Upload folder using huggingface_hub

.gitattributes

@@ -34,3 +34,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
 wandb/run-20260325_200057-qudlwnz5/run-qudlwnz5.wandb filter=lfs diff=lfs merge=lfs -text
+wandb/run-20260330_003253-c8rq5onq/run-c8rq5onq.wandb filter=lfs diff=lfs merge=lfs -text

.hydra/config.yaml

@@ -184,7 +184,7 @@ objective:
   temporal:
     max_offset: 20
     anchor_mode: fixed
-    extra_random_count: 0
+    extra_random_count: 4
   branch_order:
     enabled: false
     radial_weight: 0.0
@@ -324,4 +324,4 @@ logger:
   run_name: latent_action_training
   tags:
   - debug
-output_root: outputs/token_fdm_duration/dino_suite_all_k20_extra0
+output_root: outputs/token_fdm_duration/dino_suite_all_k20_extra4

.hydra/hydra.yaml

@@ -121,7 +121,7 @@ hydra:
     - objective.idm_input=future
     - objective.temporal.max_offset=20
     - objective.temporal.anchor_mode=fixed
-    - objective.temporal.extra_random_count=0
+    - objective.temporal.extra_random_count=4
     - train.use_aug=true
     - train.use_amp=true
     - train.stage1.batch_size=256
@@ -133,11 +133,11 @@ hydra:
     - train.checkpoint.save_interval=1000
     - train.checkpoint.save_last=true
     - train.checkpoint.latest_only=true
-    - output_root=outputs/token_fdm_duration/dino_suite_all_k20_extra0
+    - output_root=outputs/token_fdm_duration/dino_suite_all_k20_extra4
   job:
     name: run
     chdir: null
-    override_dirname: data.hf.allow_patterns=[success_only/*_regen/*.hdf5],data.image_chw=[3,224,224],data.task_suite_name=null,data.temporal_index_mode=clip,data=libero_cosmos_policy,model.fdm.type=token_fdm_duration,objective.idm_input=future,objective.temporal.anchor_mode=fixed,objective.temporal.extra_random_count=0,objective.temporal.max_offset=20,output_root=outputs/token_fdm_duration/dino_suite_all_k20_extra0,train.checkpoint.enabled=true,train.checkpoint.latest_only=true,train.checkpoint.save_interval=1000,train.checkpoint.save_last=true,train.stage1.batch_size=256,train.stage1.log_interval=100,train.stage1.num_workers=16,train.stage1.prefetch_factor=2,train.stage1.total_steps=20000,train.use_amp=true,train.use_aug=true
+    override_dirname: data.hf.allow_patterns=[success_only/*_regen/*.hdf5],data.image_chw=[3,224,224],data.task_suite_name=null,data.temporal_index_mode=clip,data=libero_cosmos_policy,model.fdm.type=token_fdm_duration,objective.idm_input=future,objective.temporal.anchor_mode=fixed,objective.temporal.extra_random_count=4,objective.temporal.max_offset=20,output_root=outputs/token_fdm_duration/dino_suite_all_k20_extra4,train.checkpoint.enabled=true,train.checkpoint.latest_only=true,train.checkpoint.save_interval=1000,train.checkpoint.save_last=true,train.stage1.batch_size=256,train.stage1.log_interval=100,train.stage1.num_workers=16,train.stage1.prefetch_factor=2,train.stage1.total_steps=20000,train.use_amp=true,train.use_aug=true
     id: ???
     num: ???
     config_name: dino_lam
@@ -162,7 +162,7 @@ hydra:
     - path: ''
       schema: structured
       provider: schema
-    output_dir: /home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra0/libero_cosmos_policy/2026-03-25/20-00-52
+    output_dir: /home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra4/libero_cosmos_policy/2026-03-30/00-32-46
     choices:
       logger: wandb
       probes: action_t

