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@@ -35,3 +35,6 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
 train_state/ocdbt.process_0/d/daeb2ed2106b31314891bfbfff8ac213 filter=lfs diff=lfs merge=lfs -text
 train_state/ocdbt.process_0/d/dba38bfd08f0b477358fc9f6d9aa26ba filter=lfs diff=lfs merge=lfs -text
+train_state/ocdbt.process_0/d/4d78a232f479c4652853f7345c86a743 filter=lfs diff=lfs merge=lfs -text
+train_state/ocdbt.process_0/d/6963ff59a5fc894a13cf7668cb689eb3 filter=lfs diff=lfs merge=lfs -text
+train_state/ocdbt.process_0/d/e9ef5db6ee2c9ca9330870e5347981db filter=lfs diff=lfs merge=lfs -text

_CHECKPOINT_METADATA

@@ -1 +1 @@
-{"item_handlers": {"config": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "metadata": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1768517635941121330, "commit_timestamp_nsecs": 1768517638300366220, "custom_metadata": {}}
+{"item_handlers": {"config": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "metadata": "orbax.checkpoint._src.handlers.json_checkpoint_handler.JsonCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.standard_checkpoint_handler.StandardCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1770048504201361858, "commit_timestamp_nsecs": 1770048506574932907, "custom_metadata": {}}

