
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_185111
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_191857
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_192546
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_152903
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_221759
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_222557
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224042
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224956
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230203
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230500
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_kick_20260614_144639
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_135200
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140145
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140517
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_183949
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184302
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184444
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193508
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_193939
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194157
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10708_navigation_20260527_194721
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_155255
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_160242
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_161048
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_162115
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_163655
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_combo_20260614_164227
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_141248
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_142817
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_dance_20260614_143729
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_172431
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_185111
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_191857
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260505_192546
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_152903
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_221759
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_222557
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224042
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_224956
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230203
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_230500
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_kick_20260614_144639
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_135200
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140145
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_sprint_20260614_140517
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_183949
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184302
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 11083_walking_20260612_184444
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.HumanoidOdom.HumanoidOdom
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/humanoid_g1
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    part: pelvis
+    joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+    debias: true
+    calibrater:
+      kind: imu
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+    gravity: ${train.gravity}
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.HumanoidOdom.HumanoidOdom
+      config:
+        data_root: ${host_env:DATA_ROOT}/humanoid_g1
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        part: pelvis
+        joints_npz_root: ${host_env:DATA_ROOT}/humanoid_g1
+        debias: true
+        calibrater:
+          kind: imu
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        gravity: ${train.gravity}
+        seq_name: 10871_humanoid_20260520_223451
+network:
+  _target_: Model.airio.JointsAirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  num_imus: 1
+  num_joints: 29
+  joint_channels:
+  - position
+  - velocity
+  - effort
+  imu_encoder_channels:
+  - 32
+  - 64
+  joint_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  fusion_hidden: 128
+  gru1_hidden: 64
+  gru2_hidden: 128
+  bidirectional: true
+  decoder_hidden: 128
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.FixedDvLoss
+  dv:
+  - - 1
+    - 1.0
+  - - 3
+    - 1.0
+  - - 9
+    - 1.0
+  - - 27
+    - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 50
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 1.0
+  zupt_gate: imu
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/humanoid/ssio_proprio/.hydra/hydra.yaml b/humanoid/ssio_proprio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2f7239c799192b9cd2469ea518a8933db81cb0d4
--- /dev/null
+++ b/humanoid/ssio_proprio/.hydra/hydra.yaml
@@ -0,0 +1,175 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - network=airio_joints_imu_only_humanoid
+    - modality.use_joints=true
+    - train.zupt_gate=imu
+    - loss=ssio_dv_1_3_9_27
+    - train.zupt_weight=1.0
+    - train.epoch=50
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=HumanoidOdom_Joints_Train
+    - dataset@val_dataset=HumanoidOdom_Joints_Valid
+    - dataset@test_dataset=HumanoidOdom_Joints_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=HumanoidOdom_Joints_Test,dataset@train_dataset=HumanoidOdom_Joints_Train,dataset@val_dataset=HumanoidOdom_Joints_Valid,loss=ssio_dv_1_3_9_27,modality.use_joints=true,network=airio_joints_imu_only_humanoid,train.checkpoint_every_epochs=5,train.epoch=50,train.zupt_gate=imu,train.zupt_weight=1.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/HumanoidOdom_Joints_Train/20260914_013241
+    choices:
+      loss: ssio_dv_1_3_9_27
+      scheduler: constant
+      optimizer: adamw
+      network: airio_joints_imu_only_humanoid
+      dataset@test_dataset: HumanoidOdom_Joints_Test
+      dataset@val_dataset: HumanoidOdom_Joints_Valid
+      dataset@train_dataset: HumanoidOdom_Joints_Train
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/humanoid/ssio_proprio/.hydra/overrides.yaml b/humanoid/ssio_proprio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3fa155bf8c3f563105fcd23c66be50f509508436
--- /dev/null
+++ b/humanoid/ssio_proprio/.hydra/overrides.yaml
@@ -0,0 +1,10 @@
+- network=airio_joints_imu_only_humanoid
+- modality.use_joints=true
+- train.zupt_gate=imu
+- loss=ssio_dv_1_3_9_27
+- train.zupt_weight=1.0
+- train.epoch=50
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=HumanoidOdom_Joints_Train
+- dataset@val_dataset=HumanoidOdom_Joints_Valid
+- dataset@test_dataset=HumanoidOdom_Joints_Test
diff --git a/humanoid/ssio_proprio/best_model.pt b/humanoid/ssio_proprio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..94e37420bde22c312a1f6fcfe82aed550c5e2d0f
--- /dev/null
+++ b/humanoid/ssio_proprio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e54c78be979129b4696da2da92eebf32bf8468b328495b29ab21bc98510eb0f
+size 1664309
diff --git a/mipo/airio/.hydra/config.yaml b/mipo/airio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..929327607b812de874e51938ab9d816a57b41c28
--- /dev/null
+++ b/mipo/airio/.hydra/config.yaml
@@ -0,0 +1,1498 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-standtrot-05-06-33square2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-036-33square-kick.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-10-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-036-33square2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230620-risqh-trot-02-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230620-risqh-trot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-032-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-10-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-12-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-032-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-trot-06-040-8figure.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-standtrot-06-06-square-2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-flyingtrot-04-04-square-more-stable.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-036-33square.h5
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-standtrot-05-06-33square3.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-036-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-036-33square-kick2.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-10-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-10-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-08-036-33square.h5
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-044-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-044-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-036-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-standtrot-04-06-square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-10-036-33square-convexmpc.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-flyingtrot-04-04-square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-08-040-33square.h5
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: false
+  use_joints: false
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 256
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 128
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/mipo/airio/.hydra/hydra.yaml b/mipo/airio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f8b7c8129fd30de575a50fac5e26574dd5a85b64
--- /dev/null
+++ b/mipo/airio/.hydra/hydra.yaml
@@ -0,0 +1,177 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio_imu_only
+    - network.num_imus=1
+    - modality.use_aux_imu=false
+    - modality.use_joints=false
+    - train.batch=256
+    - train.epoch=128
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=MIPO_Train
+    - dataset@eval_dataset=MIPO_Valid
+    - dataset@test_dataset=MIPO_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=MIPO_Valid,dataset@test_dataset=MIPO_Test,dataset@train_dataset=MIPO_Train,loss=supervised_only,modality.use_aux_imu=false,modality.use_joints=false,network.num_imus=1,network=airio_imu_only,train.batch=256,train.checkpoint_every_epochs=5,train.epoch=128,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/MIPO_Train/20260913_214829
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: MIPO_Test
+      dataset@eval_dataset: MIPO_Valid
+      dataset@train_dataset: MIPO_Train
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/mipo/airio/.hydra/overrides.yaml b/mipo/airio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5426da2c17d66ede67e57faaa79bdbd8ae230ae8
--- /dev/null
+++ b/mipo/airio/.hydra/overrides.yaml
@@ -0,0 +1,12 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio_imu_only
+- network.num_imus=1
+- modality.use_aux_imu=false
+- modality.use_joints=false
+- train.batch=256
+- train.epoch=128
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=MIPO_Train
+- dataset@eval_dataset=MIPO_Valid
+- dataset@test_dataset=MIPO_Test
diff --git a/mipo/airio/best_model.pt b/mipo/airio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..72d1f5b9a8bbdb54715d940d9de6ae57e6b3ded9
--- /dev/null
+++ b/mipo/airio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d66f571920fb4c9ef39961b9f3a10c49e60ac2f2fa9ee48f0b2e13d08a6237c3
+size 1355061
diff --git a/mipo/airio_full/.hydra/config.yaml b/mipo/airio_full/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5fdd0389fd7bab55939b0e473eef41389fee43fd
--- /dev/null
+++ b/mipo/airio_full/.hydra/config.yaml
@@ -0,0 +1,1501 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-standtrot-05-06-33square2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-036-33square-kick.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-10-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-036-33square2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230620-risqh-trot-02-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230620-risqh-trot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-032-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-10-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-12-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-032-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-trot-06-040-8figure.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-standtrot-06-06-square-2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-flyingtrot-04-04-square-more-stable.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-036-33square.h5
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-standtrot-05-06-33square3.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-036-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-036-33square-kick2.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-10-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-10-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-08-036-33square.h5
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-044-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-044-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-036-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-standtrot-04-06-square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-10-036-33square-convexmpc.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-flyingtrot-04-04-square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-08-040-33square.h5
+network:
+  _target_: Model.airio.AirIONetwork
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  ori_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: false
+  use_joints: false
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 256
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 128
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/mipo/airio_full/.hydra/hydra.yaml b/mipo/airio_full/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d0cf0b6f0d2efd19806c586286421e3170d4a027
--- /dev/null
+++ b/mipo/airio_full/.hydra/hydra.yaml
@@ -0,0 +1,177 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio
+    - network.num_imus=1
+    - modality.use_aux_imu=false
+    - modality.use_joints=false
+    - train.batch=256
+    - train.epoch=128
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=MIPO_Train
+    - dataset@eval_dataset=MIPO_Valid
+    - dataset@test_dataset=MIPO_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=MIPO_Valid,dataset@test_dataset=MIPO_Test,dataset@train_dataset=MIPO_Train,loss=supervised_only,modality.use_aux_imu=false,modality.use_joints=false,network.num_imus=1,network=airio,train.batch=256,train.checkpoint_every_epochs=5,train.epoch=128,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/MIPO_Train/20260913_215245
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio
+      dataset@test_dataset: MIPO_Test
+      dataset@eval_dataset: MIPO_Valid
+      dataset@train_dataset: MIPO_Train
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/mipo/airio_full/.hydra/overrides.yaml b/mipo/airio_full/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..410aec887fe5d29bc2e9ae63c65d2e80933a9805
--- /dev/null
+++ b/mipo/airio_full/.hydra/overrides.yaml
@@ -0,0 +1,12 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio
+- network.num_imus=1
+- modality.use_aux_imu=false
+- modality.use_joints=false
+- train.batch=256
+- train.epoch=128
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=MIPO_Train
+- dataset@eval_dataset=MIPO_Valid
+- dataset@test_dataset=MIPO_Test
diff --git a/mipo/airio_full/best_model.pt b/mipo/airio_full/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..93fc70a1c8a79f20c57b7628b199d8c1b44bc17c
--- /dev/null
+++ b/mipo/airio_full/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab1b63ace6bd32b3036b154ade7eccc295dfdb3e3fe41eb5a3d252a77bf2692f
+size 1438197
diff --git a/mipo/airio_proprio/.hydra/config.yaml b/mipo/airio_proprio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1c8c055288bdbb5a2465cd58705565610a7ebede
--- /dev/null
+++ b/mipo/airio_proprio/.hydra/config.yaml
@@ -0,0 +1,1507 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-standtrot-05-06-33square2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-036-33square-kick.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-10-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-036-33square2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230620-risqh-trot-02-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230620-risqh-trot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-032-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-10-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-12-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-032-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-trot-06-040-8figure.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-standtrot-06-06-square-2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-flyingtrot-04-04-square-more-stable.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-036-33square.h5
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-standtrot-05-06-33square3.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-036-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-036-33square-kick2.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-10-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-10-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-08-036-33square.h5
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-044-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-044-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-036-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-standtrot-04-06-square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-10-036-33square-convexmpc.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-flyingtrot-04-04-square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-08-040-33square.h5
+network:
+  _target_: Model.airio.JointsAirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  num_imus: 5
+  num_joints: 16
+  joint_channels:
+  - position
+  - velocity
+  - effort
+  imu_encoder_channels:
+  - 32
+  - 64
+  joint_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  fusion_hidden: 128
+  gru1_hidden: 64
+  gru2_hidden: 128
+  bidirectional: true
+  decoder_hidden: 128
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 256
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 128
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 5
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/mipo/airio_proprio/.hydra/hydra.yaml b/mipo/airio_proprio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..78939e75fcb31a059eada23ad74e6f91b3a7552c
--- /dev/null
+++ b/mipo/airio_proprio/.hydra/hydra.yaml
@@ -0,0 +1,176 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - network=airio_joints_imu_only
+    - modality.use_aux_imu=true
+    - modality.use_joints=true
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - train.batch=256
+    - train.epoch=128
+    - train.checkpoint_every_epochs=5
+    - dataset@train_dataset=MIPO_Train
+    - dataset@val_dataset=MIPO_Valid
+    - dataset@test_dataset=MIPO_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=MIPO_Test,dataset@train_dataset=MIPO_Train,dataset@val_dataset=MIPO_Valid,loss=supervised_only,modality.use_aux_imu=true,modality.use_joints=true,network=airio_joints_imu_only,train.batch=256,train.checkpoint_every_epochs=5,train.epoch=128,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/MIPO_Train/20260914_024945
