upload checkpoints 705-768/3326

checkpoints/torch/fb-flowbc/cube-single-play-v0-pixels__s0__2026-05-20-05-16-00-cube-single-play-v0-fb-flowbc-s0/config.yaml

@@ -0,0 +1,78 @@
+domain: cube-single-play-v0
+obs_type: pixels
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: true
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: visual-cube-single__fb_flowbc__s0__full1M_amsks
+wandb_entity: amsks
+wandb_group: null
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 256
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1.0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 0
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+frame_stack: 3
+obs_normalizer:
+  name: RGBNormalizerConfig
+rgb_encoder:
+  name: drq
+  feature_dim: 256
+augmentator:
+  name: random_shifts
+  pad: 2

checkpoints/torch/fb-flowbc/cube-single-play-v0-pixels__s1__2026-05-20-05-40-13-cube-single-play-v0-fb-flowbc-s1/config.yaml

@@ -0,0 +1,78 @@
+domain: cube-single-play-v0
+obs_type: pixels
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: true
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: visual-cube-single__fb_flowbc__s1__full1M_amsks
+wandb_entity: amsks
+wandb_group: null
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 256
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1.0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 0
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+frame_stack: 3
+obs_normalizer:
+  name: RGBNormalizerConfig
+rgb_encoder:
+  name: drq
+  feature_dim: 256
+augmentator:
+  name: random_shifts
+  pad: 2

checkpoints/torch/fb-flowbc/cube-single-play-v0-pixels__s2__2026-05-20-05-40-16-cube-single-play-v0-fb-flowbc-s2/config.yaml

@@ -0,0 +1,78 @@
+domain: cube-single-play-v0
+obs_type: pixels
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: true
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: visual-cube-single__fb_flowbc__s2__full1M_amsks
+wandb_entity: amsks
+wandb_group: null
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 256
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1.0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 0
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+frame_stack: 3
+obs_normalizer:
+  name: RGBNormalizerConfig
+rgb_encoder:
+  name: drq
+  feature_dim: 256
+augmentator:
+  name: random_shifts
+  pad: 2

checkpoints/torch/fb-flowbc/cube-single-play-v0-pixels__s3__2026-05-20-05-40-19-cube-single-play-v0-fb-flowbc-s3/config.yaml

@@ -0,0 +1,78 @@
+domain: cube-single-play-v0
+obs_type: pixels
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 3
+device: cuda
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: true
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: visual-cube-single__fb_flowbc__s3__full1M_amsks
+wandb_entity: amsks
+wandb_group: null
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 256
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1.0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 0
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+frame_stack: 3
+obs_normalizer:
+  name: RGBNormalizerConfig
+rgb_encoder:
+  name: drq
+  feature_dim: 256
+augmentator:
+  name: random_shifts
+  pad: 2

checkpoints/torch/fb-flowbc/cube-single-play-v0-pixels__s4__2026-05-20-05-40-22-cube-single-play-v0-fb-flowbc-s4/config.yaml

@@ -0,0 +1,78 @@
+domain: cube-single-play-v0
+obs_type: pixels
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 4
+device: cuda
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: true
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: visual-cube-single__fb_flowbc__s4__full1M_amsks
+wandb_entity: amsks
+wandb_group: null
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 256
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1.0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 0
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+frame_stack: 3
+obs_normalizer:
+  name: RGBNormalizerConfig
+rgb_encoder:
+  name: drq
+  feature_dim: 256
+augmentator:
+  name: random_shifts
+  pad: 2

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__20260607-062100-fb-state-encmatch-s0/config.yaml

@@ -0,0 +1,80 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_state_encmatch_s0
+wandb_entity: amsks
+wandb_group: fb_state_encmatch
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 256
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+weight_diag: false
+weight_z: false
+onestep: false
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 0
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+rgb_encoder:
+  name: mlp
+  feature_dim: 256
+  hidden_dim: 1100
+  hidden_layers: 5

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__20260607-070225-fb-state-plain-s0/config.yaml

@@ -0,0 +1,78 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+resume: true
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_state_plain_s0
+wandb_entity: amsks
+wandb_group: fb_state_plain
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+weight_diag: false
+weight_z: false
+onestep: false
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__20260618-083115-fb-iql-ontraj-flow-s0/config.yaml

