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@@ -249,3 +249,4 @@ baseline-v3/000095846400/ocdbt.process_0/d/2fa417401e8b9de2f87a75c57d47b40d filt
 baseline-v3/000095846400/ocdbt.process_0/d/be1dc8499c0f3e648292a600c11eb6f3 filter=lfs diff=lfs merge=lfs -text
 baseline-v3/000106496000/ocdbt.process_0/d/1ed399c2e83713ec92575404cea0ad28 filter=lfs diff=lfs merge=lfs -text
 baseline-v3/000106496000/ocdbt.process_0/d/ca6113dfb990cfb8b6cd3fde6cf2ab71 filter=lfs diff=lfs merge=lfs -text
+baseline-v3/000117145600/ocdbt.process_0/d/79eb53691f7597962dc332c7674358c6 filter=lfs diff=lfs merge=lfs -text

baseline-v3/000117145600/_CHECKPOINT_METADATA

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+{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1788103357493045245, "commit_timestamp_nsecs": 1788103357541028534, "custom_metadata": {}}

baseline-v3/000117145600/_METADATA

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"('2', 'params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 128]}}, "('2', 'params', 'hidden_3', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1]}}, "('2', 'params', 'hidden_3', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_3", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [128, 1]}}}, "use_ocdbt": true, "use_zarr3": false, "store_array_data_equal_to_fill_value": true, "custom_metadata": null}

baseline-v3/000117145600/_sharding

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baseline-v3/000117145600/array_metadatas/process_0

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+{"array_metadatas": [{"array_metadata": {"param_name": "0.mean.privileged_state", "write_shape": [216], "chunk_shape": [216], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.mean.state", "write_shape": [103], "chunk_shape": [103], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.std.privileged_state", "write_shape": [216], "chunk_shape": [216], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.std.state", "write_shape": [103], "chunk_shape": [103], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.count.hi", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.count.lo", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.summed_variance.privileged_state", "write_shape": [216], "chunk_shape": [216], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.summed_variance.state", "write_shape": [103], "chunk_shape": [103], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.std_eps", "write_shape": [], "chunk_shape": [], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_0.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_0.kernel", "write_shape": [103, 512], "chunk_shape": [103, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_1.bias", "write_shape": [256], "chunk_shape": [256], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_1.kernel", "write_shape": [512, 256], "chunk_shape": [512, 256], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_2.bias", "write_shape": [128], "chunk_shape": [128], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_2.kernel", "write_shape": [256, 128], "chunk_shape": [256, 128], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_3.bias", "write_shape": [58], "chunk_shape": [58], "ext_metadata": null}}, {"array_metadata": {"param_name": "1.params.hidden_3.kernel", "write_shape": [128, 58], "chunk_shape": [128, 58], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_0.bias", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_0.kernel", "write_shape": [216, 512], "chunk_shape": [216, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_1.bias", "write_shape": [256], "chunk_shape": [256], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_1.kernel", "write_shape": [512, 256], "chunk_shape": [512, 256], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_2.bias", "write_shape": [128], "chunk_shape": [128], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_2.kernel", "write_shape": [256, 128], "chunk_shape": [256, 128], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_3.bias", "write_shape": [1], "chunk_shape": [1], "ext_metadata": null}}, {"array_metadata": {"param_name": "2.params.hidden_3.kernel", "write_shape": [128, 1], "chunk_shape": [128, 1], "ext_metadata": null}}]}

baseline-v3/000117145600/commit_success.txt

@@ -0,0 +1 @@
+Checkpoint commit was successful to /tmp/baseline_ckpt/000117145600

baseline-v3/000117145600/ocdbt.process_0/d/79eb53691f7597962dc332c7674358c6

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+size 1856879

baseline-v3/000117145600/ppo_network_config.json

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+{"action_size": 29, "network_factory_kwargs": {"activation": "silu", "distribution_type": "tanh_normal", "init_noise_std": 1.0, "mean_clip_scale": null, "mean_kernel_init_fn": null, "mean_kernel_init_kwargs": null, "noise_std_type": "scalar", "num_quantiles": 32, "policy_hidden_layer_sizes": [512, 256, 128], "policy_network_kernel_init_fn": "lecun_uniform", "policy_network_kernel_init_kwargs": null, "policy_obs_key": "state", "state_dependent_std": false, "use_distributional_critic": false, "value_hidden_layer_sizes": [512, 256, 128], "value_network_kernel_init_fn": "lecun_uniform", "value_network_kernel_init_kwargs": null, "value_obs_key": "privileged_state"}, "normalize_observations": true, "observation_size": {"privileged_state": [216], "state": [103]}}

baseline-v3/baseline_report.json

@@ -3,7 +3,7 @@
   "env": "G1JoystickFlatTerrain",
   "num_envs": 8192,
   "target_timesteps": 200000000,
-  "reached_step": 106496000,
+  "reached_step": 117145600,
   "best_reward": 13.20766544342041,
   "history": [
     {
@@ -75,6 +75,13 @@
       "episode_length": 691.0390625,
       "elapsed_s": 934.7,
       "steps_per_second": 102541
+    },
+    {
+      "step": 106496000,
+      "reward": 12.848846435546875,
+      "episode_length": 724.296875,
+      "elapsed_s": 1015.2,
+      "steps_per_second": 104902
     }
   ]
 }