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio_joints_imu_only
+      dataset@test_dataset: MIPO_Test
+      dataset@val_dataset: MIPO_Valid
+      dataset@train_dataset: MIPO_Train
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/mipo/airio_proprio/.hydra/overrides.yaml b/mipo/airio_proprio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..eb75946f7fb7ba7ac1e1d71dbefadd0919ed6d86
--- /dev/null
+++ b/mipo/airio_proprio/.hydra/overrides.yaml
@@ -0,0 +1,11 @@
+- network=airio_joints_imu_only
+- modality.use_aux_imu=true
+- modality.use_joints=true
+- loss=supervised_only
+- train.zupt_weight=0.0
+- train.batch=256
+- train.epoch=128
+- train.checkpoint_every_epochs=5
+- dataset@train_dataset=MIPO_Train
+- dataset@val_dataset=MIPO_Valid
+- dataset@test_dataset=MIPO_Test
diff --git a/mipo/airio_proprio/best_model.pt b/mipo/airio_proprio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..1bc197f2fd295d78c843041fa11ce2a7732b1aba
--- /dev/null
+++ b/mipo/airio_proprio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:767d981dabc6254bdeefc517f6d8141c31ca58dded679a3a575240e2fd9d46e2
+size 1650869
diff --git a/mipo/ssio/.hydra/config.yaml b/mipo/ssio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1f441ca8c3c938c17123ee99f471a777c5ba93fc
--- /dev/null
+++ b/mipo/ssio/.hydra/config.yaml
@@ -0,0 +1,1493 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-standtrot-05-06-33square2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-036-33square-kick.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-10-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-036-33square2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230620-risqh-trot-02-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230620-risqh-trot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-032-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-10-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-12-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-032-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-trot-06-040-8figure.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-standtrot-06-06-square-2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-flyingtrot-04-04-square-more-stable.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-036-33square.h5
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-standtrot-05-06-33square3.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-036-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-036-33square-kick2.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-10-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-10-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-08-036-33square.h5
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-044-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-044-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-036-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-standtrot-04-06-square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-10-036-33square-convexmpc.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-flyingtrot-04-04-square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-08-040-33square.h5
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.FixedDvLoss
+  dv:
+  - - 1
+    - 1.0
+  - - 3
+    - 1.0
+  - - 9
+    - 1.0
+modality:
+  use_aux_imu: false
+  use_joints: false
+train:
+  lr: 5.0e-05
+  decay: 1.0e-05
+  batch: 256
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 240
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 10
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.01
+  zupt_gate: imu
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/mipo/ssio/.hydra/hydra.yaml b/mipo/ssio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4694ca942f597590b17929625bf64c1bf64f7edf
--- /dev/null
+++ b/mipo/ssio/.hydra/hydra.yaml
@@ -0,0 +1,182 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - network=airio_imu_only
+    - modality.use_joints=false
+    - network.num_imus=1
+    - modality.use_aux_imu=false
+    - loss=ssio_dv_1_3_9
+    - train.zupt_gate=imu
+    - train.zupt_weight=0.01
+    - train.zupt_sched_enable=false
+    - train.lr=5.0e-5
+    - train.decay=1.0e-5
+    - train.batch=256
+    - train.ema=true
+    - train.epoch=240
+    - train.checkpoint_every_epochs=10
+    - dataset@train_dataset=MIPO_Train
+    - dataset@val_dataset=MIPO_Valid
+    - dataset@test_dataset=MIPO_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=MIPO_Test,dataset@train_dataset=MIPO_Train,dataset@val_dataset=MIPO_Valid,loss=ssio_dv_1_3_9,modality.use_aux_imu=false,modality.use_joints=false,network.num_imus=1,network=airio_imu_only,train.batch=256,train.checkpoint_every_epochs=10,train.decay=1.0e-5,train.ema=true,train.epoch=240,train.lr=5.0e-5,train.zupt_gate=imu,train.zupt_sched_enable=false,train.zupt_weight=0.01
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/MIPO_Train/20260914_000021
+    choices:
+      loss: ssio_dv_1_3_9
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: MIPO_Test
+      dataset@val_dataset: MIPO_Valid
+      dataset@train_dataset: MIPO_Train
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/mipo/ssio/.hydra/overrides.yaml b/mipo/ssio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1a1a714d2b2f1fde1546dc6364ddbcd1da96cbd8
--- /dev/null
+++ b/mipo/ssio/.hydra/overrides.yaml
@@ -0,0 +1,17 @@
+- network=airio_imu_only
+- modality.use_joints=false
+- network.num_imus=1
+- modality.use_aux_imu=false
+- loss=ssio_dv_1_3_9
+- train.zupt_gate=imu
+- train.zupt_weight=0.01
+- train.zupt_sched_enable=false
+- train.lr=5.0e-5
+- train.decay=1.0e-5
+- train.batch=256
+- train.ema=true
+- train.epoch=240
+- train.checkpoint_every_epochs=10
+- dataset@train_dataset=MIPO_Train
+- dataset@val_dataset=MIPO_Valid
+- dataset@test_dataset=MIPO_Test
diff --git a/mipo/ssio/best_model.pt b/mipo/ssio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..25ba6c707c7426f89f73d4f7e876b5776dd678a2
--- /dev/null
+++ b/mipo/ssio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d98b5da3dddc5f9dbca7ae0203e76ec3fafe2d58608f23a7768c073b1d6d4b0a
+size 1355061
diff --git a/mipo/ssio_pgd/.hydra/config.yaml b/mipo/ssio_pgd/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..21c9ea456830982dbbc37ae7011e887fafa5390c
--- /dev/null
+++ b/mipo/ssio_pgd/.hydra/config.yaml
@@ -0,0 +1,1495 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-standtrot-05-06-33square2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-036-33square-kick.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-10-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-036-33square2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230620-risqh-trot-02-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230620-risqh-trot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-032-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-10-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-12-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-032-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-trot-06-040-8figure.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-standtrot-06-06-square-2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-flyingtrot-04-04-square-more-stable.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-036-33square.h5
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-standtrot-05-06-33square3.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-036-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-036-33square-kick2.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-10-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-10-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-08-036-33square.h5
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-044-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-044-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-036-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-standtrot-04-06-square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-10-036-33square-convexmpc.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-flyingtrot-04-04-square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-08-040-33square.h5
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+graph:
+  _target_: Optimizer.sparse_pgo.Sparse_IMUPGOGraph
+  anchor_weight: 1000000.0
+  vel_prior_weight: 1000000.0
+  max_iter: 10
+  tol: 1.0e-05
+  obs_reject_chi2: null
+  obs_reject_all: true
+loss:
+  _target_: Loss.adapt.Adapt_MSE_Loss
+modality:
+  use_aux_imu: false
+  use_joints: false
+train:
+  lr: 5.0e-05
+  decay: 0.001
+  batch: 512
+  epoch: 100
+  window: 1024
+  step_size: 252
+  ema: true
+  ema_decay: 0.8
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 5
+  test_every_epochs: 1
+  label_refresh_every_steps: 1000000000
+  label_batch_windows: 64
+  label_obs_sigma: 0.5
+  dv_imu_input: corrected
+  pgo_gyro_sigma: null
+  pgo_acc_sigma: null
+  zupt_sigma: 0.0
+  zupt_weight: 0.0
+  zupt_gate: imu
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  resume_from: file:/tmp/resume.ckpt
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: 2b-mipo-imu
diff --git a/mipo/ssio_pgd/.hydra/hydra.yaml b/mipo/ssio_pgd/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ad3dfb3c99d7bcc5e8e95583d2354dbf9ca66fd2
--- /dev/null
+++ b/mipo/ssio_pgd/.hydra/hydra.yaml
@@ -0,0 +1,184 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_adapt_traj/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - train.resume_from=file:/tmp/resume.ckpt
+    - graph=sparse_imupgo
+    - loss=adapt_mse
+    - train.batch=512
+    - train.lr=5e-5
+    - train.checkpoint_every_epochs=1
+    - train.plot_every_epochs=5
+    - train.epoch=100
+    - train.label_obs_sigma=0.5
+    - train.dv_imu_input=corrected
+    - network=airio_imu_only
+    - network.num_imus=1
+    - modality.use_aux_imu=false
+    - modality.use_joints=false
+    - dataset@train_dataset=MIPO_Train
+    - dataset@val_dataset=MIPO_Valid
+    - dataset@test_dataset=MIPO_Test
+    - +wandb.name=2b-mipo-imu
+  job:
+    name: train_step2b_adapt
+    chdir: false
+    override_dirname: +wandb.name=2b-mipo-imu,dataset@test_dataset=MIPO_Test,dataset@train_dataset=MIPO_Train,dataset@val_dataset=MIPO_Valid,graph=sparse_imupgo,loss=adapt_mse,modality.use_aux_imu=false,modality.use_joints=false,network.num_imus=1,network=airio_imu_only,train.batch=512,train.checkpoint_every_epochs=1,train.dv_imu_input=corrected,train.epoch=100,train.label_obs_sigma=0.5,train.lr=5e-5,train.plot_every_epochs=5,train.resume_from=file:/tmp/resume.ckpt
+    id: ???
+    num: ???
+    config_name: train_adapt_traj
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_adapt_traj/MIPO_Train/20260914_082152
+    choices:
+      loss: adapt_mse
+      graph: sparse_imupgo
+      network: airio_imu_only
+      scheduler: constant
+      optimizer: adamw
+      dataset@test_dataset: MIPO_Test
+      dataset@val_dataset: MIPO_Valid
+      dataset@train_dataset: MIPO_Train
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/mipo/ssio_pgd/.hydra/overrides.yaml b/mipo/ssio_pgd/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f6e619ada54ca8d0caf8cb7ba4f03c280c9efcdf
--- /dev/null
+++ b/mipo/ssio_pgd/.hydra/overrides.yaml
@@ -0,0 +1,18 @@
+- train.resume_from=file:/tmp/resume.ckpt
+- graph=sparse_imupgo
+- loss=adapt_mse
+- train.batch=512
+- train.lr=5e-5
+- train.checkpoint_every_epochs=1
+- train.plot_every_epochs=5
+- train.epoch=100
+- train.label_obs_sigma=0.5
+- train.dv_imu_input=corrected
+- network=airio_imu_only
+- network.num_imus=1
+- modality.use_aux_imu=false
+- modality.use_joints=false
+- dataset@train_dataset=MIPO_Train
+- dataset@val_dataset=MIPO_Valid
+- dataset@test_dataset=MIPO_Test
+- +wandb.name=2b-mipo-imu
diff --git a/mipo/ssio_pgd/best_model.pt b/mipo/ssio_pgd/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..b4ac22eb6eb2e17a6df3437e485aae30813c85bf
--- /dev/null
+++ b/mipo/ssio_pgd/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a537d6aa258caa12890d3630ed32761bb9d981236b272c260b1e45b6869bdf0c
+size 1355061
diff --git a/mipo/ssio_proprio/.hydra/config.yaml b/mipo/ssio_proprio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..db449ed05e93e469328abcc8b0df8f21b5a5a5c2
--- /dev/null
+++ b/mipo/ssio_proprio/.hydra/config.yaml
@@ -0,0 +1,1502 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-standtrot-05-06-33square2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-036-33square-kick.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-10-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-036-33square2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230620-risqh-trot-02-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230620-risqh-trot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-08-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-032-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-10-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-12-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-048-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-044-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-032-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-trot-06-040-8figure.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-036-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-standtrot-06-06-square-2.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-flyingtrot-04-04-square-more-stable.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-04-040-33square.h5
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-036-33square.h5
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-standtrot-05-06-33square3.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-04-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-04-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-02-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-036-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-036-33square-kick2.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-10-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-10-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-08-036-33square.h5
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.MIPO.MIPO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.1
+    gyro_sigma: 0.0316227766
+    num_imus: 5
+    num_joints: 16
+    target_rate: 200.0
+    velocity_window_time: 0.1
+    calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+    debias: true
+    calibrater:
+      kind: set
+      debias_gyro: false
+    joint_norm: true
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-044-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-02-052-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 230622_robustness/230622-risqh-trot-06-044-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-02-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-08-032-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-flytrot-06-036-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-standtrot-04-06-square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-10-036-33square-convexmpc.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230620_risqh_robustness_test/230620-risqh-trot-05-048-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230615_risqh_gait_analysis/20230615-risqh-flyingtrot-04-04-square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-06-040-33square.h5
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.MIPO.MIPO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/mipo_hdf5/indoor
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.1
+        gyro_sigma: 0.0316227766
+        num_imus: 5
+        num_joints: 16
+        target_rate: 200.0
+        velocity_window_time: 0.1
+        calibration_file: ${host_env:DATA_ROOT}/mipo_hdf5/indoor/mipo_time_offsets.json
+        debias: true
+        calibrater:
+          kind: set
+          debias_gyro: false
+        joint_norm: true
+        seq_name: 20230625_gait/230625-risqh-standtrot-08-040-33square.h5
+network:
+  _target_: Model.airio.JointsAirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  num_imus: 5
+  num_joints: 16
+  joint_channels:
+  - position
+  - velocity
+  - effort
+  imu_encoder_channels:
+  - 32
+  - 64
+  joint_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  fusion_hidden: 128
+  gru1_hidden: 64
+  gru2_hidden: 128
+  bidirectional: true
+  decoder_hidden: 128
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.FixedDvLoss
+  dv:
+  - - 1
+    - 1.0
+  - - 3
+    - 1.0
+  - - 9
+    - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 5.0e-05
+  decay: 1.0e-05
+  batch: 256
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 240
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 10
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.01
+  zupt_gate: imu
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: corrected
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/mipo/ssio_proprio/.hydra/hydra.yaml b/mipo/ssio_proprio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f5a27e612f2e736566f8293b0968b0e158158760
--- /dev/null
+++ b/mipo/ssio_proprio/.hydra/hydra.yaml
@@ -0,0 +1,181 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - network=airio_joints_imu_only
+    - modality.use_aux_imu=true
+    - modality.use_joints=true
+    - loss=ssio_dv_1_3_9
+    - train.zupt_gate=imu
+    - train.zupt_weight=0.01
+    - train.zupt_sched_enable=false
+    - train.lr=5.0e-5
+    - train.decay=1.0e-5
+    - train.batch=256
+    - train.ema=true
+    - train.epoch=240
+    - train.checkpoint_every_epochs=10
+    - dataset@train_dataset=MIPO_Train
+    - dataset@val_dataset=MIPO_Valid
+    - dataset@test_dataset=MIPO_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=MIPO_Test,dataset@train_dataset=MIPO_Train,dataset@val_dataset=MIPO_Valid,loss=ssio_dv_1_3_9,modality.use_aux_imu=true,modality.use_joints=true,network=airio_joints_imu_only,train.batch=256,train.checkpoint_every_epochs=10,train.decay=1.0e-5,train.ema=true,train.epoch=240,train.lr=5.0e-5,train.zupt_gate=imu,train.zupt_sched_enable=false,train.zupt_weight=0.01
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/MIPO_Train/20260914_024944
+    choices:
+      loss: ssio_dv_1_3_9
+      scheduler: constant
+      optimizer: adamw
+      network: airio_joints_imu_only
+      dataset@test_dataset: MIPO_Test
+      dataset@val_dataset: MIPO_Valid
+      dataset@train_dataset: MIPO_Train
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/mipo/ssio_proprio/.hydra/overrides.yaml b/mipo/ssio_proprio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c2bd82e1fbed451a939722b5eb6a4493c90b9878
--- /dev/null
+++ b/mipo/ssio_proprio/.hydra/overrides.yaml
@@ -0,0 +1,16 @@
+- network=airio_joints_imu_only
+- modality.use_aux_imu=true
+- modality.use_joints=true
+- loss=ssio_dv_1_3_9
+- train.zupt_gate=imu
+- train.zupt_weight=0.01
+- train.zupt_sched_enable=false
+- train.lr=5.0e-5
+- train.decay=1.0e-5
+- train.batch=256
+- train.ema=true
+- train.epoch=240
+- train.checkpoint_every_epochs=10
+- dataset@train_dataset=MIPO_Train
+- dataset@val_dataset=MIPO_Valid