@@ -0,0 +1,88 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_iql_ontraj_flow_s0
+wandb_entity: amsks
+wandb_group: fb_iql_ontraj_flow
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 1.0
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 1
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__a0-cubexyz-s0/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_a0_cubexyz_s0
+wandb_entity: amsks
+wandb_group: fb_bridge_a0_cubexyz
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: false
+d_norm: false
+critic_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: cube_xyz
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__decpl-s0/config.yaml

@@ -0,0 +1,89 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_decouple_s0
+wandb_entity: amsks
+wandb_group: fb_cube_decouple
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: perm
+decouple_actor_z: true
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__diql-s0/config.yaml

@@ -0,0 +1,89 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_decouple_iql_s0
+wandb_entity: amsks
+wandb_group: fb_cube_decouple_iql
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: true
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__dzher-s0/config.yaml

@@ -0,0 +1,89 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_decouple_zher_traj_s0
+wandb_entity: amsks
+wandb_group: fb_cube_decouple_zher_traj
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: true
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__herlb-s0/config.yaml

@@ -0,0 +1,88 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_her_learnedB_r1_s0
+wandb_entity: amsks
+wandb_group: fb_cube_her_learnedB_r1
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 1.0
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__hernrm-s0/config.yaml

@@ -0,0 +1,88 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_her_idnorm_r1_s0
+wandb_entity: amsks
+wandb_group: fb_cube_her_idnorm_r1
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 1.0
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: identity_norm
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__iqllb-s0/config.yaml

@@ -0,0 +1,88 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_iql_learnedB_r1_s0
+wandb_entity: amsks
+wandb_group: fb_cube_iql_learnedB_r1
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 1.0
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__r0-base-s0/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_r0_base_s0
+wandb_entity: amsks
+wandb_group: fb_bridge_r0_base
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: false
+d_norm: false
+critic_goal_mix:
+- 0.5
+- 0.2
+- 0.3
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: goal_match
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__r1-decond-s0/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_r1_decond_s0
+wandb_entity: amsks
+wandb_group: fb_bridge_r1_decond
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: true
+d_norm: false
+critic_goal_mix:
+- 0.5
+- 0.2
+- 0.3
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: goal_match
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__r2-dnorm-s0/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_r2_dnorm_s0
+wandb_entity: amsks
+wandb_group: fb_bridge_r2_dnorm
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: false
+d_norm: true
+critic_goal_mix:
+- 0.5
+- 0.2
+- 0.3
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: goal_match
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__r3-allon-s0/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 0
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_r3_allon_s0
+wandb_entity: amsks
+wandb_group: fb_bridge_r3_allon
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: true
+d_norm: true
+critic_goal_mix:
+- 0.5
+- 0.2
+- 0.3
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: goal_match
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__20260607-062100-fb-state-encmatch-s1/config.yaml

@@ -0,0 +1,80 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_state_encmatch_s1
+wandb_entity: amsks
+wandb_group: fb_state_encmatch
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 256
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+weight_diag: false
+weight_z: false
+onestep: false
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 0
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+rgb_encoder:
+  name: mlp
+  feature_dim: 256
+  hidden_dim: 1100
+  hidden_layers: 5

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__20260607-070225-fb-state-plain-s1/config.yaml

@@ -0,0 +1,78 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+resume: true
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_state_plain_s1
+wandb_entity: amsks
+wandb_group: fb_state_plain
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+weight_diag: false
+weight_z: false
+onestep: false
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__20260618-083115-fb-iql-ontraj-flow-s1/config.yaml

@@ -0,0 +1,88 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_iql_ontraj_flow_s1
+wandb_entity: amsks
+wandb_group: fb_iql_ontraj_flow
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 1.0
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 1
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__a0-cubexyz-s1/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_a0_cubexyz_s1
+wandb_entity: amsks
+wandb_group: fb_bridge_a0_cubexyz
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: false
+d_norm: false
+critic_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: cube_xyz
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__decpl-s1/config.yaml

@@ -0,0 +1,89 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_decouple_s1
+wandb_entity: amsks
+wandb_group: fb_cube_decouple
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: perm
+decouple_actor_z: true
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__diql-s1/config.yaml

@@ -0,0 +1,89 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_decouple_iql_s1
+wandb_entity: amsks
+wandb_group: fb_cube_decouple_iql
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: true
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__dzher-s1/config.yaml

