Upload folder using huggingface_hub

.gitattributes

@@ -927,3 +927,5 @@ slope-s1/000047022080/ocdbt.process_0/d/f2710535061443c64041cae8cd3356ab filter=
 slope-s1/000053739520/ocdbt.process_0/d/08e34d4c4f1e09faef7861cbe67013d5 filter=lfs diff=lfs merge=lfs -text
 slope-s1/000053739520/ocdbt.process_0/d/6bf0493c3099db66963ad5a0510a79c0 filter=lfs diff=lfs merge=lfs -text
 slope-s1/000053739520/ocdbt.process_0/d/d83f81ea732398c13aa54676be7be5fc filter=lfs diff=lfs merge=lfs -text
+slope-s1/000060456960/ocdbt.process_0/d/70c3476886431180ea19073236b5a14f filter=lfs diff=lfs merge=lfs -text
+slope-s1/000060456960/ocdbt.process_0/d/7ea320ce535dbcb3b0d680a29f6018a4 filter=lfs diff=lfs merge=lfs -text

slope-s1/000060456960/_CHECKPOINT_METADATA

@@ -0,0 +1 @@
+{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1788127187226425089, "commit_timestamp_nsecs": 1788127187271915515, "custom_metadata": {}}

slope-s1/000060456960/_METADATA

@@ -0,0 +1 @@
+{"tree_metadata": {"('0', 'mean', 'privileged_state')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "mean", "key_type": 2}, {"key": "privileged_state", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [273]}}, "('0', 'mean', 'state')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "mean", "key_type": 2}, {"key": "state", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [156]}}, "('0', 'std', 'privileged_state')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "std", "key_type": 2}, {"key": "privileged_state", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [273]}}, "('0', 'std', 'state')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "std", "key_type": 2}, {"key": "state", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [156]}}, "('0', 'count', 'hi')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "count", "key_type": 2}, {"key": "hi", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('0', 'count', 'lo')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "count", "key_type": 2}, {"key": "lo", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('0', 'summed_variance', 'privileged_state')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "summed_variance", "key_type": 2}, {"key": "privileged_state", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [273]}}, "('0', 'summed_variance', 'state')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "summed_variance", "key_type": 2}, {"key": "state", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [156]}}, "('0', 'std_eps')": {"key_metadata": [{"key": "0", "key_type": 1}, {"key": "std_eps", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": []}}, "('1', 'params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('1', 'params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [156, 512]}}, "('1', 'params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256]}}, "('1', 'params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 256]}}, "('1', 'params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "1", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [128]}}, "('1', 'params', 'hidden_2', 'kernel')": {"key_metadata": [{"key": "1", "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]}}, "('1', 'params', 'hidden_3', 'bias')": {"key_metadata": [{"key": "1", "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": [58]}}, "('1', 'params', 'hidden_3', 'kernel')": {"key_metadata": [{"key": "1", "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, 58]}}, "('2', 'params', 'hidden_0', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('2', 'params', 'hidden_0', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [273, 512]}}, "('2', 'params', 'hidden_1', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256]}}, "('2', 'params', 'hidden_1', 'kernel')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512, 256]}}, "('2', 'params', 'hidden_2', 'bias')": {"key_metadata": [{"key": "2", "key_type": 1}, {"key": "params", "key_type": 2}, {"key": "hidden_2", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [128]}}, "('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}