+- dataset@test_dataset=MIPO_Test
diff --git a/mipo/ssio_proprio/best_model.pt b/mipo/ssio_proprio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..69413cc18c865587f4dfcae82a31f8e9392dc29d
--- /dev/null
+++ b/mipo/ssio_proprio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2be9c4367c28999b862d2c69bbc00017da01ec01a308c3a83216ecde0e5467e
+size 1650869
diff --git a/tlio/airio/.hydra/config.yaml b/tlio/airio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5e2c721285f5281b97b70f8d6cfacf720a5411e8
--- /dev/null
+++ b/tlio/airio/.hydra/config.yaml
@@ -0,0 +1,4443 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.TLIO.TLIO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/TLIO
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '110982076486017'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '137102747096458'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '137757803662107'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '142205126653700'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '144788436387220'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '148313022698476'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '151906702337043'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '153415092184931'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '159087918361150'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '159809171378917'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '170899227130924'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '173422010020373'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '174944149865638'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '175814796595035'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '177099999646982'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '177271779632328'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '178481726332829'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '178766769632472'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '180327282813538'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '180618552655407'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '181980212494019'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183021975741183'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183235705723693'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183313009178246'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183514802503430'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '185393705495692'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '186422668691061'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '187060525471940'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '191006331605837'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '194006901252838'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '197194824451525'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '199449780892286'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '201672307146275'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '202632990569294'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '204789383499240'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '206177536862294'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '206586463503230'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '206984540025479'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '211377916252816'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '212892589322397'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '213866205895545'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '214078789388753'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '214500619346771'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '216024005672627'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '216675408946004'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '217995235471413'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '218329898777280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '219273888800642'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '220587792001869'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '220702031859866'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '223957128216501'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '227510924524449'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '232571644105129'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '232914284053409'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '233819257293750'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '233929350704306'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '234781730535787'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '234917043856503'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '235974973742781'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '236842090334013'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '239522353394313'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '240905543242042'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '241518573209930'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '241606593279794'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '242278109965859'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '244403692982726'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '247387142688203'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '247418095811976'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '249057315955347'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '249246492306263'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '252393038830012'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '253159831907410'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '255100285195542'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '255440348337240'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '258772411647271'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '258830751347976'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '260140517868983'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '262095354411409'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '263131344430229'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '264593347507584'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '273205793403065'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '278743852967446'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '281492702411216'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '283015479201305'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '283612465580242'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '283801585494713'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '288754474999503'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '289121508357014'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '290398118226413'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '291237701714275'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '293638334810125'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '296883837769733'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '297630084363793'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '308063573317258'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '308365659757530'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '308691706335906'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '311961762715673'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '312125032701948'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '313874096056086'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '314111426032770'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '314688785752136'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '315210329033243'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '320897632001904'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '321835121706293'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '322244864990513'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '322687581840578'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '325674671298318'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '329295474484338'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '333614150739207'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '335745203839619'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '336158470488467'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '339212646649141'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '340484083360296'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '344604589401698'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '360145664525832'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '360770204445616'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '368823013640377'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '380164865892065'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '385915495241998'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '387935835060549'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '394174284430856'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '395895884253666'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '396278524204344'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '396634770816386'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '397157327453493'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '397812234053716'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '399702083848716'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '400052823860790'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '400349747140686'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '406361579772961'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '407198399690538'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '407482562993340'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '411204512715412'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '412999689179780'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '419060135292223'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '429371700923189'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '431655883928014'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '433097980495445'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '441328419667446'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '453094225115113'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '453528795093790'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '461265100982031'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '466652040457332'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '467106657072642'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '470089033444391'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '480770639010144'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '486958458473336'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '487369381911326'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '490761631408385'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '496072817492636'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '508064246333280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '508743996262115'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '518832795231292'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '522301668240659'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '523512191443344'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '538097076616516'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '544387339332670'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '544792582629318'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '548083062313767'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '548773022228569'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '560945757695558'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '569629456799259'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '579961112398553'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '591570041214843'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '599336133774124'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '612926992405323'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '614178558951566'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '618089855222021'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '624569231226471'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '639127009755676'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '644791665868232'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '645060325839804'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '656803608046260'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '687428001632171'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '696837714012501'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '697631693927504'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '698073493890712'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '708793149458860'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '709069206092836'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '747995398924210'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '812267285643001'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '827938664068086'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '841161219407636'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '843819422476591'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '864853400371280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '883983968475391'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '887726401419269'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '898618183653763'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '902754549897515'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '971945506346908'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '983795435117367'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '992577124233580'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '998764646976890'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1061397214065552'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1063304483833738'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1122718257881491'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1124057587736236'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1181699808634375'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1198315403643276'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1237525139717695'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1263909867077823'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1426592494152929'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1488067567991708'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1518393548269327'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1550004588439257'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1585593578232757'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1663305670432966'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1665354546913958'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1695693057206282'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1698087453644386'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1701333893314862'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1709537415833584'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1709847209051326'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1710110305709796'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1712001452216307'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1726898184057902'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1732737526772563'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1736824643102205'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1750753748367287'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1804414336532446'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1807125206007404'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1825530650825953'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1828669440550751'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1834121153307717'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1844932992477345'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1863275357097003'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1884755498499280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1897064490314938'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1897886920503721'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1907862455938329'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1908720219163387'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1912322989063788'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1937646719869698'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1990397187698502'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1992058487774563'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1999700560343994'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2012148812203579'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2015502361795366'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2015607748755669'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2034027783581311'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2034137466605935'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2036011336651047'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2042683285993623'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2044094842567928'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2046671272326026'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2057303611184189'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2057712284468014'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2064460340495411'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2066438670291580'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2066716600217952'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2067706456873167'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2067880670191660'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2071339043144852'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2075821782451995'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2077007562567374'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2078835822358973'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2079516095645193'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2109402839307260'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2123576317684812'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2133975923526941'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2135016946812445'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2147075558879374'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2149067815413723'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2154722178095332'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2155432657865133'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2173873602837627'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2174410092814840'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2184296651788822'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2188622591189951'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2198915583516767'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2200877040234922'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2224042907609895'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2225704527456023'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2248731132017439'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2255256234792546'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2280739285490616'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2295836833760574'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2320103568006940'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2346450392095315'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2378886872127144'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2515549922059594'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2690880641137421'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2747703168661725'
