Upload folder using huggingface_hub

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/_modelbest/LeWMGGFieldCotrainModel.pth.tar

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ffaccb69a2917c66a9c89313001768aabc01a4ad8026de5027ec9a5c0b6e9b41
+oid sha256:379fee5d592e04a342415f472123baf5a768910f9fb4f2e639aa835d604324b6
 size 248099107

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/_modelbest/best_score.txt

@@ -1 +1 @@
-0.9867034352858856
+0.9899111411941923

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/_modelbest/random_state.pkl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:11555128531c4e98c6de578bed88db81a947d57164571fea8c1c63c312e2c494
+oid sha256:572ce35f3a960506a46345e91da8ad25dd943e76b936ff9e0541a18d08cebfb8
 size 12762

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/_modelbest/train_param.pth.tar

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b780d2954f901e4e21b39cbea8e3f74b33c6f82798bea0583b7c80f11450df37
+oid sha256:f839769c5aa08d1ebf0636be8776be9d6dac3c43f1d7213cfedef1b1e92d9eb1
 size 494923198

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/checkpoint/LeWMGGFieldCotrainModel.pth.tar

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:53bb076bd5ff2a2aad7696bc5cd310e4fb0714bfec63af9d46111c9327eb0525
+oid sha256:77012591ba675fe30f4dd5abd75308a79528be20a2d224c4ef4edc84e48638eb
 size 248099107

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/checkpoint/random_state.pkl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a18ce0a2bbc374b9be6c53f4a7ca342ecb69e4e0d1906ae0556e36d72f3f8c17
+oid sha256:a2490479137f69fc6501a6b13f80fd89a310fa860caa2e5fad74b100394405a4
 size 12762

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/checkpoint/train_param.pth.tar

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2067c96d9bbe76efe76457e0e5a4c34091239f1ab570fab0d6d3faff5b438b49
+oid sha256:2f9403c1f6e0965c70a070d62f04bb266943947c58d80d3a9f2b02ab238b1147
 size 494923198

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/checkpoint_70/LeWMGGFieldCotrainModel.pth.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4ccd378758289748065547760e2135651b072108756a556075240560500bd51
+size 248099107

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/checkpoint_70/random_state.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4acf67fcefbbc369ebf049c160e40ceb6e55dbe2498c00c5a0f8ef1528566ba
+size 12762

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/checkpoint_70/train_param.pth.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4204673df7d67fca1b320a265cf6de751e1684176020dbc9697adbbc5f8eaa9a
+size 494923198

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/checkpoint_80/LeWMGGFieldCotrainModel.pth.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:379fee5d592e04a342415f472123baf5a768910f9fb4f2e639aa835d604324b6
+size 248099107

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/checkpoint_80/random_state.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:572ce35f3a960506a46345e91da8ad25dd943e76b936ff9e0541a18d08cebfb8
+size 12762

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/checkpoint_80/train_param.pth.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f839769c5aa08d1ebf0636be8776be9d6dac3c43f1d7213cfedef1b1e92d9eb1
+size 494923198

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/evaluations/LeWMGGFieldCotrainModel-train_Loss.txt

@@ -1298,3 +1298,383 @@ Epoch 64 | LeWMGGFieldCotrainModel-train loss metric:
  'wm_tc_var_resid': 0.06322715803980827,
  'wm_tc_var_total': 0.9971051754770576}
 
