Upload folder using huggingface_hub

.gitattributes

@@ -493,6 +493,6 @@ ft-no_support/000054067200/ocdbt.process_0/d/a71e7fd16f38622700dc8af658a552a1 fi
 ft-full-v5/000070287360/ocdbt.process_0/d/580c16f32d69a51ed3c912e636950bdd filter=lfs diff=lfs merge=lfs -text
 ft-full-v5/000070287360/ocdbt.process_0/d/78a263d2fa4d6913f4aea5407d5f3a69 filter=lfs diff=lfs merge=lfs -text
 ft-full-v5/000070287360/ocdbt.process_0/d/ef0d62d7b74796530685cd54d8d2cdc9 filter=lfs diff=lfs merge=lfs -text
-ft-no_map/000059473920/ocdbt.process_0/d/3735f091bd6cba56c27fd05883e2cd71 filter=lfs diff=lfs merge=lfs -text
-ft-no_map/000059473920/ocdbt.process_0/d/503c1ab96bfb8740d1604bff9330f268 filter=lfs diff=lfs merge=lfs -text
-ft-no_map/000059473920/ocdbt.process_0/d/ea97e6626a8f8eb23ae3f6b622757953 filter=lfs diff=lfs merge=lfs -text
+ft-ablation/000059473920/ocdbt.process_0/d/5acc1bace3b9ed4f887a5d02e8038f13 filter=lfs diff=lfs merge=lfs -text
+ft-ablation/000059473920/ocdbt.process_0/d/768b5512f13e39fd9d19e44366be0434 filter=lfs diff=lfs merge=lfs -text
+ft-ablation/000059473920/ocdbt.process_0/d/d0f21725ee5ce85066a38dbe9a4a1b19 filter=lfs diff=lfs merge=lfs -text

ft-ablation/000059473920/_CHECKPOINT_METADATA

@@ -0,0 +1 @@
+{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1788111049676808093, "commit_timestamp_nsecs": 1788111049720028127, "custom_metadata": {}}

ft-ablation/000059473920/_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}

ft-ablation/000059473920/_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\"}"}

ft-ablation/000059473920/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}}]}

ft-ablation/000059473920/commit_success.txt

@@ -0,0 +1 @@
+Checkpoint commit was successful to /tmp/ft_ablation/000059473920

ft-ablation/000059473920/ocdbt.process_0/d/5acc1bace3b9ed4f887a5d02e8038f13

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39579420e287a92d8b8392fae82b2da3bf8fa835f48ea2ae445b6dc7ec02f954
+size 422941

ft-ablation/000059473920/ocdbt.process_0/d/768b5512f13e39fd9d19e44366be0434

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1f4da07687c257cf33b9ffada38da2089ba87e57ecd62757940b1c03a5a6700
+size 1300465

ft-ablation/000059473920/ocdbt.process_0/d/d0f21725ee5ce85066a38dbe9a4a1b19

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:361c9cbd0bf915d5176fbfc6ab74476acb92641a85553020b1189d8b7681294e
+size 154457

ft-ablation/000059473920/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]}}

ft-ablation/finetune_report.json

@@ -1,8 +1,8 @@
 {
   "arm": "ablation",
   "flavor": "a100-large",
-  "reached_step": 54067200,
-  "best_reward": 9.096108436584473,
+  "reached_step": 59473920,
+  "best_reward": 10.246243476867676,
   "history": [
     {
       "step": 0,
@@ -193,6 +193,25 @@
       "eval/episode_reward/snow_stumble_std": 0.0,
       "eval/episode_snow_contact_fraction_std": 243.61416625976562,
       "eval/episode_snow_depth_under_feet_std": 10.45141315460205
+    },
+    {
+      "step": 54067200,
+      "reward": 10.246243476867676,
+      "episode_length": 497.890625,
+      "elapsed_s": 688.5,
+      "steps_per_second": 78530,
+      "eval/episode_reward/snow_clearance": 79.96849822998047,
+      "eval/episode_reward/snow_flat_efficiency": -0.2659481465816498,
+      "eval/episode_reward/snow_overload": -2.2816271781921387,
+      "eval/episode_reward/snow_stumble": 0.0,
+      "eval/episode_snow_contact_fraction": 303.69921875,
+      "eval/episode_snow_depth_under_feet": 11.306598663330078,
+      "eval/episode_reward/snow_clearance_std": 68.19340515136719,
+      "eval/episode_reward/snow_flat_efficiency_std": 0.2996194362640381,
+      "eval/episode_reward/snow_overload_std": 3.6147139072418213,
+      "eval/episode_reward/snow_stumble_std": 0.0,
+      "eval/episode_snow_contact_fraction_std": 246.4427947998047,
+      "eval/episode_snow_depth_under_feet_std": 11.5400972366333
     }
   ]
 }