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.TLIO.TLIO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/TLIO
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '175729529774207'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '177568983090293'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '178577832990152'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '181717792538459'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '203347623516637'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '225800518293160'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '244090216144221'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '249396005780014'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '254893955247638'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '273284860076442'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '309916083143792'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '313472039429513'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '326818981183534'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '344931662710357'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '471365173360928'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '479280389232627'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '555116858217612'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '598898490508449'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '656164344732269'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '864845503722445'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '985482624973242'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1078680618948414'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1502425973192089'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1525633960899208'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1687788628006357'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1697857583646075'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1826921427346163'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1843664699074684'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1951840265116479'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1969082553401908'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2015216431883514'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2046520358743583'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2106110069666399'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2200448940233752'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2246760938933792'
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.TLIO.TLIO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/TLIO
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '145820422949970'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '146734859523827'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '182009952689275'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '198123397647575'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '203487666948423'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '232871430741025'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '237500726938324'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '247823452637228'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '263070267597787'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '286510035288905'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '299905500837994'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '327734051135228'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '353903485150701'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '395135734333599'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '399195950576622'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '410916322722958'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '501321100341226'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '643495372649567'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '670410520012837'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '898972030293554'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '910410555821206'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '955615084638299'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1008221029329889'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1014753008676428'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1024599341033662'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1718648064889757'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1795239267188486'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1839497672785722'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1931177940505479'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1936963843006626'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2063273887328664'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2100421890282669'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2142509999304237'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2142577795957193'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2165220000379117'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2166453986939743'
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 40
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 10
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: raw
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/tlio/airio/.hydra/hydra.yaml b/tlio/airio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bbe74f541607411937077b9ebe5c591eb3d089d0
--- /dev/null
+++ b/tlio/airio/.hydra/hydra.yaml
@@ -0,0 +1,179 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio_imu_only
+    - train.dv_imu_input=raw
+    - train.lr=1.0e-3
+    - train.decay=1.0e-3
+    - train.batch=512
+    - train.window=1024
+    - train.ema=true
+    - train.epoch=40
+    - train.checkpoint_every_epochs=10
+    - dataset@train_dataset=TLIO_Train_Randomized
+    - dataset@eval_dataset=TLIO_Valid
+    - dataset@test_dataset=TLIO_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=TLIO_Valid,dataset@test_dataset=TLIO_Test,dataset@train_dataset=TLIO_Train_Randomized,loss=supervised_only,network=airio_imu_only,train.batch=512,train.checkpoint_every_epochs=10,train.decay=1.0e-3,train.dv_imu_input=raw,train.ema=true,train.epoch=40,train.lr=1.0e-3,train.window=1024,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/TLIO_Train_Randomized/20260913_215100
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: TLIO_Test
+      dataset@eval_dataset: TLIO_Valid
+      dataset@train_dataset: TLIO_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/tlio/airio/.hydra/overrides.yaml b/tlio/airio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..82d9f9e98838852fe8988529d9e4f399b6beec63
--- /dev/null
+++ b/tlio/airio/.hydra/overrides.yaml
@@ -0,0 +1,14 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio_imu_only
+- train.dv_imu_input=raw
+- train.lr=1.0e-3
+- train.decay=1.0e-3
+- train.batch=512
+- train.window=1024
+- train.ema=true
+- train.epoch=40
+- train.checkpoint_every_epochs=10
+- dataset@train_dataset=TLIO_Train_Randomized
+- dataset@eval_dataset=TLIO_Valid
+- dataset@test_dataset=TLIO_Test
diff --git a/tlio/airio/best_model.pt b/tlio/airio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..c91d0ae1964fee844c1b861f62fcddafc61a2a6c
--- /dev/null
+++ b/tlio/airio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2add0776fdc19a70e5a7c227d84cbe8bae7755a75d86b5f065768fba1c3e67c2
+size 1355061
diff --git a/tlio/airio_full/.hydra/config.yaml b/tlio/airio_full/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ace7b55b9eaaf543061312a9907c8164b090c59c
--- /dev/null
+++ b/tlio/airio_full/.hydra/config.yaml
@@ -0,0 +1,4446 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.TLIO.TLIO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/TLIO
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '110982076486017'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '137102747096458'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '137757803662107'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '142205126653700'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '144788436387220'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '148313022698476'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '151906702337043'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '153415092184931'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '159087918361150'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '159809171378917'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '170899227130924'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '173422010020373'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '174944149865638'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '175814796595035'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '177099999646982'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '177271779632328'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '178481726332829'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '178766769632472'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '180327282813538'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '180618552655407'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '181980212494019'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183021975741183'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183235705723693'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183313009178246'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183514802503430'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '185393705495692'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '186422668691061'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '187060525471940'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '191006331605837'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '194006901252838'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '197194824451525'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '199449780892286'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '201672307146275'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '202632990569294'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '204789383499240'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '206177536862294'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '206586463503230'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '206984540025479'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '211377916252816'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '212892589322397'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '213866205895545'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '214078789388753'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '214500619346771'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '216024005672627'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '216675408946004'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '217995235471413'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '218329898777280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '219273888800642'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '220587792001869'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '220702031859866'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '223957128216501'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '227510924524449'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '232571644105129'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '232914284053409'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '233819257293750'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '233929350704306'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '234781730535787'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '234917043856503'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '235974973742781'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '236842090334013'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '239522353394313'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '240905543242042'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '241518573209930'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '241606593279794'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '242278109965859'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '244403692982726'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '247387142688203'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '247418095811976'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '249057315955347'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '249246492306263'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '252393038830012'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '253159831907410'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '255100285195542'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '255440348337240'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '258772411647271'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '258830751347976'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '260140517868983'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '262095354411409'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '263131344430229'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '264593347507584'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '273205793403065'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '278743852967446'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '281492702411216'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '283015479201305'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '283612465580242'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '283801585494713'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '288754474999503'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '289121508357014'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '290398118226413'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '291237701714275'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '293638334810125'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '296883837769733'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '297630084363793'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '308063573317258'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '308365659757530'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '308691706335906'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '311961762715673'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '312125032701948'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '313874096056086'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '314111426032770'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '314688785752136'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '315210329033243'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '320897632001904'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '321835121706293'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '322244864990513'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '322687581840578'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '325674671298318'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '329295474484338'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '333614150739207'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '335745203839619'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '336158470488467'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '339212646649141'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '340484083360296'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '344604589401698'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '360145664525832'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '360770204445616'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '368823013640377'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '380164865892065'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '385915495241998'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '387935835060549'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '394174284430856'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '395895884253666'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '396278524204344'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '396634770816386'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '397157327453493'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '397812234053716'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '399702083848716'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '400052823860790'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '400349747140686'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '406361579772961'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '407198399690538'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '407482562993340'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '411204512715412'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '412999689179780'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '419060135292223'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '429371700923189'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '431655883928014'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '433097980495445'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '441328419667446'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '453094225115113'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '453528795093790'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '461265100982031'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '466652040457332'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '467106657072642'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '470089033444391'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '480770639010144'