config/metadata

@@ -1 +1 @@
-{"wandb": {"project": "musclemimic", "mode": "online", "tags": ["fullbody", "gmr"]}, "experiment": {"task_factory": {"name": "ImitationFactory", "params": {"amass_dataset_conf": {"dataset_group": "KIT_KINESIS_TRAINING_MOTIONS", "retargeting_method": "gmr", "gmr_config": {"src_human": "smplh", "target_fps": 30, "solver": "daqp", "damping": 0.5, "offset_to_ground": false, "use_velocity_limit": false, "use_fitted_shape": true, "shape_fitting_iterations": 500}}}}, "env_params": {"env_name": "MjxMyoFullBody", "headless": true, "horizon": 1000, "disable_fingers": true, "mjx_backend": "warp", "num_envs": 8192, "enable_muscle_length_observations": true, "enable_muscle_velocity_observations": true, "enable_muscle_force_observations": true, "enable_muscle_excitation_observations": true, "enable_muscle_activation_observations": true, "enable_touch_sensor_observations": true, "init_state_type": "TrajInitialStateHandler", "goal_type": "GoalTrajMimic", "goal_params": {"n_step_lookahead": 5, "n_step_stride": 20, "upper_body_xml_name": "torso", "enable_motion_phase": true, "use_concise_lookahead": true, "sites_for_mimic": ["pelvis_mimic", "upper_body_mimic", "head_mimic", "left_shoulder_mimic", "left_elbow_mimic", "left_hand_mimic", "right_shoulder_mimic", "right_elbow_mimic", "right_hand_mimic", "left_hip_mimic", "left_knee_mimic", "left_ankle_mimic", "left_toes_mimic", "right_hip_mimic", "right_knee_mimic", "right_ankle_mimic", "right_toes_mimic"]}, "control_type": "DefaultControl", "control_params": {}, "reward_type": "MimicReward", "reward_params": {"qpos_w_sum": 0.5, "qvel_w_sum": 0.1, "root_vel_w_sum": 0.1, "rpos_w_sum": 0.3, "rquat_w_sum": 0.01, "rvel_w_sum": 0.1, "use_mean_exp_reward": false, "sites_for_mimic": ["pelvis_mimic", "upper_body_mimic", "head_mimic", "left_shoulder_mimic", "left_elbow_mimic", "left_hand_mimic", "right_shoulder_mimic", "right_elbow_mimic", "right_hand_mimic", "left_hip_mimic", "left_knee_mimic", "left_ankle_mimic", "left_toes_mimic", "right_hip_mimic", "right_knee_mimic", "right_ankle_mimic", "right_toes_mimic"]}, "terminal_state_type": "MeanRelativeSiteDeviationTerminalStateHandler", "terminal_state_params": {"mean_site_deviation_threshold": 0.3, "enable_site_check": true}}, "algorithm": "PPOJax", "actor_hidden_layers": [1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024], "critic_hidden_layers": [1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024], "activation": "silu", "lr": 0.0004, "num_envs": 8192, "total_timesteps": 4915200000, "max_grad_norm": 10, "anneal_lr": false, "lr_schedule_type": "linear", "warmup_steps": null, "min_lr_ratio": 0.1, "weight_decay": 0.001, "normalize_env": true, "debug": false, "optimizer_type": "muon", "muon_config": {"beta": 0.95, "nesterov": true, "ns_steps": 5, "weight_decay": 0.001, "adaptive": false}, "ppo_config": {"num_steps": 8, "update_epochs": 1, "num_minibatches": 8, "gamma": 0.99, "gae_lambda": 0.95, "clip_eps": 0.2, "clip_eps_vf": 0.2, "init_std": 1.0, "learnable_std": true, "ent_coef": 0.0, "vf_coef": 0.5}, "use_layernorm": true, "layernorm_eps": 1e-05, "use_moe": false, "moe_config": {"num_experts": 16, "moe_at_layers": [3], "apply_moe_to": "both", "apply_moe_to_output": false, "expert_hidden_ratio": 0.5, "temperature": 0.5, "load_balance_loss_weight": 0.01, "gate_init_std": 0.01}, "n_seeds": 1, "seeds": null, "vmap_across_seeds": false, "save_checkpoints": true, "max_checkpoints_to_keep": 10, "checkpoints_on_validation": true, "resume_from": null, "async_checkpointing": false, "reset_logging_timestep": false, "reset_lr_schedule_on_resume": false, "auto_resume": true, "run_id": null, "checkpoint_root": null, "adaptive_termination": {"enabled": false, "init_threshold": 0.5, "low_band": 0.1, "high_band": 0.2, "adjust_factor": 0.95, "consecutive_k": 5, "min_threshold": 0.1, "ema_alpha": 0.1}, "reward_curriculum": {"enabled": false, "qvel_w_sum_init": 0.1, "root_vel_w_sum_init": 0.1, "qvel_w_sum_max": 0.4, "root_vel_w_sum_max": 0.4, "eta": 0.02, "ema_alpha": 0.2, "term_rate_threshold": 0.08, "consecutive_k": 5}, "validation": {"active": true, "deterministic": false, "num_steps": 1000, "num_envs": 20, "num": 50, "video_length": 3000, "video_frequency": 1, "video_fps": 60, "quantities": ["JointPosition", "JointVelocity", "RelSitePosition", "RelSiteVelocity", "RelSiteOrientation", "BodyPosition"], "measures": ["EuclideanDistance", "DynamicTimeWarping", "DiscreteFrechetDistance"], "rel_site_names": ["pelvis_mimic", "upper_body_mimic", "head_mimic", "left_shoulder_mimic", "left_elbow_mimic", "left_hand_mimic", "right_shoulder_mimic", "right_elbow_mimic", "right_hand_mimic", "left_hip_mimic", "left_knee_mimic", "left_ankle_mimic", "left_toes_mimic", "right_hip_mimic", "right_knee_mimic", "right_ankle_mimic", "right_toes_mimic"]}, "num_steps": 8, "update_epochs": 1, "num_minibatches": 8, "gamma": 0.99, "gae_lambda": 0.95, "clip_eps": 0.2, "clip_eps_vf": 0.2, "init_std": 1.0, "learnable_std": true, "ent_coef": 0.0, "vf_coef": 0.5, "num_updates": 75000, "minibatch_size": 8192, "validation_interval": 1500, "effective_utd": 0.0001220703125, "sample_reuse": 1.0, "unrolls_per_1m": 15.2587890625, "updates_per_1m": 15.2587890625, "grad_steps_per_1m": 122.0703125, "checkpoint_dir": "/users/ckli/musclemimic_dev/checkpoints/0e39d3bebd3c"}, "control_config": {"torque_control": {"control_type": "DefaultControl", "control_params": {}}}}
