Publish complete RSCI 40000 checkpoint: newcheckpoint/Psi0/VGQ-AE/handover/frozen/RSCI-G1WholebodyHandoverTeleop-v0-VGQ-AE-frozen-handover100-newh264-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610210130

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+/root/workspace/Haoxuan/code/Psi0/RSCI/feture/ARDY_PSCI/scripts/train.py
+finetune_simple_psi0_config
+--train.name=finetune
+--train.data_parallel=ddp
+--train.mixed_precision=bf16
+--train.gradient_accumulation_steps=1
+--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.max_checkpoints_to_keep=4
+--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
+--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.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-use_film
+--model.no-combined_temb
+--model.rtc
+--model.max-delay=8
+--model.psi0-ardy-aux-weight=0.1
+--exp=RSCI-G1WholebodyHandoverTeleop-v0-VGQ-AE-frozen-handover100-newh264-v1
+--seed=292285
+--train.output-dir=/root/workspace/Haoxuan/data/Psi0/RSCI/.runs/G1WholebodyHandoverTeleop-v0/VGQ-AE/frozen/seed-292285/handover100-newh264-v1
+--train.train_batch_size=16
+--train.num-workers=8
+--log.report_to=None
+--train.val-num-workers=8
+--train.prefetch-factor=2
+--data.root_dir=/root/workspace/Haoxuan/data/Psi0/data/simple-handover-new-training-h264-20261021
+--data.train-repo-ids=G1WholebodyHandoverTeleop-v0
+--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.rsci-variant=VGQ-AE
+--model.rsci-vlm-mode=frozen
+--data.v5-ardy-sidecar-root=/root/workspace/Haoxuan/data/Psi0/data/simple-handover-new-training-ardy-h264-20261021/G1WholebodyHandoverTeleop-v0
+--train.optimizer-fused
+--train.pin-memory
+--train.non-blocking-transfer

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newcheckpoint/Psi0/VGQ-AE/handover/frozen/RSCI-G1WholebodyHandoverTeleop-v0-VGQ-AE-frozen-handover100-newh264-v1.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2610210130/run_config.json

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