Upload folder using huggingface_hub

.gitattributes

@@ -773,3 +773,6 @@ abl-no_support-s2/000040304640/ocdbt.process_0/d/c4395e2bb4aeb5b59b1a0cb763c8e6b
 abl-no_map-s2/000047022080/ocdbt.process_0/d/3efb0ce6acb5185ba0b39f89ba52fd00 filter=lfs diff=lfs merge=lfs -text
 abl-no_map-s2/000047022080/ocdbt.process_0/d/e5e1ac9eb4b95a500f2a9c0a41397dd2 filter=lfs diff=lfs merge=lfs -text
 abl-no_map-s2/000047022080/ocdbt.process_0/d/ea489083ef210f53ba41c1db101c8730 filter=lfs diff=lfs merge=lfs -text
+abl-ablation-s2/000047022080/ocdbt.process_0/d/017e5e7edce64ed574ebdde5ce7a05a7 filter=lfs diff=lfs merge=lfs -text
+abl-ablation-s2/000047022080/ocdbt.process_0/d/1db0ee3d1b741f9e8e68d45b4b5a0c48 filter=lfs diff=lfs merge=lfs -text
+abl-ablation-s2/000047022080/ocdbt.process_0/d/7545db39324477fbbddf837a34f7cf73 filter=lfs diff=lfs merge=lfs -text

abl-ablation-s2/000047022080/_CHECKPOINT_METADATA

@@ -0,0 +1 @@
+{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1788119903047066231, "commit_timestamp_nsecs": 1788119903095141647, "custom_metadata": {}}

abl-ablation-s2/000047022080/_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}

abl-ablation-s2/000047022080/_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\"}"}

abl-ablation-s2/000047022080/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}}]}

abl-ablation-s2/000047022080/commit_success.txt

@@ -0,0 +1 @@
+Checkpoint commit was successful to /tmp/ft_ablation/000047022080

abl-ablation-s2/000047022080/ocdbt.process_0/d/017e5e7edce64ed574ebdde5ce7a05a7

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4047ead786e1efca1354892a818d4af5fbad1434b4b77fe119a31fa9c7358011
+size 1237037

abl-ablation-s2/000047022080/ocdbt.process_0/d/1db0ee3d1b741f9e8e68d45b4b5a0c48

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afe81c1e4a57902566d7bf2677446fff5b83853785c38cac1a41e58938b9a212
+size 490134

abl-ablation-s2/000047022080/ocdbt.process_0/d/7545db39324477fbbddf837a34f7cf73

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60e70fd898273d82fbc06ea297438b080b3a87cca65b2daca6e1123ca18c855b
+size 123356

abl-ablation-s2/000047022080/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]}}

abl-ablation-s2/finetune_report.json

@@ -1,7 +1,7 @@
 {
   "arm": "ablation",
   "flavor": "a100-large",
-  "reached_step": 40304640,
+  "reached_step": 47022080,
   "best_reward": 13.761375427246094,
   "history": [
     {
@@ -117,6 +117,25 @@
       "eval/episode_reward/snow_stumble_std": 0.0,
       "eval/episode_snow_contact_fraction_std": 226.35458374023438,
       "eval/episode_snow_depth_under_feet_std": 13.647887229919434
+    },
+    {
+      "step": 40304640,
+      "reward": 10.045565605163574,
+      "episode_length": 516.0625,
+      "elapsed_s": 553.0,
+      "steps_per_second": 72881,
+      "eval/episode_reward/snow_clearance": 26.059179306030273,
+      "eval/episode_reward/snow_flat_efficiency": -0.3612944781780243,
+      "eval/episode_reward/snow_overload": -2.3363962173461914,
+      "eval/episode_reward/snow_stumble": 0.0,
+      "eval/episode_snow_contact_fraction": 283.79296875,
+      "eval/episode_snow_depth_under_feet": 12.936159133911133,
+      "eval/episode_reward/snow_clearance_std": 21.065799713134766,
+      "eval/episode_reward/snow_flat_efficiency_std": 0.380144327878952,
+      "eval/episode_reward/snow_overload_std": 4.072709083557129,
+      "eval/episode_reward/snow_stumble_std": 0.0,
+      "eval/episode_snow_contact_fraction_std": 218.5926971435547,
+      "eval/episode_snow_depth_under_feet_std": 13.351078033447266
     }
   ]
 }