Upload v6 once3loss 10k 20k 30k 40k model weights and run config

depth/v6_once3loss_nonestate_all16_DINOv2/finetune/G1WholebodyXMovePickTeleop-v0-v6_once3loss_nonestate_all16_DINOv2.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610042317/argv.txt

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+/root/workspace/Haoxuan/code/Psi0/.worktrees/feature/depth-v6-dinov2-query/scripts/train.py
+finetune_simple_psi0_config
+--seed=292285
+--exp=G1WholebodyXMovePickTeleop-v0-v6_once3loss_nonestate_all16_DINOv2
+--train.name=finetune
+--train.output-dir=/root/workspace/Haoxuan/data/Psi0/.runs/v6_once3loss_nonestate_all16_DINOv2
+--train.data-parallel=ddp
+--train.mixed-precision=bf16
+--train.train-batch-size=16
+--train.max-checkpoints-to-keep=4
+--train.gradient-accumulation-steps=1
+--train.optimizer-foreach=False
+--train.num-workers=4
+--train.learning-rate=1e-4
+--train.max-training-steps=40000
+--train.warmup-ratio=None
+--train.warmup-steps=1000
+--train.checkpointing-steps=1000
+--train.checkpoint-anchor-steps=10000
+--train.validation-steps=500
+--train.val-num-batches=20
+--train.max-grad-norm=1.0
+--train.lr-scheduler-type=cosine
+--train.lr-scheduler-kwargs.weight-decay=1e-6
+--train.lr-scheduler-kwargs.betas 0.95 0.999
+--log.report-to=wandb
+--data.root-dir=/root/workspace/Haoxuan/data/Psi0/data/simple-depth
+--data.train-repo-ids=G1WholebodyXMovePickTeleop-v0
+--data.transform.repack.use-depth
+--data.transform.repack.pad-action-dim=36
+--data.transform.repack.pad-state-dim=36
+--data.transform.field.stat-path=meta/stats_psi0.json
+--data.transform.field.stat-action-key=action
+--data.transform.field.stat-state-key=states
+--data.transform.field.action-norm-type=bounds
+--data.transform.field.no-use-norm-mask
+--data.transform.field.normalize-state
+--data.transform.field.pad-action-dim=36
+--data.transform.field.pad-state-dim=36
+--data.transform.model.img-aug
+--data.transform.model.resize.size 180 320
+--data.transform.model.center-crop.size 180 320
+--model.model-name-or-path=/root/workspace/Haoxuan/data/Psi0/cache/checkpoints/psi0/pre.fast.1by1.2601091803.ckpt.ego200k.he30k
+--model.pretrained-action-header-path=/root/workspace/Haoxuan/data/Psi0/cache/checkpoints/psi0/postpre.1by1.pad36.2601131206.ckpt.he30k
+--model.noise-scheduler=flow
+--model.train-diffusion-steps=1000
+--model.n-conditions=0
+--model.action-chunk-size=30
+--model.action-dim=36
+--model.action-exec-horizon=30
+--model.observation-horizon=1
+--model.odim=36
+--model.view-feature-dim=2048
+--model.no-tune-vlm
+--model.no-use-film
+--model.no-combined-temb
+--model.rtc
+--model.max-delay=8
+--model.use-depth
+--model.depth-encoder-path=/root/workspace/Haoxuan/data/Psi0/cache/checkpoints/defm/defm_vit_s14.pth
+--model.depth-encoder-input-size 196 350
+--model.depth-fusion-mode=query_moe
+--model.depth-query-count=16
+--model.depth-query-target-count=8
+--model.depth-query-score-dim=384
+--model.depth-query-selection-weight=0.01
+--model.depth-query-gate-init=1.0
+--model.depth-query-sparsity-init=0.01
+--model.depth-query-sparsity-rate=0.01
+--model.depth-query-sparsity-warmup-steps=1000
+--model.depth-query-recovery-after-steps=100
+--model.depth-query-recovery-weight=0.01
+--model.depth-query-recovery-window-steps=20
+--model.depth-query-recovery-sparsity-scale=0.0
+--model.depth-query-alive-margin=0.1
+--model.depth-query-alive-weight=1.0
+--model.depth-query-resampler-max-tokens=4096
+--model.depth-query-orthogonality-weight=0.01
+--model.depth-query-pre-orthogonality-weight=0.01
+--model.no-depth-query-use-state
+--model.no-depth-query-fuse
+--model.no-depth-query-align-depth
+--model.no-depth-query-selection
+--model.depth-query-independent-rgb
+--model.depth-query-pre-orthogonality
+--model.depth-query-post-orthogonality
+--model.depth-rgb-encoder-path=/root/workspace/Haoxuan/data/Psi0/cache/checkpoints/dinov2-small
+--data.transform.model.depth-query-independent-rgb
+--model.depth-module-lr=1e-4
+--model.action-expert-lr=1e-5

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+}

depth/v6_once3loss_nonestate_all16_DINOv2/finetune/G1WholebodyXMovePickTeleop-v0-v6_once3loss_nonestate_all16_DINOv2.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610042317/upload_manifest_weights_10000_20000_30000_40000.json

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