Upload 3 files
Browse files- config.yaml +21 -21
- model.pth +2 -2
- trunk.pth +2 -2
config.yaml
CHANGED
@@ -1,5 +1,5 @@
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seed: 0
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output_dir: output/
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domains: austin_sailor_dataset_converted_externally_to_rlds, stanford_hydra_dataset_converted_externally_to_rlds,
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austin_buds_dataset_converted_externally_to_rlds, austin_sirius_dataset_converted_externally_to_rlds,
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berkeley_mvp_converted_externally_to_rlds, berkeley_rpt_converted_externally_to_rlds,
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@@ -15,15 +15,15 @@ domains: austin_sailor_dataset_converted_externally_to_rlds, stanford_hydra_data
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columbia_cairlab_pusht_real, conq_hose_manipulation, dlr_edan_shared_control_converted_externally_to_rlds,
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berkeley_gnm_sac_son, berkeley_autolab_ur5, aloha_mobile, agent_aware_affordances,
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human_image_hammer, human_image_spatula, epic_kitchen, drake_tooluse_image, pybullet_grasping_image,
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mujoco_metaworld, mujoco_robomimic, isaac_arnold_image
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log_dir: output/
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debug_distributed: false
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wb_tag: default
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wb_cont_run:
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log_interval: 10
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script_name:
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save_wb_checkpoint: true
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slurm_job_id: '
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effective_total_epochs: 100
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effective_batch_size: 256
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epoch_size: 10
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@@ -32,17 +32,17 @@ total_num_sample: 0
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rank: 0
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gpu: 0
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task_per_gpu: 1
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world_size:
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debug_submitit: false
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ngpus: 8
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nodes:
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timeout: 4320
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job_dir: logs/
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partition: learnlab
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use_volta32: true
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comment: ''
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resume: logs/
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dist_url: file:///checkpoint/xinleic/experiments/
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dist_on_itp: false
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local_rank: 1
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distributed: true
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@@ -50,7 +50,7 @@ dist_backend: nccl
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dset_w_temperature: 2.0
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dataset_shuffle: true
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dataset_groups: ''
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nodelist: learnlab,learnfair
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fsdp: false
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count_flops: false
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accumuate_gradient_steps: 1
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@@ -83,9 +83,9 @@ dataset:
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continue_generate: false
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network:
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_target_: hpt_pretrain.models.policy.Policy
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embed_dim:
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num_blocks:
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num_heads:
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use_modality_embedding: true
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use_domain_embedding: false
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token_postprocessing: mean
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@@ -98,7 +98,7 @@ stem:
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modalities:
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- image
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- state
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modality_embed_dim:
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normalize_state: ${dataset.normalize_state}
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state_embedding_dim: 1
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image_encoder: ${dataset.image_encoder}
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@@ -115,27 +115,27 @@ stem:
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image:
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_target_: hpt_pretrain.models.policy_stem.MLP
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input_dim: 512
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output_dim:
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widths:
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- 128
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num_of_copy: 1
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state:
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_target_: hpt_pretrain.models.policy_stem.MLP
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input_dim:
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output_dim:
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widths:
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- 128
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head:
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_target_: hpt_pretrain.models.policy_head.MLP
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input_dim:
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tanh_end: true
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output_dim:
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dropout: true
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widths:
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- 256
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- 128
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dataloader:
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batch_size:
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num_workers: 1
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pin_memory: false
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persistent_workers: false
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@@ -172,7 +172,7 @@ train:
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epoch_iters: 1000
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validation_iters: 100
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use_accumulation: false
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pretrained_dir: '
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max_validation_size: 10
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load_pretrain_trunk_only: false
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freeze_trunk: false
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seed: 0
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+
output_dir: output/14_05_2024_13_09_38_3482822
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domains: austin_sailor_dataset_converted_externally_to_rlds, stanford_hydra_dataset_converted_externally_to_rlds,
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austin_buds_dataset_converted_externally_to_rlds, austin_sirius_dataset_converted_externally_to_rlds,
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berkeley_mvp_converted_externally_to_rlds, berkeley_rpt_converted_externally_to_rlds,
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columbia_cairlab_pusht_real, conq_hose_manipulation, dlr_edan_shared_control_converted_externally_to_rlds,
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berkeley_gnm_sac_son, berkeley_autolab_ur5, aloha_mobile, agent_aware_affordances,
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human_image_hammer, human_image_spatula, epic_kitchen, drake_tooluse_image, pybullet_grasping_image,
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mujoco_metaworld, mujoco_robomimic, isaac_arnold_image, pybullet_trifinger, mujoco_adroit
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log_dir: output/14_05_2024_13_09_38_3482822
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debug_distributed: false
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wb_tag: default
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wb_cont_run: 2n1ryxkw
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log_interval: 10
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script_name: run_resnet_52dataset_traj100000_embed768_batch4096_800k_32block
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save_wb_checkpoint: true
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slurm_job_id: '27595011'
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effective_total_epochs: 100
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effective_batch_size: 256
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epoch_size: 10
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rank: 0
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gpu: 0
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task_per_gpu: 1
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world_size: 128
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debug_submitit: false
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ngpus: 8
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nodes: 16
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timeout: 4320
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job_dir: logs/
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partition: learnlab
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use_volta32: true
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comment: ''
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resume: logs/
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+
dist_url: file:///checkpoint/xinleic/experiments/3e51596f51c04660aea04b183dba259e_init
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dist_on_itp: false
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local_rank: 1
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distributed: true
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dset_w_temperature: 2.0
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dataset_shuffle: true
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dataset_groups: ''
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+
nodelist: learnlab,learnfair
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fsdp: false
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count_flops: false
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accumuate_gradient_steps: 1
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continue_generate: false
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network:
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_target_: hpt_pretrain.models.policy.Policy
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+
embed_dim: 768
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num_blocks: 32
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num_heads: 16
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use_modality_embedding: true
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use_domain_embedding: false
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token_postprocessing: mean
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modalities:
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- image
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- state
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modality_embed_dim: 768
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normalize_state: ${dataset.normalize_state}
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state_embedding_dim: 1
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image_encoder: ${dataset.image_encoder}
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image:
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_target_: hpt_pretrain.models.policy_stem.MLP
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input_dim: 512
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output_dim: 768
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widths:
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- 128
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num_of_copy: 1
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state:
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_target_: hpt_pretrain.models.policy_stem.MLP
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+
input_dim: 45
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output_dim: 768
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widths:
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- 128
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head:
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_target_: hpt_pretrain.models.policy_head.MLP
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input_dim: 768
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tanh_end: true
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output_dim: 192
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dropout: true
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widths:
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- 256
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- 128
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dataloader:
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batch_size: 32
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num_workers: 1
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pin_memory: false
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persistent_workers: false
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epoch_iters: 1000
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validation_iters: 100
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use_accumulation: false
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pretrained_dir: '14_05_2024_13_09_38_3482822'
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max_validation_size: 10
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load_pretrain_trunk_only: false
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freeze_trunk: false
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model.pth
CHANGED
@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:
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-
size
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version https://git-lfs.github.com/spec/v1
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oid sha256:ac92945be3aad4149da11ca8a337ed32c36f1b18f1cc65ea8816e9f459244c92
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size 1672892039
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trunk.pth
CHANGED
@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:
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size
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:86c5583956e3f8b63e150e19a6c2e9a8faacec58d8e6fdbcd4229a1f3db31d1a
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+
size 907575146
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