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '486958458473336'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '487369381911326'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '490761631408385'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '496072817492636'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '508064246333280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '508743996262115'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '518832795231292'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '522301668240659'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '523512191443344'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '538097076616516'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '544387339332670'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '544792582629318'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '548083062313767'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '548773022228569'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '560945757695558'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '569629456799259'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '579961112398553'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '591570041214843'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '599336133774124'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '612926992405323'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '614178558951566'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '618089855222021'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '624569231226471'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '639127009755676'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '644791665868232'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '645060325839804'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '656803608046260'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '687428001632171'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '696837714012501'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '697631693927504'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '698073493890712'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '708793149458860'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '709069206092836'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '747995398924210'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '812267285643001'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '827938664068086'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '841161219407636'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '843819422476591'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '864853400371280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '883983968475391'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '887726401419269'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '898618183653763'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '902754549897515'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '971945506346908'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '983795435117367'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '992577124233580'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '998764646976890'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1061397214065552'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1063304483833738'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1122718257881491'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1124057587736236'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1181699808634375'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1198315403643276'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1237525139717695'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1263909867077823'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1426592494152929'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1488067567991708'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1518393548269327'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1550004588439257'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1585593578232757'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1663305670432966'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1665354546913958'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1695693057206282'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1698087453644386'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1701333893314862'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1709537415833584'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1709847209051326'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1710110305709796'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1712001452216307'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1726898184057902'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1732737526772563'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1736824643102205'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1750753748367287'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1804414336532446'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1807125206007404'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1825530650825953'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1828669440550751'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1834121153307717'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1844932992477345'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1863275357097003'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1884755498499280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1897064490314938'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1897886920503721'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1907862455938329'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1908720219163387'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1912322989063788'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1937646719869698'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1990397187698502'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1992058487774563'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1999700560343994'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2012148812203579'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2015502361795366'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2015607748755669'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2034027783581311'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2034137466605935'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2036011336651047'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2042683285993623'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2044094842567928'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2046671272326026'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2057303611184189'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2057712284468014'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2064460340495411'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2066438670291580'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2066716600217952'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2067706456873167'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2067880670191660'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2071339043144852'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2075821782451995'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2077007562567374'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2078835822358973'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2079516095645193'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2109402839307260'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2123576317684812'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2133975923526941'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2135016946812445'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2147075558879374'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2149067815413723'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2154722178095332'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2155432657865133'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2173873602837627'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2174410092814840'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2184296651788822'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2188622591189951'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2198915583516767'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2200877040234922'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2224042907609895'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2225704527456023'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2248731132017439'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2255256234792546'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2280739285490616'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2295836833760574'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2320103568006940'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2346450392095315'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2378886872127144'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2515549922059594'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2690880641137421'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2747703168661725'
+eval_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.TLIO.TLIO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/TLIO
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '175729529774207'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '177568983090293'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '178577832990152'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '181717792538459'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '203347623516637'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '225800518293160'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '244090216144221'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '249396005780014'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '254893955247638'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '273284860076442'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '309916083143792'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '313472039429513'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '326818981183534'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '344931662710357'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '471365173360928'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '479280389232627'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '555116858217612'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '598898490508449'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '656164344732269'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '864845503722445'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '985482624973242'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1078680618948414'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1502425973192089'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1525633960899208'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1687788628006357'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1697857583646075'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1826921427346163'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1843664699074684'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1951840265116479'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1969082553401908'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2015216431883514'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2046520358743583'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2106110069666399'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2200448940233752'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2246760938933792'
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.TLIO.TLIO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/TLIO
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '145820422949970'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '146734859523827'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '182009952689275'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '198123397647575'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '203487666948423'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '232871430741025'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '237500726938324'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '247823452637228'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '263070267597787'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '286510035288905'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '299905500837994'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '327734051135228'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '353903485150701'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '395135734333599'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '399195950576622'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '410916322722958'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '501321100341226'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '643495372649567'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '670410520012837'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '898972030293554'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '910410555821206'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '955615084638299'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1008221029329889'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1014753008676428'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1024599341033662'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1718648064889757'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1795239267188486'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1839497672785722'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1931177940505479'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1936963843006626'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2063273887328664'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2100421890282669'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2142509999304237'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2142577795957193'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2165220000379117'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2166453986939743'
+network:
+  _target_: Model.airio.AirIONetwork
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  ori_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.HybridSSIOLoss
+  base_weight: 0.0
+  anchor_weight: 100.0
+  anchor_loss: Huber
+  huber_delta: 0.005
+  cov_anchor_weight: 0.01
+  covaug: true
+  cov_floor: 1.0e-06
+  base:
+    _target_: Loss.ssio.FixedDvLoss
+    dv:
+    - - 1
+      - 1.0
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 40
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 10
+  eval_plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.0
+  zupt_gate: all
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: raw
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/tlio/airio_full/.hydra/hydra.yaml b/tlio/airio_full/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b7885d8f7b47ee3348165cc4ce52be4db3ddb078
--- /dev/null
+++ b/tlio/airio_full/.hydra/hydra.yaml
@@ -0,0 +1,179 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - loss=supervised_only
+    - train.zupt_weight=0.0
+    - network=airio
+    - train.dv_imu_input=raw
+    - train.lr=1.0e-3
+    - train.decay=1.0e-3
+    - train.batch=512
+    - train.window=1024
+    - train.ema=true
+    - train.epoch=40
+    - train.checkpoint_every_epochs=10
+    - dataset@train_dataset=TLIO_Train_Randomized
+    - dataset@eval_dataset=TLIO_Valid
+    - dataset@test_dataset=TLIO_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@eval_dataset=TLIO_Valid,dataset@test_dataset=TLIO_Test,dataset@train_dataset=TLIO_Train_Randomized,loss=supervised_only,network=airio,train.batch=512,train.checkpoint_every_epochs=10,train.decay=1.0e-3,train.dv_imu_input=raw,train.ema=true,train.epoch=40,train.lr=1.0e-3,train.window=1024,train.zupt_weight=0.0
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/TLIO_Train_Randomized/20260913_215109
+    choices:
+      loss: supervised_only
+      scheduler: constant
+      optimizer: adamw
+      network: airio
+      dataset@test_dataset: TLIO_Test
+      dataset@eval_dataset: TLIO_Valid
+      dataset@train_dataset: TLIO_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/tlio/airio_full/.hydra/overrides.yaml b/tlio/airio_full/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..56d8846cf5860fe1f15190d754f78770713325f3
--- /dev/null
+++ b/tlio/airio_full/.hydra/overrides.yaml
@@ -0,0 +1,14 @@
+- loss=supervised_only
+- train.zupt_weight=0.0
+- network=airio
+- train.dv_imu_input=raw
+- train.lr=1.0e-3
+- train.decay=1.0e-3
+- train.batch=512
+- train.window=1024
+- train.ema=true
+- train.epoch=40
+- train.checkpoint_every_epochs=10
+- dataset@train_dataset=TLIO_Train_Randomized
+- dataset@eval_dataset=TLIO_Valid
+- dataset@test_dataset=TLIO_Test
diff --git a/tlio/airio_full/best_model.pt b/tlio/airio_full/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..5b45343d6ef99985303ffe9dd169565c45ccb196
--- /dev/null
+++ b/tlio/airio_full/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efb576464e28b93b1084109f5bc80ed178180ef8befb5a8885703df01e9eb765
+size 1438197
diff --git a/tlio/ssio/.hydra/config.yaml b/tlio/ssio/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..59545b14581bfa338ef4000745a5a47999814136
--- /dev/null
+++ b/tlio/ssio/.hydra/config.yaml
@@ -0,0 +1,4432 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.TLIO.TLIO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/TLIO
