upload checkpoints 641-704/3326

checkpoints/torch/fb-flowbc/cube-single-play-v0-state__s0__20260602-165934-gcfb-smoke-L256-s0/config.yaml

@@ -0,0 +1,77 @@
+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: 2000
+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: gcfb_smoke_L256_s0
+wandb_entity: amsks
+wandb_group: gcfb_smoke_L256
+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
+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__20260602-165934-gcfb-smoke-baseline-s0/config.yaml

@@ -0,0 +1,77 @@
+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: 2000
+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: gcfb_smoke_baseline_s0
+wandb_entity: amsks
+wandb_group: gcfb_smoke_baseline
+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
+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__20260602-165934-gcfb-smoke-v1-s0/config.yaml

@@ -0,0 +1,77 @@
+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: 2000
+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: gcfb_smoke_v1_s0
+wandb_entity: amsks
+wandb_group: gcfb_smoke_v1
+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
+goal_cond: true
+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__20260602-170331-gcfb-smoke-v2recheck-s0/config.yaml

@@ -0,0 +1,77 @@
+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: 2000
+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: gcfb_smoke_v2recheck_s0
+wandb_entity: amsks
+wandb_group: gcfb_smoke_v2recheck
+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
+goal_cond: false
+fixed_b: cube_xyz
+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__20260602-203933-fb-state-v1-s0/config.yaml

@@ -0,0 +1,77 @@
+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_v1_s0
+wandb_entity: amsks
+wandb_group: fb_state_v1
+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
+goal_cond: true
+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__20260603-020044-fb-state-v2-s0/config.yaml

@@ -0,0 +1,77 @@
+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_v2_s0
+wandb_entity: amsks
+wandb_group: fb_state_v2
+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
+goal_cond: false
+fixed_b: cube_xyz
+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__20260603-064553-fb-state-L256-s0/config.yaml

@@ -0,0 +1,75 @@
+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_L256_s0
+wandb_entity: amsks
+wandb_group: fb_state_L256
+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__20260602-203933-fb-state-v1-s1/config.yaml

@@ -0,0 +1,77 @@
+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_v1_s1
+wandb_entity: amsks
+wandb_group: fb_state_v1
+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
+goal_cond: true
+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__20260603-020044-fb-state-v2-s1/config.yaml

@@ -0,0 +1,77 @@
+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_v2_s1
+wandb_entity: amsks
+wandb_group: fb_state_v2
+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
+goal_cond: false
+fixed_b: cube_xyz
+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__20260603-064553-fb-state-L256-s1/config.yaml

@@ -0,0 +1,75 @@
+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_L256_s1
+wandb_entity: amsks
+wandb_group: fb_state_L256
+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__20260602-203933-fb-state-v1-s2/config.yaml

@@ -0,0 +1,77 @@
+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_v1_s2
+wandb_entity: amsks
+wandb_group: fb_state_v1
+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
+goal_cond: true
+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__20260603-020044-fb-state-v2-s2/config.yaml

@@ -0,0 +1,77 @@
+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_v2_s2
+wandb_entity: amsks
+wandb_group: fb_state_v2
+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
+goal_cond: false
+fixed_b: cube_xyz
+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__20260603-064553-fb-state-L256-s2/config.yaml

@@ -0,0 +1,75 @@
+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_L256_s2
+wandb_entity: amsks
+wandb_group: fb_state_L256
+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__s3__20260602-203933-fb-state-v1-s3/config.yaml

@@ -0,0 +1,77 @@
+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_v1_s3
+wandb_entity: amsks
+wandb_group: fb_state_v1
+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
+goal_cond: true
+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__20260603-020044-fb-state-v2-s3/config.yaml

@@ -0,0 +1,77 @@
+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_v2_s3
+wandb_entity: amsks
+wandb_group: fb_state_v2
+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
+goal_cond: false
+fixed_b: cube_xyz
+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__20260603-064553-fb-state-L256-s3/config.yaml

@@ -0,0 +1,75 @@
+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_L256_s3
+wandb_entity: amsks
+wandb_group: fb_state_L256
+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__20260602-203933-fb-state-v1-s4/config.yaml