.hydra/overrides.yaml

@@ -7,7 +7,7 @@
 - objective.idm_input=future
 - objective.temporal.max_offset=20
 - objective.temporal.anchor_mode=fixed
-- objective.temporal.extra_random_count=0
+- objective.temporal.extra_random_count=4
 - train.use_aug=true
 - train.use_amp=true
 - train.stage1.batch_size=256
@@ -19,4 +19,4 @@
 - train.checkpoint.save_interval=1000
 - train.checkpoint.save_last=true
 - train.checkpoint.latest_only=true
-- output_root=outputs/token_fdm_duration/dino_suite_all_k20_extra0
+- output_root=outputs/token_fdm_duration/dino_suite_all_k20_extra4

config_resolved.yaml

@@ -189,7 +189,7 @@ objective:
   temporal:
     max_offset: 20
     anchor_mode: fixed
-    extra_random_count: 0
+    extra_random_count: 4
   branch_order:
     enabled: false
     radial_weight: 0.0
@@ -330,4 +330,4 @@ logger:
   run_name: latent_action_training
   tags:
   - debug
-output_root: outputs/token_fdm_duration/dino_suite_all_k20_extra0
+output_root: outputs/token_fdm_duration/dino_suite_all_k20_extra4

git.json

@@ -1,9 +1,9 @@
 {
-  "branch": "integration/master-hyperbolic",
-  "captured_at": "2026-03-25T20:00:54.494786+00:00",
-  "commit": "84bdcca892435da456b8a676dae358493a0a6e59",
+  "branch": "master",
+  "captured_at": "2026-03-30T00:32:49.746275+00:00",
+  "commit": "22ff70a309b0562643b8ac3a0b6209401cd26c60",
   "dirty": false,
   "repo_root": "/home/jovyan/youngjoonjeong/latent_action",
-  "short_commit": "84bdcca",
+  "short_commit": "22ff70a",
   "status": []
 }

hydra_resolved.yaml

@@ -189,7 +189,7 @@ objective:
   temporal:
     max_offset: 20
     anchor_mode: fixed
-    extra_random_count: 0
+    extra_random_count: 4
   branch_order:
     enabled: false
     radial_weight: 0.0
@@ -330,4 +330,4 @@ logger:
   run_name: latent_action_training
   tags:
   - debug
-output_root: outputs/token_fdm_duration/dino_suite_all_k20_extra0
+output_root: outputs/token_fdm_duration/dino_suite_all_k20_extra4

outputs/token_fdm_duration/dino_suite_all_k20_extra4/registry.jsonl

@@ -0,0 +1 @@
+{"base_run_name": "latent_action_training", "config_resolved_yaml": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra4/libero_cosmos_policy/2026-03-30/00-32-46/config_resolved.yaml", "created_at": "2026-03-30T00:32:49.746570+00:00", "data_name": "libero_cosmos_policy", "enabled_stages": {"stage1": true, "stage2": false, "stage3": false}, "git_json": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra4/libero_cosmos_policy/2026-03-30/00-32-46/git.json", "intent_md": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra4/libero_cosmos_policy/2026-03-30/00-32-46/intent.md", "notes_md": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra4/libero_cosmos_policy/2026-03-30/00-32-46/notes.md", "run_dir": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra4/libero_cosmos_policy/2026-03-30/00-32-46"}