+Epoch 65 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.08332332824483688,
+ 'l_boundary': 0.0015055823117423918,
+ 'l_dir': 0.026308444381151565,
+ 'l_grip': 0.006856828283246964,
+ 'l_lang': 5.380357478527117e-05,
+ 'l_mc': 0.0038722381675217288,
+ 'l_rank': 0.14287317592056345,
+ 'l_reg_m': 3552.4879983983615,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.0034427580019143855,
+ 'l_vec': 0.050158055582543985,
+ 'l_wm': 0.1121179108083944,
+ 'loss': 0.27572530713874543,
+ 'wm_pred_loss': 0.026057250375573156,
+ 'wm_sigreg_loss': 0.9562295236360239,
+ 'wm_tc_var_persist': 0.9341836383834423,
+ 'wm_tc_var_resid': 0.06302641142985932,
+ 'wm_tc_var_total': 0.9972100512990691}
+
+Epoch 66 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.08384054454934968,
+ 'l_boundary': 0.0015186398736960417,
+ 'l_dir': 0.026596422850766768,
+ 'l_grip': 0.006806424085837814,
+ 'l_lang': 8.224772082295543e-05,
+ 'l_mc': 0.0038874635648649142,
+ 'l_rank': 0.14304880815982124,
+ 'l_reg_m': 3484.752804054824,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.0034456281057116847,
+ 'l_vec': 0.05043769770950543,
+ 'l_wm': 0.11192491366473617,
+ 'loss': 0.27618271777775966,
+ 'wm_pred_loss': 0.026003158587875417,
+ 'wm_sigreg_loss': 0.9546861309369714,
+ 'wm_tc_var_persist': 0.9346078971712506,
+ 'wm_tc_var_resid': 0.06296324216061297,
+ 'wm_tc_var_total': 0.9975711419772545}
+
+Epoch 67 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.08108356861027995,
+ 'l_boundary': 0.0014942450138184437,
+ 'l_dir': 0.025793731578622116,
+ 'l_grip': 0.006377475969138651,
+ 'l_lang': 4.735084016676521e-05,
+ 'l_mc': 0.0038941311040722876,
+ 'l_rank': 0.14201453765165714,
+ 'l_reg_m': 3392.708704848234,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.003464654239767923,
+ 'l_vec': 0.048912360981570605,
+ 'l_wm': 0.11138998767803152,
+ 'loss': 0.27235753054400824,
+ 'wm_pred_loss': 0.025686405157010844,
+ 'wm_sigreg_loss': 0.9522619909001695,
+ 'wm_tc_var_persist': 0.9341249299536419,
+ 'wm_tc_var_resid': 0.06291952209931287,
+ 'wm_tc_var_total': 0.997044455390496}
+
+Epoch 68 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.08033927604701037,
+ 'l_boundary': 0.0015200850275682162,
+ 'l_dir': 0.025474805308774055,
+ 'l_grip': 0.006339386396066119,
+ 'l_lang': 5.3672848795818825e-05,
+ 'l_mc': 0.003884972714101497,
+ 'l_rank': 0.141779902938333,
+ 'l_reg_m': 3347.688321243464,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.003485441850208413,
+ 'l_vec': 0.04852508426669275,
+ 'l_wm': 0.11093941787511458,
+ 'loss': 0.271085981004201,
+ 'wm_pred_loss': 0.025516892285068097,
+ 'wm_sigreg_loss': 0.9491391381980844,
+ 'wm_tc_var_persist': 0.9341584041076876,
+ 'wm_tc_var_resid': 0.06300036310207403,
+ 'wm_tc_var_total': 0.9971587708951898}
+
+Epoch 69 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.0791790136190472,
+ 'l_boundary': 0.0015027491409607423,
+ 'l_dir': 0.025215886555003286,
+ 'l_grip': 0.005905421792714763,
+ 'l_lang': 3.309114296253374e-05,
+ 'l_mc': 0.0038466030758522915,
+ 'l_rank': 0.140845681131176,
+ 'l_reg_m': 3273.0794815479085,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.0034861140354474868,
+ 'l_vec': 0.04805770531615627,
+ 'l_wm': 0.11069724975508939,
+ 'loss': 0.2691511156378089,
+ 'wm_pred_loss': 0.025375599811643595,