@@ -0,0 +1,77 @@
+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_v1_s4
+wandb_entity: amsks
+wandb_group: fb_state_v1
+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
+goal_cond: true
+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__s4__20260603-020044-fb-state-v2-s4/config.yaml

@@ -0,0 +1,77 @@
+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_v2_s4
+wandb_entity: amsks
+wandb_group: fb_state_v2
+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
+goal_cond: false
+fixed_b: cube_xyz
+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__20260603-064553-fb-state-L256-s4/config.yaml

@@ -0,0 +1,75 @@
+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_L256_s4
+wandb_entity: amsks
+wandb_group: fb_state_L256
+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__s5__20260602-203933-fb-state-v1-s5/config.yaml

@@ -0,0 +1,77 @@
+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: 5
+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_v1_s5
+wandb_entity: amsks
+wandb_group: fb_state_v1
+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
+goal_cond: true
+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__s5__20260603-020044-fb-state-v2-s5/config.yaml

@@ -0,0 +1,77 @@
+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: 5
+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_v2_s5
+wandb_entity: amsks
+wandb_group: fb_state_v2
+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
+goal_cond: false
+fixed_b: cube_xyz
+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__s5__20260603-064553-fb-state-L256-s5/config.yaml

@@ -0,0 +1,75 @@
+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: 5
+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_L256_s5
+wandb_entity: amsks
+wandb_group: fb_state_L256
+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__s6__20260602-203933-fb-state-v1-s6/config.yaml

@@ -0,0 +1,77 @@
+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: 6
+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_v1_s6
+wandb_entity: amsks
+wandb_group: fb_state_v1
+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
+goal_cond: true
+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__s6__20260603-020044-fb-state-v2-s6/config.yaml

@@ -0,0 +1,77 @@
+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: 6
+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_v2_s6
+wandb_entity: amsks
+wandb_group: fb_state_v2
+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
+goal_cond: false
+fixed_b: cube_xyz
+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__s6__20260603-064553-fb-state-L256-s6/config.yaml

@@ -0,0 +1,75 @@
+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: 6
+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_L256_s6
+wandb_entity: amsks
+wandb_group: fb_state_L256
+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__s7__20260602-203933-fb-state-v1-s7/config.yaml

@@ -0,0 +1,77 @@
+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: 7
+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_v1_s7
+wandb_entity: amsks
+wandb_group: fb_state_v1
+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
+goal_cond: true
+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__s7__20260603-020044-fb-state-v2-s7/config.yaml

@@ -0,0 +1,77 @@
+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: 7
+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_v2_s7
+wandb_entity: amsks
+wandb_group: fb_state_v2
+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
+goal_cond: false
+fixed_b: cube_xyz
+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__s7__20260603-064553-fb-state-L256-s7/config.yaml

@@ -0,0 +1,75 @@
+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: 7
+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_L256_s7
+wandb_entity: amsks
+wandb_group: fb_state_L256
+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__s8__20260602-203933-fb-state-v1-s8/config.yaml

@@ -0,0 +1,77 @@
+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: 8
+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_v1_s8
+wandb_entity: amsks
+wandb_group: fb_state_v1
+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
+goal_cond: true
+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__s8__20260603-020044-fb-state-v2-s8/config.yaml

@@ -0,0 +1,77 @@
+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: 8
+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_v2_s8
+wandb_entity: amsks
+wandb_group: fb_state_v2
+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
+goal_cond: false
+fixed_b: cube_xyz
+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__s8__20260603-064553-fb-state-L256-s8/config.yaml

@@ -0,0 +1,75 @@
+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: 8
+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_L256_s8
+wandb_entity: amsks
+wandb_group: fb_state_L256
+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__s9__20260602-203933-fb-state-v1-s9/config.yaml

@@ -0,0 +1,77 @@
+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: 9
+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_v1_s9
+wandb_entity: amsks
+wandb_group: fb_state_v1
+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
+goal_cond: true
+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__s9__20260603-020044-fb-state-v2-s9/config.yaml