@@ -0,0 +1,89 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_decouple_zher_traj_s1
+wandb_entity: amsks
+wandb_group: fb_cube_decouple_zher_traj
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: true
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__herlb-s1/config.yaml

@@ -0,0 +1,88 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_her_learnedB_r1_s1
+wandb_entity: amsks
+wandb_group: fb_cube_her_learnedB_r1
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 1.0
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__hernrm-s1/config.yaml

@@ -0,0 +1,88 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_her_idnorm_r1_s1
+wandb_entity: amsks
+wandb_group: fb_cube_her_idnorm_r1
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 1.0
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: identity_norm
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__iqllb-s1/config.yaml

@@ -0,0 +1,88 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_iql_learnedB_r1_s1
+wandb_entity: amsks
+wandb_group: fb_cube_iql_learnedB_r1
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 1.0
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__r0-base-s1/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_r0_base_s1
+wandb_entity: amsks
+wandb_group: fb_bridge_r0_base
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: false
+d_norm: false
+critic_goal_mix:
+- 0.5
+- 0.2
+- 0.3
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: goal_match
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__r1-decond-s1/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_r1_decond_s1
+wandb_entity: amsks
+wandb_group: fb_bridge_r1_decond
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: true
+d_norm: false
+critic_goal_mix:
+- 0.5
+- 0.2
+- 0.3
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: goal_match
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__r2-dnorm-s1/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_r2_dnorm_s1
+wandb_entity: amsks
+wandb_group: fb_bridge_r2_dnorm
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: false
+d_norm: true
+critic_goal_mix:
+- 0.5
+- 0.2
+- 0.3
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: goal_match
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s1__r3-allon-s1/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 1
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_r3_allon_s1
+wandb_entity: amsks
+wandb_group: fb_bridge_r3_allon
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: true
+d_norm: true
+critic_goal_mix:
+- 0.5
+- 0.2
+- 0.3
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: goal_match
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__20260607-062100-fb-state-encmatch-s2/config.yaml

@@ -0,0 +1,80 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_state_encmatch_s2
+wandb_entity: amsks
+wandb_group: fb_state_encmatch
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 256
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+weight_diag: false
+weight_z: false
+onestep: false
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 0
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+rgb_encoder:
+  name: mlp
+  feature_dim: 256
+  hidden_dim: 1100
+  hidden_layers: 5

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__20260607-070225-fb-state-plain-s2/config.yaml

@@ -0,0 +1,78 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+resume: true
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_state_plain_s2
+wandb_entity: amsks
+wandb_group: fb_state_plain
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+weight_diag: false
+weight_z: false
+onestep: false
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__20260618-083115-fb-iql-ontraj-flow-s2/config.yaml

@@ -0,0 +1,88 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_iql_ontraj_flow_s2
+wandb_entity: amsks
+wandb_group: fb_iql_ontraj_flow
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 1.0
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 1
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__a0-cubexyz-s2/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_a0_cubexyz_s2
+wandb_entity: amsks
+wandb_group: fb_bridge_a0_cubexyz
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: false
+d_norm: false
+critic_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: cube_xyz
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__decpl-s2/config.yaml

@@ -0,0 +1,89 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_decouple_s2
+wandb_entity: amsks
+wandb_group: fb_cube_decouple
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: perm
+decouple_actor_z: true
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__diql-s2/config.yaml

@@ -0,0 +1,89 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_decouple_iql_s2
+wandb_entity: amsks
+wandb_group: fb_cube_decouple_iql
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: true
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__dzher-s2/config.yaml

@@ -0,0 +1,89 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_decouple_zher_traj_s2
+wandb_entity: amsks
+wandb_group: fb_cube_decouple_zher_traj
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: true
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__herlb-s2/config.yaml

@@ -0,0 +1,88 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_her_learnedB_r1_s2
+wandb_entity: amsks
+wandb_group: fb_cube_her_learnedB_r1
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 1.0
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__hernrm-s2/config.yaml

@@ -0,0 +1,88 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_her_idnorm_r1_s2
+wandb_entity: amsks
+wandb_group: fb_cube_her_idnorm_r1
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 1.0
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+critic_mode: measure
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: identity_norm
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__iqllb-s2/config.yaml