registry_entry.json

@@ -1,15 +1,15 @@
 {
   "base_run_name": "latent_action_training",
-  "config_resolved_yaml": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra0/libero_cosmos_policy/2026-03-25/20-00-52/config_resolved.yaml",
-  "created_at": "2026-03-25T20:00:54.495122+00:00",
+  "config_resolved_yaml": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra4/libero_cosmos_policy/2026-03-30/00-32-46/config_resolved.yaml",
+  "created_at": "2026-03-30T00:32:49.746570+00:00",
   "data_name": "libero_cosmos_policy",
   "enabled_stages": {
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     "stage3": false
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-  "git_json": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra0/libero_cosmos_policy/2026-03-25/20-00-52/git.json",
-  "intent_md": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra0/libero_cosmos_policy/2026-03-25/20-00-52/intent.md",
-  "notes_md": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra0/libero_cosmos_policy/2026-03-25/20-00-52/notes.md",
-  "run_dir": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra0/libero_cosmos_policy/2026-03-25/20-00-52"
+  "git_json": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra4/libero_cosmos_policy/2026-03-30/00-32-46/git.json",
+  "intent_md": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra4/libero_cosmos_policy/2026-03-30/00-32-46/intent.md",
+  "notes_md": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra4/libero_cosmos_policy/2026-03-30/00-32-46/notes.md",
+  "run_dir": "/home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra4/libero_cosmos_policy/2026-03-30/00-32-46"
 }

stages/stage1/checkpoint_latest.pt

@@ -1,3 +1,3 @@
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+oid sha256:b2504c11c91e96ffecdabbbf1db70e78c1860fd4932d2168ce385939e97c8cf9
 size 671070930

stages/stage1/hydra_resolved.yaml

@@ -75,7 +75,7 @@ data:
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     max_offset: 20
     anchor_mode: fixed
-    extra_random_count: 0
+    extra_random_count: 4
     load_full_context: false
   multiscale:
     enabled: true
@@ -228,7 +228,7 @@ model:
   temporal:
     max_offset: 20
     anchor_mode: fixed
-    extra_random_count: 0
+    extra_random_count: 4
     load_full_context: false
   multiscale_loss:
     enabled: true
@@ -275,7 +275,7 @@ objective:
   temporal:
     max_offset: 20
     anchor_mode: fixed
-    extra_random_count: 0
+    extra_random_count: 4
     load_full_context: false
   branch_order:
     enabled: false
@@ -420,4 +420,4 @@ logger:
   run_name: latent_action_training
   tags:
   - debug
-output_root: outputs/token_fdm_duration/dino_suite_all_k20_extra0
+output_root: outputs/token_fdm_duration/dino_suite_all_k20_extra4

stages/stage1/summary.json

@@ -1,27 +1,65 @@
 {
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-    "probe/z_to_action_seq_h20/l2": 0.03165977820754051,
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 }

wandb/debug.log

@@ -1,24 +1,24 @@
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-2026-03-25 20:00:57,304 INFO    MainThread:3245764 [wandb_setup.py:_flush():81] Configure stats pid to 3245764
-2026-03-25 20:00:57,304 INFO    MainThread:3245764 [wandb_setup.py:_flush():81] Loading settings from environment variables
-2026-03-25 20:00:57,304 INFO    MainThread:3245764 [wandb_init.py:setup_run_log_directory():717] Logging user logs to /home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra0/libero_cosmos_policy/2026-03-25/20-00-52/wandb/run-20260325_200057-qudlwnz5/logs/debug.log
-2026-03-25 20:00:57,304 INFO    MainThread:3245764 [wandb_init.py:setup_run_log_directory():718] Logging internal logs to /home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra0/libero_cosmos_policy/2026-03-25/20-00-52/wandb/run-20260325_200057-qudlwnz5/logs/debug-internal.log
-2026-03-25 20:00:57,304 INFO    MainThread:3245764 [wandb_init.py:init():844] calling init triggers
-2026-03-25 20:00:57,305 INFO    MainThread:3245764 [wandb_init.py:init():849] wandb.init called with sweep_config: {}
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+2026-03-30 00:32:53,294 INFO    MainThread:3328778 [wandb_init.py:init():849] wandb.init called with sweep_config: {}
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wandb/run-20260330_003253-c8rq5onq/files/config.yaml

