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Publish complete RSCI 40000 checkpoint: newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308

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  1. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/argv.txt +66 -0
  2. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoint-manifest.json +105 -0
  3. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000/custom_checkpoint_0.pkl +3 -0
  4. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000/model.safetensors +3 -0
  5. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000/optimizer.bin +3 -0
  6. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000/random_states_0.pkl +3 -0
  7. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000/random_states_1.pkl +3 -0
  8. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000/random_states_2.pkl +3 -0
  9. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000/random_states_3.pkl +3 -0
  10. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000/random_states_4.pkl +3 -0
  11. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000/random_states_5.pkl +3 -0
  12. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000/random_states_6.pkl +3 -0
  13. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000/random_states_7.pkl +3 -0
  14. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/checkpoints/ckpt_40000/scheduler.bin +3 -0
  15. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/launch_contract.json +424 -0
  16. newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/run_config.json +435 -0
newcheckpoint/Psi0-NR/VGQ-AE/betweentables/frozen/RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610241308/argv.txt ADDED
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+ /root/workspace/Haoxuan/code/Psi0/RSCI/feture/ARDY_PSCI_NR/scripts/train.py
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+ finetune_simple_psi0_config
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+ --train.name=finetune
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+ --train.data_parallel=ddp
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+ --train.mixed_precision=bf16
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+ --train.learning_rate=1e-4
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+ --train.max_training_steps=40000
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+ --train.warmup_ratio=None
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+ --train.warmup_steps=1000
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+ --train.checkpointing_steps=1000
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+ --train.checkpoint-anchor-steps=10000
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+ --train.max_checkpoints_to_keep=4
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+ --train.validation_steps=500
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+ --train.val_num_batches=20
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+ --train.max_grad_norm=1.0
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+ --train.lr_scheduler_type=cosine
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+ --train.lr_scheduler_kwargs.weight_decay=1e-6
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+ --train.lr_scheduler_kwargs.betas 0.95 0.999
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+ --data.transform.repack.pad-action-dim=36
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+ --data.transform.repack.pad-state-dim=36
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+ --data.transform.field.stat-path=meta/stats_psi0.json
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+ --data.transform.field.stat-action-key=action
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+ --data.transform.field.stat-state-key=states
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+ --data.transform.field.action_norm_type=bounds
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+ --data.transform.field.no-use-norm-mask
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+ --data.transform.field.normalize-state
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+ --data.transform.field.pad-action-dim=36
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+ --data.transform.field.pad-state-dim=36
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+ --data.transform.model.img-aug
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+ --data.transform.model.resize.size 180 320
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+ --data.transform.model.center_crop.size 180 320
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+ --model.noise-scheduler=flow
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+ --model.train-diffusion-steps=1000
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+ --model.n_conditions=0
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+ --model.action-chunk-size=30
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+ --model.action-dim=36
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+ --model.action-exec-horizon=30
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+ --model.observation-horizon=1
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+ --model.odim=36
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+ --model.view_feature_dim=2048
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+ --model.no-use_film
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+ --model.no-combined_temb
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+ --model.rtc
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+ --model.max-delay=8
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+ --model.psi0-ardy-aux-weight=0.1
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+ --exp=RSCI-G1WholebodyLocomotionPickBetweenTablesTeleop-v0-VGQ-AE-frozen-current-noreader-newh264-v1-oomretry1-safe-v1
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+ --seed=292285
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+ --train.output-dir=/root/workspace/Haoxuan/data/Psi0/RSCI/ARDY_PSCI_NR/.runs/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/VGQ-AE/frozen/seed-292285/current-noreader-newh264-v1-oomretry1-safe-v1
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+ --train.train_batch_size=16
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+ --train.gradient_accumulation_steps=1
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+ --train.num-workers=8
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+ --log.report_to=None
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+ --train.val-num-workers=8
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+ --train.prefetch-factor=2
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+ --data.root_dir=/root/workspace/Haoxuan/data/Psi0/data/simple-between-tables-new-training-h264
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+ --data.train-repo-ids=G1WholebodyLocomotionPickBetweenTablesTeleop-v0
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+ --data.rsci-ardy-offset-frames=0
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+ --model.model_name_or_path=/root/workspace/Haoxuan/data/Psi0/cache/checkpoints/psi0/pre.fast.1by1.2601091803.ckpt.ego200k.he30k
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+ --model.pretrained-action-header-path=/root/workspace/Haoxuan/data/Psi0/cache/checkpoints/psi0/postpre.1by1.pad36.2601131206.ckpt.he30k
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+ --model.rsci-variant=VGQ-AE
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+ --model.rsci-vlm-mode=frozen
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+ --data.transform.repack.rsci-variant=VGQ-AE
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+ --data.v5-ardy-sidecar-root=/root/workspace/Haoxuan/data/Psi0/data/simple-between-tables-new-training-ardy-h264/G1WholebodyLocomotionPickBetweenTablesTeleop-v0
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+ --train.optimizer-fused
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+ --train.pin-memory
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+ --train.non-blocking-transfer
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