@@ -0,0 +1,88 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_cube_iql_learnedB_r1_s2
+wandb_entity: amsks
+wandb_group: fb_cube_iql_learnedB_r1
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 1.0
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__r0-base-s2/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_r0_base_s2
+wandb_entity: amsks
+wandb_group: fb_bridge_r0_base
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: false
+d_norm: false
+critic_goal_mix:
+- 0.5
+- 0.2
+- 0.3
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: goal_match
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__r1-decond-s2/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_r1_decond_s2
+wandb_entity: amsks
+wandb_group: fb_bridge_r1_decond
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: true
+d_norm: false
+critic_goal_mix:
+- 0.5
+- 0.2
+- 0.3
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: goal_match
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__r2-dnorm-s2/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_r2_dnorm_s2
+wandb_entity: amsks
+wandb_group: fb_bridge_r2_dnorm
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: false
+d_norm: true
+critic_goal_mix:
+- 0.5
+- 0.2
+- 0.3
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: goal_match
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s2__r3-allon-s2/config.yaml

@@ -0,0 +1,100 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 2
+device: cuda
+resume: false
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_bridge_r3_allon_s2
+wandb_entity: amsks
+wandb_group: fb_bridge_r3_allon
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0003
+lr_b: 0.0003
+lr_actor: 0.0003
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 0
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+reweight_mode: coverage
+iwr_c: 0.03
+iwr_sigma: 0.05
+iwr_eps: 0.1
+weight_diag: false
+weight_z: false
+train_goal_mode: traj
+decouple_actor_z: false
+critic_mode: iql
+iql_expectile: 0.9
+iql_thresh: 0.04
+onestep: false
+decondition_F: true
+d_norm: true
+critic_goal_mix:
+- 0.5
+- 0.2
+- 0.3
+actor_goal_mix:
+- 1.0
+- 0.0
+- 0.0
+iql_reward: goal_match
+goal_cond: false
+fixed_b: none
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s3__20260607-062100-fb-state-encmatch-s3/config.yaml

@@ -0,0 +1,80 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 3
+device: cuda
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_state_encmatch_s3
+wandb_entity: amsks
+wandb_group: fb_state_encmatch
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 256
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+weight_diag: false
+weight_z: false
+onestep: false
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 0
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+rgb_encoder:
+  name: mlp
+  feature_dim: 256
+  hidden_dim: 1100
+  hidden_layers: 5

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s3__20260607-070225-fb-state-plain-s3/config.yaml

@@ -0,0 +1,78 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1500000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 3
+device: cuda
+resume: true
+resume_from: null
+force: false
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_state_plain_s3
+wandb_entity: amsks
+wandb_group: fb_state_plain
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 50
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+weight_diag: false
+weight_z: false
+onestep: false
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s4__20260607-062100-fb-state-encmatch-s4/config.yaml

@@ -0,0 +1,80 @@
+domain: cube-single-play-v0
+obs_type: state
+data_path: /dev/shm/factored-fb/datasets
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 1000000
+batch_size: 256
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 4
+device: cuda
+eval_n_episodes: 10
+eval_relabel_size: 10000
+eval_shift_reward: 1.0
+save_eval_videos: false
+use_wandb: true
+wandb_project: factored-fb
+wandb_run_name: fb_state_encmatch_s4
+wandb_entity: amsks
+wandb_group: fb_state_encmatch
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: fb_flowbc
+z_dim: 50
+L_dim: 256
+actor_encode_obs: false
+discount: 0.99
+lr_f: 0.0001
+lr_b: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+ortho_coef: 1000
+train_goal_ratio: 0.5
+fb_pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.0
+actor_std: 0.2
+stddev_clip: 0.3
+f_target_tau: 0.005
+b_target_tau: 0.005
+bc_coeff: 3.0
+q_loss_coef: 0.0
+reweight_alpha: 0.0
+reweight_clip: 10.0
+reweight_density_path: analysis/cube_density.npz
+weight_diag: false
+weight_z: false
+onestep: false
+amp: false
+forward:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  num_parallel: 2
+backward:
+  hidden_dim: 512
+  hidden_layers: 4
+  norm: true
+left_encoder:
+  hidden_dim: 512
+  hidden_layers: 0
+  norm: true
+actor:
+  name: noise_conditioned_actor
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+rgb_encoder:
+  name: mlp
+  feature_dim: 256
+  hidden_dim: 1100
+  hidden_layers: 5