@@ -0,0 +1,77 @@
+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: 9
+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_v2_s9
+wandb_entity: amsks
+wandb_group: fb_state_v2
+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
+goal_cond: false
+fixed_b: cube_xyz
+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__s9__20260603-064553-fb-state-L256-s9/config.yaml

@@ -0,0 +1,75 @@
+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: 9
+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_L256_s9
+wandb_entity: amsks
+wandb_group: fb_state_L256
+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/psm-flowbc/cube-single-play-v0-pixels__s0__20260603-070822-psm-smoke-pixel-s0/config.yaml

@@ -0,0 +1,75 @@
+domain: cube-single-play-v0
+obs_type: pixels
+data_path: /dev/shm/factored-fb/datasets_visual
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 2000
+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: psm_smoke_pixel_s0
+wandb_entity: amsks
+wandb_group: psm_smoke_pixel
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 50
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.99
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+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/psm-flowbc/cube-single-play-v0-pixels__s0__20260604-052341-psm-pixel-s0/config.yaml

@@ -0,0 +1,75 @@
+domain: cube-single-play-v0
+obs_type: pixels
+data_path: /dev/shm/factored-fb/datasets_pixel
+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
+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: psm_pixel_s0
+wandb_entity: amsks
+wandb_group: psm_pixel
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 50
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.99
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+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/psm-flowbc/cube-single-play-v0-pixels__s1__20260604-052341-psm-pixel-s1/config.yaml

@@ -0,0 +1,75 @@
+domain: cube-single-play-v0
+obs_type: pixels
+data_path: /dev/shm/factored-fb/datasets_pixel
+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
+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: psm_pixel_s1
+wandb_entity: amsks
+wandb_group: psm_pixel
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 50
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.99
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+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/psm-flowbc/cube-single-play-v0-pixels__s2__20260604-052341-psm-pixel-s2/config.yaml

@@ -0,0 +1,75 @@
+domain: cube-single-play-v0
+obs_type: pixels
+data_path: /dev/shm/factored-fb/datasets_pixel
+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
+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: psm_pixel_s2
+wandb_entity: amsks
+wandb_group: psm_pixel
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 50
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.99
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+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/psm-flowbc/cube-single-play-v0-pixels__s3__20260604-052341-psm-pixel-s3/config.yaml

@@ -0,0 +1,75 @@
+domain: cube-single-play-v0
+obs_type: pixels
+data_path: /dev/shm/factored-fb/datasets_pixel
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+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: psm_pixel_s3
+wandb_entity: amsks
+wandb_group: psm_pixel
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 50
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.99
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+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/psm-flowbc/cube-single-play-v0-pixels__s4__20260604-052341-psm-pixel-s4/config.yaml

@@ -0,0 +1,75 @@
+domain: cube-single-play-v0
+obs_type: pixels
+data_path: /dev/shm/factored-fb/datasets_pixel
+n_transitions: null
+load_n_episodes: 1000
+num_train_steps: 500000
+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: psm_pixel_s4
+wandb_entity: amsks
+wandb_group: psm_pixel
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 50
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.99
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+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/psm-flowbc/cube-single-play-v0-state__s0__20260603-054406-psm-smoke-state-s0/config.yaml

@@ -0,0 +1,67 @@
+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: 2000
+batch_size: 1024
+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: psm_smoke_state_s0
+wandb_entity: amsks
+wandb_group: psm_smoke_state
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 128
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.98
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+lr_b: 0.0001

checkpoints/torch/psm-flowbc/cube-single-play-v0-state__s0__20260603-071856-psm-flowbc-state-s0/config.yaml

@@ -0,0 +1,67 @@
+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: 1024
+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: psm_flowbc_state_s0
+wandb_entity: amsks
+wandb_group: psm_flowbc_state
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 128
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.98
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+lr_b: 0.0001

checkpoints/torch/psm-flowbc/cube-single-play-v0-state__s1__20260603-071856-psm-flowbc-state-s1/config.yaml