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '110982076486017'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '137102747096458'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '137757803662107'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '142205126653700'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '144788436387220'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '148313022698476'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '151906702337043'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '153415092184931'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '159087918361150'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '159809171378917'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '170899227130924'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '173422010020373'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '174944149865638'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '175814796595035'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '177099999646982'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '177271779632328'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '178481726332829'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '178766769632472'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '180327282813538'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '180618552655407'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '181980212494019'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183021975741183'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183235705723693'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183313009178246'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183514802503430'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '185393705495692'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '186422668691061'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '187060525471940'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '191006331605837'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '194006901252838'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '197194824451525'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '199449780892286'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '201672307146275'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '202632990569294'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '204789383499240'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '206177536862294'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '206586463503230'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '206984540025479'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '211377916252816'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '212892589322397'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '213866205895545'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '214078789388753'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '214500619346771'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '216024005672627'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '216675408946004'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '217995235471413'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '218329898777280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '219273888800642'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '220587792001869'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '220702031859866'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '223957128216501'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '227510924524449'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '232571644105129'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '232914284053409'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '233819257293750'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '233929350704306'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '234781730535787'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '234917043856503'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '235974973742781'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '236842090334013'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '239522353394313'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '240905543242042'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '241518573209930'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '241606593279794'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '242278109965859'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '244403692982726'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '247387142688203'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '247418095811976'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '249057315955347'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '249246492306263'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '252393038830012'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '253159831907410'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '255100285195542'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '255440348337240'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '258772411647271'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '258830751347976'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '260140517868983'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '262095354411409'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '263131344430229'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '264593347507584'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '273205793403065'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '278743852967446'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '281492702411216'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '283015479201305'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '283612465580242'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '283801585494713'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '288754474999503'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '289121508357014'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '290398118226413'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '291237701714275'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '293638334810125'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '296883837769733'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '297630084363793'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '308063573317258'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '308365659757530'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '308691706335906'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '311961762715673'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '312125032701948'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '313874096056086'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '314111426032770'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '314688785752136'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '315210329033243'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '320897632001904'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '321835121706293'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '322244864990513'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '322687581840578'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '325674671298318'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '329295474484338'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '333614150739207'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '335745203839619'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '336158470488467'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '339212646649141'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '340484083360296'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '344604589401698'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '360145664525832'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '360770204445616'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '368823013640377'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '380164865892065'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '385915495241998'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '387935835060549'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '394174284430856'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '395895884253666'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '396278524204344'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '396634770816386'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '397157327453493'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '397812234053716'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '399702083848716'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '400052823860790'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '400349747140686'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '406361579772961'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '407198399690538'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '407482562993340'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '411204512715412'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '412999689179780'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '419060135292223'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '429371700923189'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '431655883928014'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '433097980495445'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '441328419667446'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '453094225115113'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '453528795093790'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '461265100982031'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '466652040457332'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '467106657072642'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '470089033444391'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '480770639010144'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '486958458473336'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '487369381911326'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '490761631408385'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '496072817492636'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '508064246333280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '508743996262115'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '518832795231292'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '522301668240659'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '523512191443344'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '538097076616516'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '544387339332670'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '544792582629318'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '548083062313767'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '548773022228569'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '560945757695558'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '569629456799259'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '579961112398553'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '591570041214843'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '599336133774124'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '612926992405323'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '614178558951566'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '618089855222021'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '624569231226471'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '639127009755676'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '644791665868232'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '645060325839804'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '656803608046260'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '687428001632171'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '696837714012501'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '697631693927504'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '698073493890712'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '708793149458860'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '709069206092836'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '747995398924210'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '812267285643001'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '827938664068086'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '841161219407636'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '843819422476591'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '864853400371280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '883983968475391'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '887726401419269'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '898618183653763'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '902754549897515'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '971945506346908'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '983795435117367'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '992577124233580'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '998764646976890'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1061397214065552'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1063304483833738'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1122718257881491'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1124057587736236'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1181699808634375'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1198315403643276'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1237525139717695'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1263909867077823'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1426592494152929'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1488067567991708'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1518393548269327'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1550004588439257'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1585593578232757'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1663305670432966'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1665354546913958'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1695693057206282'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1698087453644386'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1701333893314862'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1709537415833584'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1709847209051326'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1710110305709796'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1712001452216307'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1726898184057902'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1732737526772563'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1736824643102205'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1750753748367287'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1804414336532446'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1807125206007404'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1825530650825953'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1828669440550751'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1834121153307717'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1844932992477345'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1863275357097003'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1884755498499280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1897064490314938'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1897886920503721'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1907862455938329'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1908720219163387'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1912322989063788'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1937646719869698'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1990397187698502'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1992058487774563'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1999700560343994'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2012148812203579'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2015502361795366'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2015607748755669'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2034027783581311'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2034137466605935'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2036011336651047'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2042683285993623'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2044094842567928'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2046671272326026'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2057303611184189'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2057712284468014'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2064460340495411'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2066438670291580'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2066716600217952'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2067706456873167'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2067880670191660'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2071339043144852'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2075821782451995'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2077007562567374'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2078835822358973'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2079516095645193'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2109402839307260'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2123576317684812'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2133975923526941'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2135016946812445'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2147075558879374'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2149067815413723'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2154722178095332'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2155432657865133'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2173873602837627'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2174410092814840'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2184296651788822'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2188622591189951'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2198915583516767'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2200877040234922'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2224042907609895'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2225704527456023'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2248731132017439'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2255256234792546'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2280739285490616'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2295836833760574'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2320103568006940'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2346450392095315'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2378886872127144'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2515549922059594'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2690880641137421'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2747703168661725'
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.TLIO.TLIO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/TLIO
