AmanC007 commited on
Commit
5a2f064
·
verified ·
1 Parent(s): 0b4c0b3

Upload folder using huggingface_hub

Browse files
.gitattributes CHANGED
@@ -304,3 +304,6 @@ ft-full/000039813120/ocdbt.process_0/d/e3598121db2e65fb82b949048c8de042 filter=l
304
  ft-full/000044236800/ocdbt.process_0/d/1ef65e8fe754b4d0e2a9394eb8c62baa filter=lfs diff=lfs merge=lfs -text
305
  ft-full/000044236800/ocdbt.process_0/d/99df2acbe7c985299cccbfd793756e21 filter=lfs diff=lfs merge=lfs -text
306
  ft-full/000044236800/ocdbt.process_0/d/bb91765510cc124c73b2162ed9daf841 filter=lfs diff=lfs merge=lfs -text
 
 
 
 
304
  ft-full/000044236800/ocdbt.process_0/d/1ef65e8fe754b4d0e2a9394eb8c62baa filter=lfs diff=lfs merge=lfs -text
305
  ft-full/000044236800/ocdbt.process_0/d/99df2acbe7c985299cccbfd793756e21 filter=lfs diff=lfs merge=lfs -text
306
  ft-full/000044236800/ocdbt.process_0/d/bb91765510cc124c73b2162ed9daf841 filter=lfs diff=lfs merge=lfs -text
307
+ ft-full/000048660480/ocdbt.process_0/d/451dc9c1e4813ed36a6d53c56f71b5f7 filter=lfs diff=lfs merge=lfs -text
308
+ ft-full/000048660480/ocdbt.process_0/d/9e8743fb96d8aab5036b0f90132b1876 filter=lfs diff=lfs merge=lfs -text
309
+ ft-full/000048660480/ocdbt.process_0/d/e04de53477b8aa24ea1e7ba8c0f2ecd0 filter=lfs diff=lfs merge=lfs -text
ft-full/000048660480/_CHECKPOINT_METADATA ADDED
@@ -0,0 +1 @@
 
 
1
+ {"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1788104779859203643, "commit_timestamp_nsecs": 1788104779903470747, "custom_metadata": {}}
ft-full/000048660480/_METADATA ADDED
@@ -0,0 +1 @@
 
 
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-full/000048660480/_sharding ADDED
@@ -0,0 +1 @@
 
 
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-full/000048660480/array_metadatas/process_0 ADDED
@@ -0,0 +1 @@
 
 
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-full/000048660480/commit_success.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ Checkpoint commit was successful to /tmp/ft_full/000048660480
ft-full/000048660480/d/43e6e8d2105765f818033f8bd7c3c0cd ADDED
Binary file (6.55 kB). View file
 
ft-full/000048660480/manifest.ocdbt ADDED
Binary file (115 Bytes). View file
 
ft-full/000048660480/ocdbt.process_0/d/451dc9c1e4813ed36a6d53c56f71b5f7 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3c2c66c1d2dfddbac30dbe6afeb31fcad56c4d81da29847b2f0518372fd77b28
3
+ size 1136475
ft-full/000048660480/ocdbt.process_0/d/86a2772cfdef02932aff82f8b3fcbc0f ADDED
Binary file (1.64 kB). View file
 
ft-full/000048660480/ocdbt.process_0/d/96211217abf07f8e619c9879b39fd723 ADDED
Binary file (1.5 kB). View file
 
ft-full/000048660480/ocdbt.process_0/d/9e8743fb96d8aab5036b0f90132b1876 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1e1da8e56a83a861dfa682fddc9ae17f5ff0d6e2dea7589ca06baaed96aa9ab
3
+ size 819186
ft-full/000048660480/ocdbt.process_0/d/a895e7daa1dfa51b61b78236d5346720 ADDED
Binary file (489 Bytes). View file
 
ft-full/000048660480/ocdbt.process_0/d/c36731fbc25a99bfdfc4f8e913163d48 ADDED
Binary file (216 Bytes). View file
 
ft-full/000048660480/ocdbt.process_0/d/e04de53477b8aa24ea1e7ba8c0f2ecd0 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:67f7945f1b09cefa6c817f5c5d254d922ec5c5ea66ceb3cea6eaa89fc13ba387
3
+ size 124748
ft-full/000048660480/ocdbt.process_0/d/f61e18574a81170b3d538a737c5cdc26 ADDED
Binary file (419 Bytes). View file
 
ft-full/000048660480/ocdbt.process_0/manifest.ocdbt ADDED
Binary file (406 Bytes). View file
 
ft-full/000048660480/ppo_network_config.json ADDED
@@ -0,0 +1 @@
 
 
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-full/finetune_report.json CHANGED
@@ -1,7 +1,7 @@
1
  {
2
  "arm": "full",
3
  "flavor": "a100-large",
4
- "reached_step": 44236800,
5
  "best_reward": 8.482763290405273,
6
  "history": [
7
  {
@@ -193,6 +193,25 @@
193
  "eval/episode_reward/snow_stumble_std": 0.0,
194
  "eval/episode_snow_contact_fraction_std": 231.86427307128906,
195
  "eval/episode_snow_depth_under_feet_std": 10.270781517028809
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
196
  }
197
  ]
198
  }
 
1
  {
2
  "arm": "full",
3
  "flavor": "a100-large",
4
+ "reached_step": 48660480,
5
  "best_reward": 8.482763290405273,
6
  "history": [
7
  {
 
193
  "eval/episode_reward/snow_stumble_std": 0.0,
194
  "eval/episode_snow_contact_fraction_std": 231.86427307128906,
195
  "eval/episode_snow_depth_under_feet_std": 10.270781517028809
196
+ },
197
+ {
198
+ "step": 44236800,
199
+ "reward": 8.475494384765625,
200
+ "episode_length": 456.4140625,
201
+ "elapsed_s": 630.2,
202
+ "steps_per_second": 70200,
203
+ "eval/episode_reward/snow_clearance": 22.933597564697266,
204
+ "eval/episode_reward/snow_flat_efficiency": -0.2815224528312683,
205
+ "eval/episode_reward/snow_overload": -1.902597427368164,
206
+ "eval/episode_reward/snow_stumble": 0.0,
207
+ "eval/episode_snow_contact_fraction": 254.6796875,
208
+ "eval/episode_snow_depth_under_feet": 9.495142936706543,
209
+ "eval/episode_reward/snow_clearance_std": 20.032026290893555,
210
+ "eval/episode_reward/snow_flat_efficiency_std": 0.3261352479457855,
211
+ "eval/episode_reward/snow_overload_std": 2.7029058933258057,
212
+ "eval/episode_reward/snow_stumble_std": 0.0,
213
+ "eval/episode_snow_contact_fraction_std": 222.04454040527344,
214
+ "eval/episode_snow_depth_under_feet_std": 9.55649471282959
215
  }
216
  ]
217
  }