+ 'wm_sigreg_loss': 0.9480182967993072,
+ 'wm_tc_var_persist': 0.9341814359106443,
+ 'wm_tc_var_resid': 0.06297414700576767,
+ 'wm_tc_var_total': 0.997155583264299}
+
+Epoch 70 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.077785855209897,
+ 'l_boundary': 0.0015109820378145225,
+ 'l_dir': 0.024766973140087804,
+ 'l_grip': 0.005713160304119471,
+ 'l_lang': 3.3580859990877455e-05,
+ 'l_mc': 0.0038345768594306236,
+ 'l_rank': 0.13992028619644706,
+ 'l_reg_m': 3238.7092693640566,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.0035051627268974854,
+ 'l_vec': 0.04730572180409376,
+ 'l_wm': 0.11025047879158754,
+ 'loss': 0.266863989429947,
+ 'wm_pred_loss': 0.025174518824275946,
+ 'wm_sigreg_loss': 0.9452884070836153,
+ 'wm_tc_var_persist': 0.9344012291398958,
+ 'wm_tc_var_resid': 0.06273256202413183,
+ 'wm_tc_var_total': 0.9971337927222715}
+
+Epoch 71 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.07734911909493607,
+ 'l_boundary': 0.0014723396094473793,
+ 'l_dir': 0.024503946266271146,
+ 'l_grip': 0.005851523924426812,
+ 'l_lang': 5.897750661925373e-05,
+ 'l_mc': 0.0038441959397091823,
+ 'l_rank': 0.13961791805922985,
+ 'l_reg_m': 3162.639614713795,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.0035064942479778646,
+ 'l_vec': 0.04699364872033262,
+ 'l_wm': 0.10989029056135319,
+ 'loss': 0.26590088766488584,
+ 'wm_pred_loss': 0.025028872716780535,
+ 'wm_sigreg_loss': 0.9429046080849978,
+ 'wm_tc_var_persist': 0.9343514556086945,
+ 'wm_tc_var_resid': 0.06274349094234435,
+ 'wm_tc_var_total': 0.9970949497436271}
+
+Epoch 72 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.07544117273422182,
+ 'l_boundary': 0.0014980554788548712,
+ 'l_dir': 0.024130271896285072,
+ 'l_grip': 0.00540568745938785,
+ 'l_lang': 4.785449521779479e-05,
+ 'l_mc': 0.00384845661456019,
+ 'l_rank': 0.1390060647263949,
+ 'l_reg_m': 3093.7763643376093,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.0035187177374100148,
+ 'l_vec': 0.04590521343342293,
+ 'l_wm': 0.10954545362189354,
+ 'loss': 0.26337881603709457,
+ 'wm_pred_loss': 0.02483242421487078,
+ 'wm_sigreg_loss': 0.9412558471878215,
+ 'wm_tc_var_persist': 0.9345146697666858,
+ 'wm_tc_var_resid': 0.06277769288693189,
+ 'wm_tc_var_total': 0.9972923640379182}
+
+Epoch 73 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.0746642714402555,
+ 'l_boundary': 0.0015002101747142893,
+ 'l_dir': 0.023749079957517436,
+ 'l_grip': 0.005391390313659105,
+ 'l_lang': 4.003702204273481e-05,
+ 'l_mc': 0.0038144312525378245,
+ 'l_rank': 0.13922753390142195,
+ 'l_reg_m': 3061.6652703786176,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.003522568327512462,
+ 'l_vec': 0.04552380103936803,
+ 'l_wm': 0.10932166050351315,
+ 'loss': 0.2624569264483359,
+ 'wm_pred_loss': 0.02469029774932836,
+ 'wm_sigreg_loss': 0.9403484408029786,
+ 'wm_tc_var_persist': 0.9347479125984912,
+ 'wm_tc_var_resid': 0.0625064893904711,
+ 'wm_tc_var_total': 0.9972544044604097}
+
+Epoch 74 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.07445324953746935,
+ 'l_boundary': 0.0014750719618424593,
+ 'l_dir': 0.02355576958144917,
+ 'l_grip': 0.005802579481797456,
+ 'l_lang': 4.03921500845237e-05,
+ 'l_mc': 0.003809838884388702,
+ 'l_rank': 0.13836082291394355,