@@ -0,0 +1,67 @@
+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: 1024
+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: psm_flowbc_state_s1
+wandb_entity: amsks
+wandb_group: psm_flowbc_state
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 128
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.98
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+lr_b: 0.0001

checkpoints/torch/psm-flowbc/cube-single-play-v0-state__s2__20260603-071856-psm-flowbc-state-s2/config.yaml

@@ -0,0 +1,67 @@
+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: 1024
+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: psm_flowbc_state_s2
+wandb_entity: amsks
+wandb_group: psm_flowbc_state
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 128
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.98
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+lr_b: 0.0001

checkpoints/torch/psm-flowbc/cube-single-play-v0-state__s3__20260603-071856-psm-flowbc-state-s3/config.yaml

@@ -0,0 +1,67 @@
+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: 1024
+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: psm_flowbc_state_s3
+wandb_entity: amsks
+wandb_group: psm_flowbc_state
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 128
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.98
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+lr_b: 0.0001

checkpoints/torch/psm-flowbc/cube-single-play-v0-state__s4__20260603-071856-psm-flowbc-state-s4/config.yaml

@@ -0,0 +1,67 @@
+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: 1024
+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: psm_flowbc_state_s4
+wandb_entity: amsks
+wandb_group: psm_flowbc_state
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 128
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.98
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+lr_b: 0.0001

checkpoints/torch/psm-flowbc/cube-single-play-v0-state__s5__20260603-071856-psm-flowbc-state-s5/config.yaml

@@ -0,0 +1,67 @@
+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: 1024
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 5
+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: psm_flowbc_state_s5
+wandb_entity: amsks
+wandb_group: psm_flowbc_state
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 128
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.98
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+lr_b: 0.0001

checkpoints/torch/psm-flowbc/cube-single-play-v0-state__s6__20260603-071856-psm-flowbc-state-s6/config.yaml

@@ -0,0 +1,67 @@
+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: 1024
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 6
+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: psm_flowbc_state_s6
+wandb_entity: amsks
+wandb_group: psm_flowbc_state
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 128
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.98
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+lr_b: 0.0001

checkpoints/torch/psm-flowbc/cube-single-play-v0-state__s7__20260603-071856-psm-flowbc-state-s7/config.yaml

@@ -0,0 +1,67 @@
+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: 1024
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 7
+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: psm_flowbc_state_s7
+wandb_entity: amsks
+wandb_group: psm_flowbc_state
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 128
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.98
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+lr_b: 0.0001

checkpoints/torch/psm-flowbc/cube-single-play-v0-state__s8__20260603-071856-psm-flowbc-state-s8/config.yaml

@@ -0,0 +1,67 @@
+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: 1024
+eval_every: 50000
+log_every: 1000
+save_every: 200000
+seed: 8
+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: psm_flowbc_state_s8
+wandb_entity: amsks
+wandb_group: psm_flowbc_state
+wandb_tags: []
+wandb_save_code: true
+save_dir: ${hydra:runtime.output_dir}/checkpoints
+eval_videos_dir: ${hydra:runtime.output_dir}/eval_videos
+agent: psm_flowbc
+z_dim: 128
+norm_z: true
+max_log_seed: 16
+phi_input: s
+norm_obs: false
+discount: 0.98
+phi:
+  hidden_dim: 256
+  hidden_layers: 2
+  norm: true
+  batch_norm: false
+sf:
+  hidden_dim: 1024
+  hidden_layers: 1
+  embedding_layers: 2
+  num_parallel: 2
+actor:
+  hidden_dim: 512
+  hidden_layers: 2
+  embedding_layers: 2
+  name: noise_conditioned_actor
+lr_sf: 0.0001
+lr_phi: 0.0001
+lr_actor: 0.0001
+weight_decay: 0.0
+clip_grad_norm: 0.0
+target_tau: 0.01
+ortho_coef: 1.0
+mix_ratio: 0.5
+pessimism_penalty: 0.0
+actor_pessimism_penalty: 0.5
+stddev: 0.2
+stddev_clip: 0.3
+amp: false
+bc_coeff: 3.0
+flow_steps: 10
+lr_actor_vf: 0.0003
+actor_vf:
+  hidden_dim: 512
+  hidden_layers: 4
+lr_b: 0.0001