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@@ -842,3 +842,5 @@ abl-no_support-s3/000026869760/ocdbt.process_0/d/92e2360cde8604fb9ad8aa7d71277a3
 abl-no_map-s3/000033587200/ocdbt.process_0/d/20a70bd68d05fa669f98e81043598b67 filter=lfs diff=lfs merge=lfs -text
 abl-no_map-s3/000033587200/ocdbt.process_0/d/bb37ce5813040aad686f90ac2b7f9d9d filter=lfs diff=lfs merge=lfs -text
 abl-no_map-s3/000033587200/ocdbt.process_0/d/d1c4817f41cb024eedffc8e82fb8e55a filter=lfs diff=lfs merge=lfs -text
+abl-ablation-s3/000033587200/ocdbt.process_0/d/9512fe2489d8196f06a9782317195520 filter=lfs diff=lfs merge=lfs -text
+abl-ablation-s3/000033587200/ocdbt.process_0/d/bbe22921e90743dbb8e5c4521551674e filter=lfs diff=lfs merge=lfs -text

abl-ablation-s3/000033587200/_CHECKPOINT_METADATA

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abl-ablation-s3/000033587200/_METADATA

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abl-ablation-s3/000033587200/_sharding

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abl-ablation-s3/000033587200/array_metadatas/process_0

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abl-ablation-s3/000033587200/commit_success.txt

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+Checkpoint commit was successful to /tmp/ft_ablation/000033587200

abl-ablation-s3/000033587200/ocdbt.process_0/d/9512fe2489d8196f06a9782317195520

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abl-ablation-s3/000033587200/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": [273], "state": [156]}}

abl-ablation-s3/finetune_report.json

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 {
   "arm": "ablation",
   "flavor": "a100-large",
-  "reached_step": 26869760,
+  "reached_step": 33587200,
   "best_reward": 11.216472625732422,
   "history": [
     {
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       "eval/episode_reward/snow_stumble_std": 0.0,
       "eval/episode_snow_contact_fraction_std": 226.4039764404297,
       "eval/episode_snow_depth_under_feet_std": 12.164827346801758
+    },
+    {
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+      "reward": 9.821575164794922,
+      "episode_length": 517.859375,
+      "elapsed_s": 438.3,
+      "steps_per_second": 61309,
+      "eval/episode_reward/snow_clearance": 27.51531219482422,
+      "eval/episode_reward/snow_flat_efficiency": -0.35308128595352173,
+      "eval/episode_reward/snow_overload": -3.149672746658325,
+      "eval/episode_reward/snow_stumble": 0.0,
+      "eval/episode_snow_contact_fraction": 289.921875,
+      "eval/episode_snow_depth_under_feet": 15.553984642028809,
+      "eval/episode_reward/snow_clearance_std": 23.09657859802246,
+      "eval/episode_reward/snow_flat_efficiency_std": 0.3802799582481384,
+      "eval/episode_reward/snow_overload_std": 4.185460567474365,
+      "eval/episode_reward/snow_stumble_std": 0.0,
+      "eval/episode_snow_contact_fraction_std": 237.5974578857422,
+      "eval/episode_snow_depth_under_feet_std": 16.16126823425293
     }
   ]
 }