+ 'l_reg_m': 3016.735437296708,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.003553302884772275,
+ 'l_vec': 0.04509490024631821,
+ 'l_wm': 0.10878484025742526,
+ 'loss': 0.2612769110164522,
+ 'wm_pred_loss': 0.024510198019097054,
+ 'wm_sigreg_loss': 0.9363848789076861,
+ 'wm_tc_var_persist': 0.9344385393282783,
+ 'wm_tc_var_resid': 0.06254250983841689,
+ 'wm_tc_var_total': 0.9969810533268443}
+
+Epoch 75 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.07299634702648634,
+ 'l_boundary': 0.0014805652589094645,
+ 'l_dir': 0.023245941064816967,
+ 'l_grip': 0.005275897562148171,
+ 'l_lang': 3.4939709655332056e-05,
+ 'l_mc': 0.0037937023496193672,
+ 'l_rank': 0.13764340929860966,
+ 'l_reg_m': 2984.8923726953885,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.003556138507891374,
+ 'l_vec': 0.044474508388670966,
+ 'l_wm': 0.10838640791432867,
+ 'loss': 0.2590523355926753,
+ 'wm_pred_loss': 0.02433044288908983,
+ 'wm_sigreg_loss': 0.9339551320915556,
+ 'wm_tc_var_persist': 0.9347237312608192,
+ 'wm_tc_var_resid': 0.062479836714058996,
+ 'wm_tc_var_total': 0.9972035709754038}
+
+Epoch 76 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.07204390652042883,
+ 'l_boundary': 0.0014746605155272464,
+ 'l_dir': 0.022957338505797814,
+ 'l_grip': 0.004924318008696005,
+ 'l_lang': 3.029172478459146e-05,
+ 'l_mc': 0.0037952988011697272,
+ 'l_rank': 0.13740082396781397,
+ 'l_reg_m': 2920.2469912280367,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.0035664485577232992,
+ 'l_vec': 0.04416224989199337,
+ 'l_wm': 0.10810777356536472,
+ 'loss': 0.2577036463072096,
+ 'wm_pred_loss': 0.024208914405206065,
+ 'wm_sigreg_loss': 0.9322095114433347,
+ 'wm_tc_var_persist': 0.9349192384384022,
+ 'wm_tc_var_resid': 0.06244729911176495,
+ 'wm_tc_var_total': 0.9973665408007366}
+
+Epoch 77 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.07138672034375747,
+ 'l_boundary': 0.0014509656851574894,
+ 'l_dir': 0.022696886851238485,
+ 'l_grip': 0.004997301299433845,
+ 'l_lang': 3.568020794307142e-05,
+ 'l_mc': 0.0038007360965499094,
+ 'l_rank': 0.13663918983756568,
+ 'l_reg_m': 2870.020781164503,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.003581561396851527,
+ 'l_vec': 0.04369253226726204,
+ 'l_wm': 0.10771582054575825,
+ 'loss': 0.25627323925669093,
+ 'wm_pred_loss': 0.024025144532018483,
+ 'wm_sigreg_loss': 0.9298963655177721,
+ 'wm_tc_var_persist': 0.9346412182550022,
+ 'wm_tc_var_resid': 0.06227420049027362,
+ 'wm_tc_var_total': 0.9969154201476954}
+
+Epoch 78 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.07083649424553382,
+ 'l_boundary': 0.0014634685544319748,
+ 'l_dir': 0.0225606631117978,
+ 'l_grip': 0.004962188323323217,
+ 'l_lang': 6.593974675363509e-05,
+ 'l_mc': 0.0037731089915061943,
+ 'l_rank': 0.13660052467268033,
+ 'l_reg_m': 2845.65641458118,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.0035832335659237544,
+ 'l_vec': 0.04331364267748501,
+ 'l_wm': 0.1074484915106561,
+ 'loss': 0.2554380288093934,
+ 'wm_pred_loss': 0.02391009394565039,
+ 'wm_sigreg_loss': 0.9282043834836566,
+ 'wm_tc_var_persist': 0.934939624792407,
+ 'wm_tc_var_resid': 0.06221787442710497,
+ 'wm_tc_var_total': 0.9971575073694905}
+
+Epoch 79 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.06928951109139836,
+ 'l_boundary': 0.001445138888118303,
+ 'l_dir': 0.022162981548777813,