+{"wandb": {"project": "musclemimic", "mode": "online", "tags": ["fullbody", "gmr", "resnet"]}, "experiment": {"task_factory": {"name": "ImitationFactory", "params": {"amass_dataset_conf": {"dataset_group": "KIT_KINESIS_TRAINING_MOTIONS", "retargeting_method": "gmr", "gmr_config": {"src_human": "smplh", "target_fps": 30, "solver": "daqp", "damping": 0.5, "offset_to_ground": false, "use_velocity_limit": false, "use_fitted_shape": true, "shape_fitting_iterations": 500}, "skip_body_data": true}}}, "env_params": {"env_name": "MjxMyoFullBody", "headless": true, "horizon": 1000, "disable_fingers": true, "mjx_backend": "warp", "num_envs": 8192, "enable_muscle_length_observations": true, "enable_muscle_velocity_observations": true, "enable_muscle_force_observations": true, "enable_muscle_excitation_observations": true, "enable_muscle_activation_observations": true, "enable_touch_sensor_observations": true, "init_state_type": "TrajInitialStateHandler", "goal_type": "GoalTrajMimic", "goal_params": {"n_step_lookahead": 5, "n_step_stride": 20, "upper_body_xml_name": "torso", "enable_motion_phase": true, "use_concise_lookahead": true, "sites_for_mimic": ["pelvis_mimic", "upper_body_mimic", "head_mimic", "left_shoulder_mimic", "left_elbow_mimic", "left_hand_mimic", "right_shoulder_mimic", "right_elbow_mimic", "right_hand_mimic", "left_hip_mimic", "left_knee_mimic", "left_ankle_mimic", "left_toes_mimic", "right_hip_mimic", "right_knee_mimic", "right_ankle_mimic", "right_toes_mimic"]}, "control_type": "DefaultControl", "control_params": {}, "reward_type": "MimicReward", "reward_params": {"qpos_w_sum": 0.1, "qvel_w_sum": 0.1, "root_vel_w_sum": 0.2, "rpos_w_sum": 0.6, "rquat_w_sum": 0.2, "rvel_w_sum": 0.1, "activation_energy_coeff": 0.01, "action_rate_coeff": 0.0001, "use_mean_exp_reward": false, "sites_for_mimic": ["pelvis_mimic", "upper_body_mimic", "head_mimic", "left_shoulder_mimic", "left_elbow_mimic", "left_hand_mimic", "right_shoulder_mimic", "right_elbow_mimic", "right_hand_mimic", "left_hip_mimic", "left_knee_mimic", "left_ankle_mimic", "left_toes_mimic", "right_hip_mimic", "right_knee_mimic", "right_ankle_mimic", "right_toes_mimic"]}, "terminal_state_type": "MeanRelativeSiteDeviationWithRootTerminalStateHandler", "terminal_state_params": {"mean_site_deviation_threshold": 0.3, "root_deviation_threshold": 1.0, "enable_site_check": true}}, "algorithm": "PPOJax", "actor_hidden_layers": [2048, 4096, 4096, 4096, 4096, 4096, 2048, 1024, 512], "critic_hidden_layers": [2048, 4096, 4096, 4096, 4096, 4096, 2048, 1024, 512], "activation": "silu", "lr": 0.0004, "num_envs": 8192, "total_timesteps": 4915200000, "max_grad_norm": 10, "anneal_lr": false, "lr_schedule_type": "linear", "warmup_steps": null, "min_lr_ratio": 0.1, "weight_decay": 0.001, "normalize_env": true, "debug": {"enabled": false, "profile_traj_batch": false, "profile_val_batch": false, "track_nacon": false}, "optimizer_type": "muon", "muon_config": {"beta": 0.95, "nesterov": true, "ns_steps": 5, "weight_decay": 0.001, "adaptive": false}, "ppo_config": {"num_steps": 8, "update_epochs": 1, "num_minibatches": 8, "gamma": 0.99, "gae_lambda": 0.95, "clip_eps": 0.2, "clip_eps_vf": 0.2, "init_std": 1.0, "learnable_std": true, "ent_coef": 0.0, "vf_coef": 0.5}, "use_layernorm": true, "layernorm_eps": 1e-05, "use_moe": false, "moe_config": {"num_experts": 16, "moe_at_layers": [3], "apply_moe_to": "both", "apply_moe_to_output": false, "expert_hidden_ratio": 0.5, "temperature": 0.5, "load_balance_loss_weight": 0.01, "gate_init_std": 0.01}, "n_seeds": 1, "seeds": null, "vmap_across_seeds": false, "save_checkpoints": true, "max_checkpoints_to_keep": 10, "checkpoints_on_validation": true, "resume_from": null, "async_checkpointing": false, "reset_logging_timestep": false, "reset_lr_schedule_on_resume": false, "auto_resume": true, "run_id": null, "checkpoint_root": null, "adaptive_termination": {"enabled": false, "init_threshold": 0.5, "low_band": 0.1, "high_band": 0.2, 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"residual_type": "gated", "residual_gate_init": -2.0, "num_steps": 8, "update_epochs": 1, "num_minibatches": 8, "gamma": 0.99, "gae_lambda": 0.95, "clip_eps": 0.2, "clip_eps_vf": 0.2, "init_std": 1.0, "learnable_std": true, "ent_coef": 0.0, "vf_coef": 0.5, "num_updates": 75000, "minibatch_size": 8192, "validation_interval": 1500, "effective_utd": 0.0001220703125, "sample_reuse": 1.0, "unrolls_per_1m": 15.2587890625, "updates_per_1m": 15.2587890625, "grad_steps_per_1m": 122.0703125, "checkpoint_dir": "/users/ckli/musclemimic_main/checkpoints/1f53baaf2f6b"}, "control_config": {"torque_control": {"control_type": "DefaultControl", "control_params": {}}}}

metadata/metadata

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