slope-s1/000060456960/_sharding

@@ -0,0 +1 @@
+{"MC5jb3VudC5oaQ==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MC5jb3VudC5sbw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MC5tZWFuLnByaXZpbGVnZWRfc3RhdGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MC5tZWFuLnN0YXRl":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MC5zdGQuc3RhdGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MC5zdGQucHJpdmlsZWdlZF9zdGF0ZQ==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MC5zdGRfZXBz":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MC5zdW1tZWRfdmFyaWFuY2Uuc3RhdGU=":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MC5zdW1tZWRfdmFyaWFuY2UucHJpdmlsZWdlZF9zdGF0ZQ==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MS5wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MS5wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MS5wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MS5wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MS5wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MS5wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MS5wYXJhbXMuaGlkZGVuXzMuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","MS5wYXJhbXMuaGlkZGVuXzMua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","Mi5wYXJhbXMuaGlkZGVuXzAuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","Mi5wYXJhbXMuaGlkZGVuXzAua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","Mi5wYXJhbXMuaGlkZGVuXzEuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","Mi5wYXJhbXMuaGlkZGVuXzEua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","Mi5wYXJhbXMuaGlkZGVuXzIuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","Mi5wYXJhbXMuaGlkZGVuXzIua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","Mi5wYXJhbXMuaGlkZGVuXzMuYmlhcw==":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}","Mi5wYXJhbXMuaGlkZGVuXzMua2VybmVs":"{\"sharding_type\": \"SingleDeviceSharding\", \"device_str\": \"cuda:0\"}"}

slope-s1/000060456960/array_metadatas/process_0

@@ -0,0 +1 @@
+{"array_metadatas": [{"array_metadata": {"param_name": "0.mean.privileged_state", "write_shape": [273], "chunk_shape": [273], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.mean.state", "write_shape": [156], "chunk_shape": [156], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.std.privileged_state", "write_shape": [273], "chunk_shape": [273], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.std.state", "write_shape": [156], "chunk_shape": [156], "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": [273], "chunk_shape": [273], "ext_metadata": null}}, {"array_metadata": {"param_name": "0.summed_variance.state", "write_shape": [156], "chunk_shape": [156], "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": [156, 512], "chunk_shape": [156, 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": [273, 512], "chunk_shape": [273, 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}}]}

slope-s1/000060456960/commit_success.txt

@@ -0,0 +1 @@
+Checkpoint commit was successful to /tmp/ft_full/000060456960

slope-s1/000060456960/ocdbt.process_0/d/70c3476886431180ea19073236b5a14f

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be8c8e8fee2b11c4c3ef5ca9b4c9d42966fe17b070d94e4174492571aab1ecc5
+size 1459753

slope-s1/000060456960/ocdbt.process_0/d/7ea320ce535dbcb3b0d680a29f6018a4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3393fcd55a3cc11c499a8776d276ef9cdd425a7ce92894f7497fc26c69a3087
+size 619647

slope-s1/000060456960/ppo_network_config.json

@@ -0,0 +1 @@
+{"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": [273], "state": [156]}}

slope-s1/finetune_report.json

@@ -1,7 +1,7 @@
 {
   "arm": "full",
   "flavor": "a100-large",
-  "reached_step": 53739520,
+  "reached_step": 60456960,
   "best_reward": 8.298361778259277,
   "history": [
     {
@@ -155,6 +155,25 @@
       "eval/episode_reward/snow_stumble_std": 0.0,
       "eval/episode_snow_contact_fraction_std": 205.02342224121094,
       "eval/episode_snow_depth_under_feet_std": 9.706367492675781
+    },
+    {
+      "step": 53739520,
+      "reward": 7.41763162612915,
+      "episode_length": 578.625,
+      "elapsed_s": 675.7,
+      "steps_per_second": 79529,
+      "eval/episode_reward/snow_clearance": 35.018619537353516,
+      "eval/episode_reward/snow_flat_efficiency": -0.42314696311950684,
+      "eval/episode_reward/snow_overload": -1.8824727535247803,
+      "eval/episode_reward/snow_stumble": 0.0,
+      "eval/episode_snow_contact_fraction": 312.578125,
+      "eval/episode_snow_depth_under_feet": 12.433513641357422,
+      "eval/episode_reward/snow_clearance_std": 25.509601593017578,
+      "eval/episode_reward/snow_flat_efficiency_std": 0.388418972492218,
+      "eval/episode_reward/snow_overload_std": 2.915379047393799,
+      "eval/episode_reward/snow_stumble_std": 0.0,
+      "eval/episode_snow_contact_fraction_std": 215.6923065185547,
+      "eval/episode_snow_depth_under_feet_std": 12.062211036682129
     }
   ]
 }