+ 'l_grip': 0.004459664316251745,
+ 'l_lang': 3.6070542464630736e-05,
+ 'l_mc': 0.003764700104440798,
+ 'l_rank': 0.13556229021646632,
+ 'l_reg_m': 2783.983110836044,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.0035994805435012257,
+ 'l_vec': 0.042666865190208424,
+ 'l_wm': 0.10711378673751067,
+ 'loss': 0.2530117974641954,
+ 'wm_pred_loss': 0.0236975790657364,
+ 'wm_sigreg_loss': 0.926846718741762,
+ 'wm_tc_var_persist': 0.9351615706886299,
+ 'wm_tc_var_resid': 0.06206975726171574,
+ 'wm_tc_var_total': 0.997231330505141}
+
+Epoch 80 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.07065262671574545,
+ 'l_boundary': 0.0015536689878747607,
+ 'l_dir': 0.022343807357294552,
+ 'l_grip': 0.00523816734416674,
+ 'l_lang': 8.05561336492701e-05,
+ 'l_mc': 0.003777983213379863,
+ 'l_rank': 0.13561689677550404,
+ 'l_reg_m': 2746.2797516700357,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.003633405930355394,
+ 'l_vec': 0.04307065220325026,
+ 'l_wm': 0.10699037475518679,
+ 'loss': 0.25445678675047156,
+ 'wm_pred_loss': 0.023696019573332852,
+ 'wm_sigreg_loss': 0.925492801554936,
+ 'wm_tc_var_persist': 0.9348529180084221,
+ 'wm_tc_var_resid': 0.062130449549929176,
+ 'wm_tc_var_total': 0.9969833701385135}
+
+Epoch 81 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.06790458751617702,
+ 'l_boundary': 0.0014477320958360585,
+ 'l_dir': 0.021703189657457492,
+ 'l_grip': 0.00419337564433215,
+ 'l_lang': 3.437135160797897e-05,
+ 'l_mc': 0.0037556205210747045,
+ 'l_rank': 0.13410768820270028,
+ 'l_reg_m': 2694.6072879301437,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.003618284348980071,
+ 'l_vec': 0.042008022183429174,
+ 'l_wm': 0.10637769442964852,
+ 'loss': 0.2501749486629833,
+ 'wm_pred_loss': 0.023422718720314914,
+ 'wm_sigreg_loss': 0.9217219185736393,
+ 'wm_tc_var_persist': 0.9351367455860057,
+ 'wm_tc_var_resid': 0.06181614949994862,
+ 'wm_tc_var_total': 0.9969528981915707}
+
+Epoch 82 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.06763218612145588,
+ 'l_boundary': 0.001440916943586031,
+ 'l_dir': 0.02139699313035851,
+ 'l_grip': 0.004806669578515769,
+ 'l_lang': 2.9289860245992906e-05,
+ 'l_mc': 0.0037495845793800767,
+ 'l_rank': 0.13435642132789244,
+ 'l_reg_m': 2661.473447807104,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.003626185446453973,
+ 'l_vec': 0.041428523464309565,
+ 'l_wm': 0.10587033904103221,
+ 'loss': 0.2495120676082164,
+ 'wm_pred_loss': 0.023242685617697843,
+ 'wm_sigreg_loss': 0.9180850040471972,
+ 'wm_tc_var_persist': 0.9353253381029641,
+ 'wm_tc_var_resid': 0.0618404313479822,
+ 'wm_tc_var_total': 0.9971657730494028}
+
+Epoch 83 | LeWMGGFieldCotrainModel-train loss metric:
+ {'l_act': 0.0671281162178296,
+ 'l_boundary': 0.0014155643955831134,
+ 'l_dir': 0.021370816493863493,
+ 'l_grip': 0.004496682456174808,
+ 'l_lang': 6.679226481564555e-05,
+ 'l_mc': 0.0037412781072218796,
+ 'l_rank': 0.13386403675760045,
+ 'l_reg_m': 2617.7044138630076,
+ 'l_reg_w': 0.0,
+ 'l_td': 0.0036169063557638763,
+ 'l_vec': 0.041260617288691986,
+ 'l_wm': 0.10567653624174196,
+ 'loss': 0.2485438161294052,
+ 'wm_pred_loss': 0.023141376741215993,
+ 'wm_sigreg_loss': 0.9170572949058815,
+ 'wm_tc_var_persist': 0.9352343370594404,
+ 'wm_tc_var_resid': 0.06176996314064654,
+ 'wm_tc_var_total': 0.9970043055162355}
+