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '175729529774207'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '177568983090293'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '178577832990152'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '181717792538459'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '203347623516637'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '225800518293160'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '244090216144221'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '249396005780014'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '254893955247638'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '273284860076442'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '309916083143792'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '313472039429513'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '326818981183534'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '344931662710357'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '471365173360928'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '479280389232627'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '555116858217612'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '598898490508449'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '656164344732269'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '864845503722445'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '985482624973242'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1078680618948414'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1502425973192089'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1525633960899208'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1687788628006357'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1697857583646075'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1826921427346163'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1843664699074684'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1951840265116479'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1969082553401908'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2015216431883514'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2046520358743583'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2106110069666399'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2200448940233752'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2246760938933792'
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.TLIO.TLIO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/TLIO
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '145820422949970'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '146734859523827'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '182009952689275'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '198123397647575'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '203487666948423'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '232871430741025'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '237500726938324'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '247823452637228'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '263070267597787'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '286510035288905'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '299905500837994'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '327734051135228'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '353903485150701'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '395135734333599'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '399195950576622'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '410916322722958'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '501321100341226'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '643495372649567'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '670410520012837'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '898972030293554'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '910410555821206'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '955615084638299'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1008221029329889'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1014753008676428'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1024599341033662'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1718648064889757'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1795239267188486'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1839497672785722'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1931177940505479'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1936963843006626'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2063273887328664'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2100421890282669'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2142509999304237'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2142577795957193'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2165220000379117'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2166453986939743'
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+loss:
+  _target_: Loss.ssio.VarianceLoss
+  weight: identity
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 0.001
+  decay: 0.001
+  batch: 512
+  labeled_ratio: 0.5
+  num_workers: 0
+  data_ratio: 1.0
+  epoch: 40
+  window: 1024
+  ema: true
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 10
+  plot_every_epochs: 10
+  test_every_epochs: 1
+  max_train_steps: null
+  zupt_weight: 0.25
+  zupt_gate: imu
+  zupt_speed_max: 0.02
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  dv_imu_input: raw
+  acc_noise_std: 0.0
+  gyro_noise_std: 0.0
+  resume_from: null
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: null
diff --git a/tlio/ssio/.hydra/hydra.yaml b/tlio/ssio/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a21897a32ee68c729d34183e5df4d7cb32129b58
--- /dev/null
+++ b/tlio/ssio/.hydra/hydra.yaml
@@ -0,0 +1,180 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_ssio/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - network=airio_imu_only
+    - train.zupt_gate=imu
+    - loss=ssio_variance
+    - train.zupt_weight=0.25
+    - train.dv_imu_input=raw
+    - train.lr=1.0e-3
+    - train.decay=1.0e-3
+    - train.batch=512
+    - train.window=1024
+    - train.ema=true
+    - train.epoch=40
+    - train.checkpoint_every_epochs=10
+    - dataset@train_dataset=TLIO_Train_Randomized
+    - dataset@val_dataset=TLIO_Valid
+    - dataset@test_dataset=TLIO_Test
+  job:
+    name: train_step1_ssio
+    chdir: false
+    override_dirname: dataset@test_dataset=TLIO_Test,dataset@train_dataset=TLIO_Train_Randomized,dataset@val_dataset=TLIO_Valid,loss=ssio_variance,network=airio_imu_only,train.batch=512,train.checkpoint_every_epochs=10,train.decay=1.0e-3,train.dv_imu_input=raw,train.ema=true,train.epoch=40,train.lr=1.0e-3,train.window=1024,train.zupt_gate=imu,train.zupt_weight=0.25
+    id: ???
+    num: ???
+    config_name: train_ssio
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_ssio/TLIO_Train_Randomized/20260913_235505
+    choices:
+      loss: ssio_variance
+      scheduler: constant
+      optimizer: adamw
+      network: airio_imu_only
+      dataset@test_dataset: TLIO_Test
+      dataset@val_dataset: TLIO_Valid
+      dataset@train_dataset: TLIO_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/tlio/ssio/.hydra/overrides.yaml b/tlio/ssio/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..979cbca974fb1601184a8a098f537762ae3891f2
--- /dev/null
+++ b/tlio/ssio/.hydra/overrides.yaml
@@ -0,0 +1,15 @@
+- network=airio_imu_only
+- train.zupt_gate=imu
+- loss=ssio_variance
+- train.zupt_weight=0.25
+- train.dv_imu_input=raw
+- train.lr=1.0e-3
+- train.decay=1.0e-3
+- train.batch=512
+- train.window=1024
+- train.ema=true
+- train.epoch=40
+- train.checkpoint_every_epochs=10
+- dataset@train_dataset=TLIO_Train_Randomized
+- dataset@val_dataset=TLIO_Valid
+- dataset@test_dataset=TLIO_Test
diff --git a/tlio/ssio/best_model.pt b/tlio/ssio/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..69961ad0ca7f07a6fca39498658ac42c43dac300
--- /dev/null
+++ b/tlio/ssio/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9b89acb38916d10a33a54b7c90665969d35e44bfa0b407e64d8a926b69bea1a
+size 1355061
diff --git a/tlio/ssio_pgd/.hydra/config.yaml b/tlio/ssio_pgd/.hydra/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c38bf3bcc276780a45263880dee340b611e572e9
--- /dev/null
+++ b/tlio/ssio_pgd/.hydra/config.yaml
@@ -0,0 +1,4440 @@
+train_dataset:
+  _outer:
+    _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+  _inner:
+    _target_: Sequence.TLIO.TLIO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/TLIO
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+  sequences:
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '110982076486017'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '137102747096458'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '137757803662107'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '142205126653700'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '144788436387220'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '148313022698476'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '151906702337043'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '153415092184931'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '159087918361150'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '159809171378917'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '170899227130924'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '173422010020373'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '174944149865638'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '175814796595035'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '177099999646982'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '177271779632328'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '178481726332829'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '178766769632472'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '180327282813538'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '180618552655407'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '181980212494019'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183021975741183'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183235705723693'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183313009178246'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '183514802503430'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '185393705495692'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '186422668691061'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '187060525471940'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '191006331605837'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '194006901252838'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '197194824451525'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '199449780892286'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '201672307146275'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '202632990569294'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '204789383499240'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '206177536862294'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '206586463503230'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '206984540025479'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '211377916252816'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '212892589322397'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '213866205895545'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '214078789388753'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '214500619346771'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '216024005672627'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '216675408946004'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '217995235471413'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '218329898777280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '219273888800642'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '220587792001869'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '220702031859866'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '223957128216501'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '227510924524449'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '232571644105129'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '232914284053409'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '233819257293750'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '233929350704306'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '234781730535787'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '234917043856503'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '235974973742781'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '236842090334013'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '239522353394313'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '240905543242042'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '241518573209930'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '241606593279794'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '242278109965859'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '244403692982726'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '247387142688203'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '247418095811976'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '249057315955347'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '249246492306263'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '252393038830012'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '253159831907410'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '255100285195542'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '255440348337240'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '258772411647271'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '258830751347976'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '260140517868983'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '262095354411409'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '263131344430229'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '264593347507584'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '273205793403065'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '278743852967446'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '281492702411216'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '283015479201305'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '283612465580242'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '283801585494713'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '288754474999503'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '289121508357014'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '290398118226413'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '291237701714275'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '293638334810125'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '296883837769733'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '297630084363793'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '308063573317258'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '308365659757530'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '308691706335906'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '311961762715673'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '312125032701948'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '313874096056086'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '314111426032770'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '314688785752136'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '315210329033243'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '320897632001904'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '321835121706293'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '322244864990513'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '322687581840578'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '325674671298318'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '329295474484338'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '333614150739207'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '335745203839619'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '336158470488467'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '339212646649141'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '340484083360296'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '344604589401698'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '360145664525832'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '360770204445616'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '368823013640377'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '380164865892065'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '385915495241998'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '387935835060549'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '394174284430856'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '395895884253666'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '396278524204344'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '396634770816386'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '397157327453493'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '397812234053716'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '399702083848716'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '400052823860790'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '400349747140686'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '406361579772961'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '407198399690538'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '407482562993340'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '411204512715412'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '412999689179780'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '419060135292223'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '429371700923189'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '431655883928014'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '433097980495445'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '441328419667446'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '453094225115113'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '453528795093790'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '461265100982031'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '466652040457332'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '467106657072642'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '470089033444391'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '480770639010144'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '486958458473336'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '487369381911326'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '490761631408385'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '496072817492636'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '508064246333280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '508743996262115'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '518832795231292'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '522301668240659'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '523512191443344'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '538097076616516'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '544387339332670'