@@ -0,0 +1,524 @@
+_wandb:
+    value:
+        cli_version: 0.25.1
+        e:
+            5v5nswljzbve0hljbld3jygmzuublcwz:
+                args:
+                    - --config-name
+                    - dino_lam
+                    - data=libero_cosmos_policy
+                    - data.task_suite_name=null
+                    - data.hf.allow_patterns=[success_only/*_regen/*.hdf5]
+                    - data.image_chw=[3,224,224]
+                    - data.temporal_index_mode=clip
+                    - model.fdm.type=token_fdm_duration
+                    - objective.idm_input=future
+                    - objective.temporal.max_offset=20
+                    - objective.temporal.anchor_mode=fixed
+                    - objective.temporal.extra_random_count=4
+                    - train.use_aug=true
+                    - train.use_amp=true
+                    - train.stage1.batch_size=256
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+                    - train.stage1.total_steps=20000
+                    - train.stage1.log_interval=100
+                    - train.checkpoint.enabled=true
+                    - train.checkpoint.save_interval=1000
+                    - train.checkpoint.save_last=true
+                    - train.checkpoint.latest_only=true
+                    - output_root=outputs/token_fdm_duration/dino_suite_all_k20_extra4
+                codePath: run.py
+                cpu_count: 32
+                cpu_count_logical: 64
+                cudaVersion: "12.4"
+                disk:
+                    /:
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+                        used: "1646443646976"
+                email: zuni1218@gmail.com
+                executable: /home/jovyan/youngjoonjeong/latent_action/.venv/bin/python3
+                git:
+                    commit: 22ff70a309b0562643b8ac3a0b6209401cd26c60
+                    remote: https://github.com/joon-stack/latent_action.git
+                gpu: NVIDIA H100 NVL
+                gpu_count: 1
+                gpu_nvidia:
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+                      cudaCores: 16896
+                      memoryTotal: "100485038080"
+                      name: NVIDIA H100 NVL
+                      uuid: GPU-c6a0d739-1597-848e-b639-5dba9b4deb79
+                host: 91b1e4a5838d
+                memory:
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+                os: Linux-5.15.0-171-generic-x86_64-with-glibc2.35
+                program: /home/jovyan/youngjoonjeong/latent_action/run.py
+                python: CPython 3.10.18
+                root: /home/jovyan/youngjoonjeong/latent_action/outputs/token_fdm_duration/dino_suite_all_k20_extra4/libero_cosmos_policy/2026-03-30/00-32-46
+                startedAt: "2026-03-30T00:32:53.292393Z"
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+                type: resnet18
+            modalities:
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+                - robot0_eye_in_hand_image
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+            proprio:
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+            type: group
+        policies:
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+            decoder:
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+            hidden_dims:
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+data:
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+            horizons:
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+        duration_focus: null
+        emit_duration_label: false
+        emit_future_offset_fields: false
+        emit_states: false
+        frame_stack: 1
+        hf:
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+            repo_id: nvidia/LIBERO-Cosmos-Policy
+            repo_type: dataset
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+        image_chw:
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+            - 224
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+        image_value_range: zero_to_one
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+        name: libero_cosmos_policy
+        observation_source_keys:
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+        observations_keys:
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+        paths:
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+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_10_regen/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_10_regen/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it_demo.hdf5
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+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_goal_regen/open_the_top_drawer_and_put_the_bowl_inside_demo.hdf5
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+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_goal_regen/put_the_bowl_on_the_plate_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_goal_regen/put_the_bowl_on_the_stove_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_goal_regen/put_the_bowl_on_top_of_the_cabinet_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_goal_regen/put_the_cream_cheese_in_the_bowl_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_goal_regen/put_the_wine_bottle_on_the_rack_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_goal_regen/put_the_wine_bottle_on_top_of_the_cabinet_demo.hdf5
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+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_object_regen/pick_up_the_alphabet_soup_and_place_it_in_the_basket_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_object_regen/pick_up_the_bbq_sauce_and_place_it_in_the_basket_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_object_regen/pick_up_the_butter_and_place_it_in_the_basket_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_object_regen/pick_up_the_chocolate_pudding_and_place_it_in_the_basket_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_object_regen/pick_up_the_cream_cheese_and_place_it_in_the_basket_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_object_regen/pick_up_the_ketchup_and_place_it_in_the_basket_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_object_regen/pick_up_the_milk_and_place_it_in_the_basket_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_object_regen/pick_up_the_orange_juice_and_place_it_in_the_basket_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_object_regen/pick_up_the_salad_dressing_and_place_it_in_the_basket_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_object_regen/pick_up_the_tomato_sauce_and_place_it_in_the_basket_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_spatial_regen/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_spatial_regen/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_spatial_regen/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_spatial_regen/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_spatial_regen/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_spatial_regen/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_spatial_regen/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_spatial_regen/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_demo.hdf5