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/evaluations/LeWMGGFieldCotrainModel-val_Metric.txt

@@ -250,3 +250,57 @@ Epoch 64 | LeWMGGFieldCotrainModel-val metric:
 {'g_cosavg': 0.9867034373866344}
 {'act_mseavg': 0.15538699131113062}
 
+Epoch 69 | LeWMGGFieldCotrainModel-val metric:
+{'copy_mse': 0.07496066125797177,
+ 'delta_r2': 0.7278352317966302,
+ 'emb_batch_std': 0.9978961701722026,
+ 'emb_eff_rank_frac': 0.3188518455924306,
+ 'emb_norm': 19.621247734494702,
+ 'emb_time_std': 0.20119744962385322,
+ 'pred_vs_copy_ratio': 0.2695554671944349,
+ 'time_batch_std_ratio': 0.2016253490925426}
+
+Epoch 69 | LeWMGGFieldCotrainModel-val metric:
+{'rank_accavg': 0.9962827836465235}
+{'ttg_maeavg': 0.05668208056434742}
+{'lang_accavg': 0.9994493011656258}
+{'act_cosavg': 0.9874414880457737}
+{'g_cosavg': 0.9874414859450248}
+{'act_mseavg': 0.13969359382214627}
+
+Epoch 74 | LeWMGGFieldCotrainModel-val metric:
+{'copy_mse': 0.07360162064479257,
+ 'delta_r2': 0.7365724069495945,
+ 'emb_batch_std': 0.9971944046068103,
+ 'emb_eff_rank_frac': 0.32274072965998246,
+ 'emb_norm': 19.606124689124886,
+ 'emb_time_std': 0.19968624929789464,
+ 'pred_vs_copy_ratio': 0.26086495484054856,
+ 'time_batch_std_ratio': 0.20025124159955254}
+
+Epoch 74 | LeWMGGFieldCotrainModel-val metric:
+{'rank_accavg': 0.9966269704687822}
+{'ttg_maeavg': 0.054798456085452835}
+{'lang_accavg': 0.999655813313141}
+{'act_cosavg': 0.9884371858236589}
+{'g_cosavg': 0.9884371858236589}
+{'act_mseavg': 0.13271800692915023}
+
+Epoch 79 | LeWMGGFieldCotrainModel-val metric:
+{'copy_mse': 0.0737817693793282,
+ 'delta_r2': 0.7417656393769013,
+ 'emb_batch_std': 0.9987358774495172,
+ 'emb_eff_rank_frac': 0.32551921573485826,
+ 'emb_norm': 19.637037337880802,
+ 'emb_time_std': 0.19965118331546308,
+ 'pred_vs_copy_ratio': 0.25569465255026663,
+ 'time_batch_std_ratio': 0.19990852538045178}
+
+Epoch 79 | LeWMGGFieldCotrainModel-val metric:
+{'rank_accavg': 0.9973841811798719}
+{'ttg_maeavg': 0.05504883648784718}
+{'lang_accavg': 0.9991739518161387}
+{'act_cosavg': 0.9899111411941923}
+{'g_cosavg': 0.9899111411941923}
+{'act_mseavg': 0.11732913566998296}
+