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '544792582629318'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '548083062313767'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '548773022228569'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '560945757695558'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '569629456799259'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '579961112398553'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '591570041214843'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '599336133774124'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '612926992405323'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '614178558951566'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '618089855222021'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '624569231226471'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '639127009755676'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '644791665868232'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '645060325839804'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '656803608046260'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '687428001632171'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '696837714012501'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '697631693927504'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '698073493890712'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '708793149458860'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '709069206092836'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '747995398924210'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '812267285643001'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '827938664068086'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '841161219407636'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '843819422476591'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '864853400371280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '883983968475391'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '887726401419269'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '898618183653763'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '902754549897515'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '971945506346908'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '983795435117367'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '992577124233580'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '998764646976890'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1061397214065552'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1063304483833738'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1122718257881491'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1124057587736236'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1181699808634375'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1198315403643276'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1237525139717695'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1263909867077823'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1426592494152929'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1488067567991708'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1518393548269327'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1550004588439257'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1585593578232757'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1663305670432966'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1665354546913958'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1695693057206282'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1698087453644386'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1701333893314862'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1709537415833584'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1709847209051326'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1710110305709796'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1712001452216307'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1726898184057902'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1732737526772563'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1736824643102205'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1750753748367287'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1804414336532446'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1807125206007404'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1825530650825953'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1828669440550751'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1834121153307717'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1844932992477345'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1863275357097003'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1884755498499280'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1897064490314938'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1897886920503721'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1907862455938329'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1908720219163387'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1912322989063788'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1937646719869698'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1990397187698502'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1992058487774563'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1999700560343994'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2012148812203579'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2015502361795366'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2015607748755669'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2034027783581311'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2034137466605935'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2036011336651047'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2042683285993623'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2044094842567928'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2046671272326026'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2057303611184189'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2057712284468014'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2064460340495411'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2066438670291580'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2066716600217952'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2067706456873167'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2067880670191660'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2071339043144852'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2075821782451995'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2077007562567374'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2078835822358973'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2079516095645193'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2109402839307260'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2123576317684812'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2133975923526941'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2135016946812445'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2147075558879374'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2149067815413723'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2154722178095332'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2155432657865133'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2173873602837627'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2174410092814840'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2184296651788822'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2188622591189951'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2198915583516767'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2200877040234922'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2224042907609895'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2225704527456023'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2248731132017439'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2255256234792546'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2280739285490616'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2295836833760574'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2320103568006940'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2346450392095315'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2378886872127144'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2515549922059594'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2690880641137421'
+  - _target_: Sequence.RandomWindow.RandomWindow
+    config:
+      window_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2747703168661725'
+val_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.TLIO.TLIO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/TLIO
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '175729529774207'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '177568983090293'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '178577832990152'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '181717792538459'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '203347623516637'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '225800518293160'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '244090216144221'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '249396005780014'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '254893955247638'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '273284860076442'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '309916083143792'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '313472039429513'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '326818981183534'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '344931662710357'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '471365173360928'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '479280389232627'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '555116858217612'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '598898490508449'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '656164344732269'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '864845503722445'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '985482624973242'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1078680618948414'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1502425973192089'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1525633960899208'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1687788628006357'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1697857583646075'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1826921427346163'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1843664699074684'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1951840265116479'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1969082553401908'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2015216431883514'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2046520358743583'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2106110069666399'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2200448940233752'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2246760938933792'
+test_dataset:
+  _outer:
+    _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+  _inner:
+    _target_: Sequence.TLIO.TLIO_Sequence
+  _inner_config:
+    data_root: ${host_env:DATA_ROOT}/TLIO
+    device: ${meta.device}
+    dtype: ${meta.dtype}
+    acc_sigma: 0.01
+    gyro_sigma: 0.01
+  sequences:
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '145820422949970'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '146734859523827'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '182009952689275'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '198123397647575'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '203487666948423'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '232871430741025'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '237500726938324'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '247823452637228'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '263070267597787'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '286510035288905'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '299905500837994'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '327734051135228'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '353903485150701'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '395135734333599'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '399195950576622'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '410916322722958'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '501321100341226'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '643495372649567'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '670410520012837'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '898972030293554'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '910410555821206'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '955615084638299'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1008221029329889'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1014753008676428'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1024599341033662'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1718648064889757'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1795239267188486'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1839497672785722'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1931177940505479'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '1936963843006626'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2063273887328664'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2100421890282669'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2142509999304237'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2142577795957193'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2165220000379117'
+  - _target_: Sequence.SlidingWindow.SlidingWindow
+    config:
+      window_size: ${train.window}
+      step_size: ${train.window}
+    seq:
+      _target_: Sequence.TLIO.TLIO_Sequence
+      config:
+        data_root: ${host_env:DATA_ROOT}/TLIO
+        device: ${meta.device}
+        dtype: ${meta.dtype}
+        acc_sigma: 0.01
+        gyro_sigma: 0.01
+        seq_name: '2166453986939743'
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: ${train.lr}
+  weight_decay: ${train.decay}
+  fused: true
+scheduler:
+  _target_: torch.optim.lr_scheduler.ConstantLR
+  factor: 1.0
+  total_iters: 0
+network:
+  _target_: Model.airio.AirIONetworkIMUOnly
+  k_list:
+  - 7
+  - 7
+  s_list:
+  - 3
+  - 3
+  p_list:
+  - 3
+  - 3
+  imu_encoder_channels:
+  - 32
+  - 64
+  fusion_dim: 64
+  gru1_hidden: 64
+  gru2_hidden: 128
+  decoder_hidden: 128
+  bidirectional: true
+  num_imus: 1
+  imu_input: raw
+graph:
+  _target_: Optimizer.sparse_pgo.Sparse_IMUPGOGraph
+  anchor_weight: 1000000.0
+  vel_prior_weight: 1000000.0
+  max_iter: 10
+  tol: 1.0e-05
+  obs_reject_chi2: null
+  obs_reject_all: true
+loss:
+  _target_: Loss.adapt.Adapt_MSE_Loss
+modality:
+  use_aux_imu: true
+  use_joints: true
+train:
+  lr: 5.0e-05
+  decay: 0.001
+  batch: 512
+  epoch: 7
+  window: 1024
+  step_size: 252
+  ema: true
+  ema_decay: 0.8
+  freeze_bn: false
+  gravity: 9.81007
+  checkpoint_every_epochs: 1
+  plot_every_epochs: 5
+  test_every_epochs: 1
+  label_refresh_every_steps: 1000000000
+  label_batch_windows: 64
+  label_obs_sigma: 2.0
+  dv_imu_input: raw
+  pgo_gyro_sigma: null
+  pgo_acc_sigma: null
+  zupt_sigma: 0.0
+  zupt_weight: 0.0
+  zupt_gate: imu
+  zupt_sched_enable: false
+  zupt_sched_start: null
+  zupt_sched_end: null
+  resume_from: file:/tmp/resume.ckpt
+meta:
+  device: ${as_device:'cuda:0'}
+  dtype: ${as_dtype:'fp32'}
+wandb:
+  project: SSIO
+  mode: online
+  name: 2b-tlio-imu
diff --git a/tlio/ssio_pgd/.hydra/hydra.yaml b/tlio/ssio_pgd/.hydra/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..096a45aed431590b4d6eeecf59911b55d358278b
--- /dev/null
+++ b/tlio/ssio_pgd/.hydra/hydra.yaml
@@ -0,0 +1,181 @@
+hydra:
+  run:
+    dir: ${host_env:EXP_DIR,./experiments}/train_adapt_traj/${hydra:runtime.choices.dataset@train_dataset}/${now:%Y%m%d_%H%M%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath:
+  - file://${host_env:IMUNET_ROOT}/Config
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - train.resume_from=file:/tmp/resume.ckpt
+    - graph=sparse_imupgo
+    - loss=adapt_mse
+    - train.batch=512
+    - train.lr=5e-5
+    - train.checkpoint_every_epochs=1
+    - train.plot_every_epochs=5
+    - train.epoch=7
+    - train.label_obs_sigma=2.0
+    - train.dv_imu_input=raw
+    - network=airio_imu_only
+    - dataset@train_dataset=TLIO_Train_Randomized
+    - dataset@val_dataset=TLIO_Valid
+    - dataset@test_dataset=TLIO_Test
+    - +wandb.name=2b-tlio-imu
+  job:
+    name: train_step2b_adapt
+    chdir: false
+    override_dirname: +wandb.name=2b-tlio-imu,dataset@test_dataset=TLIO_Test,dataset@train_dataset=TLIO_Train_Randomized,dataset@val_dataset=TLIO_Valid,graph=sparse_imupgo,loss=adapt_mse,network=airio_imu_only,train.batch=512,train.checkpoint_every_epochs=1,train.dv_imu_input=raw,train.epoch=7,train.label_obs_sigma=2.0,train.lr=5e-5,train.plot_every_epochs=5,train.resume_from=file:/tmp/resume.ckpt
+    id: ???
+    num: ???
+    config_name: train_adapt_traj
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: ./Config
+      schema: file
+      provider: main
+    - path: ./Config
+      schema: file
+      provider: hydra.searchpath in main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ./experiments/train_adapt_traj/TLIO_Train_Randomized/20260914_081806
+    choices:
+      loss: adapt_mse
+      graph: sparse_imupgo
+      network: airio_imu_only
+      scheduler: constant
+      optimizer: adamw
+      dataset@test_dataset: TLIO_Test
+      dataset@val_dataset: TLIO_Valid
+      dataset@train_dataset: TLIO_Train_Randomized
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/tlio/ssio_pgd/.hydra/overrides.yaml b/tlio/ssio_pgd/.hydra/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..edfd1ef7ab138121582e3513a06a1e3a3ce77615
--- /dev/null
+++ b/tlio/ssio_pgd/.hydra/overrides.yaml
@@ -0,0 +1,15 @@
+- train.resume_from=file:/tmp/resume.ckpt
+- graph=sparse_imupgo
+- loss=adapt_mse
+- train.batch=512
+- train.lr=5e-5
+- train.checkpoint_every_epochs=1
+- train.plot_every_epochs=5
+- train.epoch=7
+- train.label_obs_sigma=2.0
+- train.dv_imu_input=raw
+- network=airio_imu_only
+- dataset@train_dataset=TLIO_Train_Randomized
+- dataset@val_dataset=TLIO_Valid
+- dataset@test_dataset=TLIO_Test
+- +wandb.name=2b-tlio-imu
diff --git a/tlio/ssio_pgd/best_model.pt b/tlio/ssio_pgd/best_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..3a5bb10bbfc3bda643b13f82f5daa0e0b38f4c22
--- /dev/null
+++ b/tlio/ssio_pgd/best_model.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10f4b1ae9a710ee592e4f7812fe908acc4bb708aa994cb7f9d0ed0e4f4bb6208
+size 1355061