+            - /home/jovyan/.cache/huggingface/hub/datasets--nvidia--LIBERO-Cosmos-Policy/snapshots/b463cbd5d114909e4daea65eb03bed9787290042/success_only/libero_spatial_regen/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate_demo.hdf5
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+        proprio_source: robot_states
+        sample_transform:
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+        task_suite_name: null
+        temporal:
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+            extra_random_count: 4
+            load_full_context: false
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+        temporal_index_mode: clip
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+eval:
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+        max_steps: 500
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+        video_output_path: null
+logger:
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+            radius_progress_mode: offset_margin
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+        encoders:
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+            freeze_backbone: true
+            image_key: image
+            input_value_range: zero_to_one
+            mean:
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+                - 0.456
+                - 0.406
+            model_id: facebook/dinov2-base
+            output_dim: 768
+            std:
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+            dropout: 0
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+            num_heads: 8
+            prediction_mode: direct
+            token_dim: 768
+            type: token_fdm_duration
+        fdm_target: future
+        hyperbolic_latent:
+            backend: geoopt
+            curvature: 1
+            enabled: false
+            eps: 1e-06
+            fdm_input_mode: logmap0
+            learnable_curvature: false
+            lift_max_norm: 5
+            manifold: poincare
+            prelift_mode: none
+            prelift_scale: 1
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+        multiscale_loss:
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+                teacher_mode: direct_teacher
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+            enabled: true
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+            weight_mode: uniform
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+            extra_random_count: 4
+            load_full_context: false
+            max_offset: 20
+        type: dino_lam
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+            total_horizon: 20
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+                sample_source: all_horizons
+                teacher_mode: direct_teacher
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+            enabled: true
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+        temporal:
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+            extra_random_count: 4
+            load_full_context: false
+            max_offset: 20
+output_root:
+    value: outputs/token_fdm_duration/dino_suite_all_k20_extra4
+probes:
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+        enabled: true
+        every: 10
+        list:
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+                enabled: true
+                every: 10
+                input: z_t
+                loss: mse
+                lr: 0.001
+                mlp:
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+                        - 128
+                        - 64
+                name: z_to_action_seq_h20
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+                probe_type: z_to_action_sequence
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+                shuffle: true
+                target: gt_action_seq_max
+                type: regression
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+                every: 1
+                input: z_t
+                loss: mse
+                lr: 0.001
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+                        - 128
+                        - 64
+                name: z_to_action_t
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+                every: 10
+                input: z_t
+                loss: mse
+                lr: 0.001
+                mlp:
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+                        - 128
+                        - 64
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+                shuffle: true
+                target: s_t
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+                every: 10
+                input: z_t
+                loss: mse
+                lr: 0.001
+                mlp:
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+                        - 128
+                        - 64
+                name: z_to_s_tp
+                shuffle: true
+                target: s_tp
+                type: regression
+        sequence:
+            enabled: true
+            horizons:
+                - 20
+            target_key: gt_action_seq_max
+        steps_per_call: 1
+train:
+    value:
+        aug_mode: default
+        batch_size: 256
+        checkpoint:
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+            enabled: true
+            latest_only: true
+            load:
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+                stage2:
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+                stage3:
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+            save_interval: 1000
+            save_last: true
+        decoder_dataloader:
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wandb/run-20260330_003253-c8rq5onq/files/output.log

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