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13.log

@@ -255,3 +255,62 @@
 2026-09-27 13:19:47,630 [   INFO] LeWMGGFieldCotrainModel val epoch 64: macro_spearman=0.9897 (n_tasks=130) | lang_acc=1.000 rank_acc=0.996 ttg_mae=0.0553 act_cos=0.9867 g_cos=0.9867
 2026-09-27 13:19:47,630 [   INFO] LeWMGGFieldCotrainModel: primary_val_score = val act_cos 0.9867 (lang gate ok); macro_spearman=0.9897 is REPORTED but no longer selects
 2026-09-27 13:19:48,624 [   INFO] new best checkpoint (score=0.9867) -> exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/_modelbest
+2026-09-27 13:32:16,699 [   INFO] Current LR: [0.0002398889182172437, 4.5547327275351394e-05]
+2026-09-27 13:32:17,308 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 13:44:39,851 [   INFO] Current LR: [0.0002380696582027707, 4.541256727427931e-05]
+2026-09-27 13:44:40,445 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 13:57:00,474 [   INFO] Current LR: [0.00023623143295432787, 4.527640244106133e-05]
+2026-09-27 13:57:01,175 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 14:09:18,241 [   INFO] Current LR: [0.00023437471958338374, 4.513886811728769e-05]
+2026-09-27 14:09:18,814 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 14:21:37,385 [   INFO] Current LR: [0.00023249999999999996, 4.5e-05]
+2026-09-27 14:21:38,961 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 14:21:38,962 [   INFO] do validation and save results
+2026-09-27 14:22:16,227 [   INFO] LeWMGGFieldCotrainModel val epoch 69: wm_pred_mse=0.02019 | wm_gradp_pred=0.05517 (x D/mse = 2.7) | wm_emb_norm=19.6212 wm_emb_batch_std=0.9979 wm_emb_time_std=0.2012 wm_time_batch_std_ratio=0.2016 wm_emb_eff_rank_frac=0.3189 wm_copy_mse=0.0750 wm_pred_vs_copy_ratio=0.2696 wm_delta_r2=0.7278
+2026-09-27 14:22:16,230 [   INFO] LeWMGGFieldCotrainModel val epoch 69: grip_acc=0.9983 grip_acc_switch=0.9833 (n=180)
+2026-09-27 14:22:16,232 [   INFO] LeWMGGFieldCotrainModel val epoch 69: act_mse=0.1397 act_nmse=0.0232 (1.0 = a_hat=0) act_nmse_rep=0.2682 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater)
+2026-09-27 14:22:16,264 [   INFO] LeWMGGFieldCotrainModel val epoch 69: macro_spearman=0.9893 (n_tasks=130) | lang_acc=0.999 rank_acc=0.996 ttg_mae=0.0567 act_cos=0.9874 g_cos=0.9874
+2026-09-27 14:22:16,264 [   INFO] LeWMGGFieldCotrainModel: primary_val_score = val act_cos 0.9874 (lang gate ok); macro_spearman=0.9893 is REPORTED but no longer selects
+2026-09-27 14:22:17,374 [   INFO] new best checkpoint (score=0.9874) -> exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/_modelbest
+2026-09-27 14:34:38,563 [   INFO] Current LR: [0.00023060776078775178, 4.485983413242606e-05]
+2026-09-27 14:34:39,151 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 14:46:54,567 [   INFO] Current LR: [0.00022869849307743503, 4.471840689462482e-05]
+2026-09-27 14:46:55,161 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 14:59:12,508 [   INFO] Current LR: [0.00022677269241959335, 4.4575754994043954e-05]
+2026-09-27 14:59:13,062 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 15:11:29,872 [   INFO] Current LR: [0.00022483085865589755, 4.443191545599242e-05]
+2026-09-27 15:11:30,474 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 15:23:48,704 [   INFO] Current LR: [0.00022287349578941227, 4.428692561403054e-05]
+2026-09-27 15:23:49,312 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 15:23:49,314 [   INFO] do validation and save results
+2026-09-27 15:24:26,176 [   INFO] LeWMGGFieldCotrainModel val epoch 74: wm_pred_mse=0.01918 | wm_gradp_pred=0.05241 (x D/mse = 2.7) | wm_emb_norm=19.6061 wm_emb_batch_std=0.9972 wm_emb_time_std=0.1997 wm_time_batch_std_ratio=0.2003 wm_emb_eff_rank_frac=0.3227 wm_copy_mse=0.0736 wm_pred_vs_copy_ratio=0.2609 wm_delta_r2=0.7366
+2026-09-27 15:24:26,180 [   INFO] LeWMGGFieldCotrainModel val epoch 74: grip_acc=0.9986 grip_acc_switch=0.9944 (n=180)
+2026-09-27 15:24:26,180 [   INFO] LeWMGGFieldCotrainModel val epoch 74: act_mse=0.1327 act_nmse=0.0220 (1.0 = a_hat=0) act_nmse_rep=0.2548 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater)
+2026-09-27 15:24:26,218 [   INFO] LeWMGGFieldCotrainModel val epoch 74: macro_spearman=0.9895 (n_tasks=130) | lang_acc=1.000 rank_acc=0.997 ttg_mae=0.0548 act_cos=0.9884 g_cos=0.9884
+2026-09-27 15:24:26,218 [   INFO] LeWMGGFieldCotrainModel: primary_val_score = val act_cos 0.9884 (lang gate ok); macro_spearman=0.9895 is REPORTED but no longer selects
+2026-09-27 15:24:27,077 [   INFO] new best checkpoint (score=0.9884) -> exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/_modelbest
+2026-09-27 15:36:48,499 [   INFO] Current LR: [0.00022090111185378157, 4.414082310028012e-05]
+2026-09-27 15:36:49,086 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 15:49:08,190 [   INFO] Current LR: [0.00021891421878136885, 4.399364583565696e-05]
+2026-09-27 15:49:08,779 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 16:01:28,234 [   INFO] Current LR: [0.00021691333227038485, 4.3845432020028514e-05]
+2026-09-27 16:01:28,834 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 16:13:44,070 [   INFO] Current LR: [0.00021489897165103794, 4.3696220122299115e-05]
+2026-09-27 16:13:44,731 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 16:26:01,568 [   INFO] Current LR: [0.00021287165975074227, 4.354604887042536e-05]
+2026-09-27 16:26:02,890 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 16:26:02,892 [   INFO] do validation and save results
+2026-09-27 16:26:39,512 [   INFO] LeWMGGFieldCotrainModel val epoch 79: wm_pred_mse=0.01885 | wm_gradp_pred=0.05276 (x D/mse = 2.8) | wm_emb_norm=19.6370 wm_emb_batch_std=0.9987 wm_emb_time_std=0.1997 wm_time_batch_std_ratio=0.1999 wm_emb_eff_rank_frac=0.3255 wm_copy_mse=0.0738 wm_pred_vs_copy_ratio=0.2557 wm_delta_r2=0.7418
+2026-09-27 16:26:39,515 [   INFO] LeWMGGFieldCotrainModel val epoch 79: grip_acc=0.9990 grip_acc_switch=0.9944 (n=180)
+2026-09-27 16:26:39,516 [   INFO] LeWMGGFieldCotrainModel val epoch 79: act_mse=0.1173 act_nmse=0.0195 (1.0 = a_hat=0) act_nmse_rep=0.2252 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater)
+2026-09-27 16:26:39,550 [   INFO] LeWMGGFieldCotrainModel val epoch 79: macro_spearman=0.9891 (n_tasks=130) | lang_acc=0.999 rank_acc=0.997 ttg_mae=0.0550 act_cos=0.9899 g_cos=0.9899
+2026-09-27 16:26:39,550 [   INFO] LeWMGGFieldCotrainModel: primary_val_score = val act_cos 0.9899 (lang gate ok); macro_spearman=0.9891 is REPORTED but no longer selects
+2026-09-27 16:26:40,525 [   INFO] new best checkpoint (score=0.9899) -> exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints/_modelbest
+2026-09-27 16:38:58,345 [   INFO] Current LR: [0.00021083192275841764, 4.339495724136427e-05]
+2026-09-27 16:38:58,931 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 16:51:13,550 [   INFO] Current LR: [0.00020878029008791714, 4.324298445095683e-05]
+2026-09-27 16:51:14,141 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 17:03:34,683 [   INFO] Current LR: [0.00020671729424061788, 4.309016994374948e-05]
+2026-09-27 17:03:35,292 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints
+2026-09-27 17:15:58,180 [   INFO] Current LR: [0.00020464347066721013, 4.293655338275631e-05]
+2026-09-27 17:15:58,780 [   INFO] record checkpoints to exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/checkpoints

exp/lewm_libero_all_ggfield_all_cotrain_sgJu_2026_0926_2353_13/runs/events.out.tfevents.1790438001.hopper-29.169828.0

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0dd60b044861d7d8b035ac97ab62558a5a383af256550d2458302c3c8f887228
-size 6650606
+oid sha256:12be0d26ff22dadc79acb8bec2c001431501c7c6483fa1a6a2198519edc2e613
+size 8697149