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.gitattributes

@@ -33,3 +33,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+ckpt-400120.data-00000-of-00001 filter=lfs diff=lfs merge=lfs -text
+variables/variables.data-00000-of-00001 filter=lfs diff=lfs merge=lfs -text

assets/metadata.textproto

@@ -0,0 +1,3 @@
+xmanager_id: 77467904
+xmanager_wid: 1
+gin_config: "from __gin__ import dynamic_registration\nfrom gin import config\nimport google3.robotics.datasets.specs\nimport google3.robotics.learning.task_explore.tasks.fractal.data.rds.datasets.datasets as google32\nimport google3.robotics.learning.task_explore.tasks.fractal.data.rds.filters as google33\nimport google3.robotics.learning.task_explore.tasks.fractal.data.rds.fractal_rds_input_registry as google34\nfrom google3.robotics.learning.task_explore.tasks.fractal.data.rds import model_spec\nimport google3.robotics.learning.task_explore.tasks.fractal.data.rds.rds_input_builder as google35\nimport google3.robotics.learning.task_explore.tasks.fractal.data.rds.transforms as google36\nimport google3.robotics.learning.task_explore.tasks.fractal.env_options as google37\nimport google3.robotics.learning.task_explore.tasks.fractal.t2r_models.fractal_critic_model_builder as google38\nimport google3.robotics.learning.task_explore.tasks.fractal.t2r_models.moma_critic_model_builder as google39\nfrom google3.robotics.learning.task_explore.tasks.fractal.tf_agents import action_tokenizer\nimport google3.robotics.learning.task_explore.tasks.fractal.tf_agents.launch.gin_helper as google310\nfrom google3.robotics.learning.task_explore.tasks.fractal.tf_agents import observation_tokenizer\nimport google3.robotics.learning.task_explore.tasks.fractal.tf_agents.sample_clipper as google311\nfrom google3.robotics.learning.task_explore.tasks.mobile_grasping.t2r_models import grasping_44_critic_fat_model_builder\nimport google3.robotics.learning.task_explore.tf_agents.bc0.bc0_actor_net as google312\nfrom google3.robotics.learning.task_explore.tf_agents.bc0 import pretrained_efficientnet_encoder\nimport google3.robotics.learning.task_explore.tf_agents.episode_statistics_visualizations as google313\nimport google3.robotics.learning.task_explore.tf_agents.kuka_e2e_grasping.grasping_net as google314\nimport google3.robotics.learning.task_explore.tf_agents.kuka_e2e_grasping.workspace_clip_policy as google315\nfrom google3.robotics.learning.task_explore.tf_agents.policies import greedy_policy\nimport google3.robotics.learning.task_explore.tf_agents.preprocessors as google316\nfrom google3.robotics.learning.task_explore.tf_agents.sequence import sequence_agent\nfrom google3.robotics.learning.task_explore.tf_agents.sequence import transformer_network\nfrom google3.robotics.learning.task_explore.tf_agents import tf_agents_trainer\nimport google3.robotics.learning.task_explore.utils.gin_string_functions as google317\nfrom robotics_transformer.film_efficientnet import preprocessors\nfrom tensor2robot.preprocessors import image_transformations\nimport tensor2robot.utils.tensorspec_utils\nimport tensorflow as tf\nfrom tf_agents.google.xm import environment_specs\nfrom tf_agents.policies import actor_policy\nimport tf_agents.policies.samplers.qtopt_cem_actions_sampler_continuous_and_one_hot\nfrom tf_agents.train import learner\n\n# Macros:\n# ==============================================================================\nACTION_ORDER = @model_spec.get_action_spec_order()\nACTOR_NETWORK = @transformer_network.TransformerNetwork\nACTOR_OPTIMIZER = @actor_optimizer/tf.keras.optimizers.Adam()\nBASE_TRANSFORM_NAMES = [\'rt_1_arm_depth_without_filters\']\nBATCH_SIZE = 16\nCROP_SIZE = 236\nDATASET_NAMES = [\'fractal.mk1_500tasks_te_real\']\nDATASET_WEIGHTS = [1.0]\nDEBUG_SUMMARIES = True\nLEARNING_RATE_ACTOR = 0.0001\nLOG_SUMMARY_INTERVAL = 280\nMAX_TRAINING_STEPS = 45000\nNUM_SHARDS_REVERB = 40\nPOLICY_CHECKPOINT_INTERVAL = 280\nREPLAY_BUFFER_BACKEND = None\nSEQUENCE_LENGTH = 6\nSPLIT_SLICES = [\'\']\nSPLITS = [\'train\']\nTF_AGENT_CLASS = @sequence_agent.SequenceAgent\nTRAIN_CHECKPOINT_INTERVAL = 280\nTRAIN_DIR = \\\n    \'/cns/tp-d/home/tedxiao-brain/tedxiao/rs=6.3:sl=48M/ttl=12w:gc=0/tot_rds_test_112923_1v1_experiment_77467904/1/train\'\nTRAIN_LOG_DIR = \\\n    \'/cns/tp-d/home/tedxiao-brain/tedxiao/rs=6.3:sl=48M/ttl=12w:gc=0/tot_rds_test_112923_1v1_experiment_77467904/1/train\'\nTRAIN_TABLE_NAME = None\nUSE_TCL = False\nVOCAB_SIZE = 255\n\n# Parameters for google316._distort_proxy_images:\n# ==============================================================================\ngoogle316._distort_proxy_images.all_augs = False\ngoogle316._distort_proxy_images.use_cutout = False\n\n# Parameters for environment_specs.action_spec:\n# ==============================================================================\n# None.\n\n# Parameters for actor_policy.ActorPolicy:\n# ==============================================================================\nactor_policy.ActorPolicy.clip = True\nactor_policy.ActorPolicy.name = None\nactor_policy.ActorPolicy.observation_and_action_constraint_splitter = None\nactor_policy.ActorPolicy.observation_normalizer = None\nactor_policy.ActorPolicy.policy_state_spec = ()\n\n# Parameters for actor_optimizer/tf.keras.optimizers.Adam:\n# ==============================================================================\nactor_optimizer/tf.keras.optimizers.Adam.adaptive_epsilon = False\nactor_optimizer/tf.keras.optimizers.Adam.amsgrad = False\nactor_optimizer/tf.keras.optimizers.Adam.beta_1 = 0.9\nactor_optimizer/tf.keras.optimizers.Adam.beta_2 = 0.999\nactor_optimizer/tf.keras.optimizers.Adam.clipnorm = None\nactor_optimizer/tf.keras.optimizers.Adam.clipvalue = None\nactor_optimizer/tf.keras.optimizers.Adam.ema_momentum = 0.99\nactor_optimizer/tf.keras.optimizers.Adam.ema_overwrite_frequency = None\nactor_optimizer/tf.keras.optimizers.Adam.epsilon = 1e-07\nactor_optimizer/tf.keras.optimizers.Adam.global_clipnorm = None\nactor_optimizer/tf.keras.optimizers.Adam.jit_compile = True\nactor_optimizer/tf.keras.optimizers.Adam.learning_rate = %LEARNING_RATE_ACTOR\nactor_optimizer/tf.keras.optimizers.Adam.name = \'Adam\'\nactor_optimizer/tf.keras.optimizers.Adam.use_ema = False\nactor_optimizer/tf.keras.optimizers.Adam.weight_decay = None\n\n# Parameters for image_transformations.ApplyPhotometricImageDistortions:\n# ==============================================================================\nimage_transformations.ApplyPhotometricImageDistortions.lower_contrast = 0.5\nimage_transformations.ApplyPhotometricImageDistortions.lower_saturation = 0.5\nimage_transformations.ApplyPhotometricImageDistortions.max_delta_brightness = 0.125\nimage_transformations.ApplyPhotometricImageDistortions.max_delta_hue = 0.2\nimage_transformations.ApplyPhotometricImageDistortions.random_noise_apply_probability = \\\n    0.5\nimage_transformations.ApplyPhotometricImageDistortions.upper_contrast = 1.5\nimage_transformations.ApplyPhotometricImageDistortions.upper_saturation = 1.5\n\n# Parameters for preprocessors.convert_dtype_and_crop_images:\n# ==============================================================================\n# None.\n\n# Parameters for tf_agents_trainer.create_agent_and_specs:\n# ==============================================================================\n# None.\n\n# Parameters for tf_agents_trainer.create_and_mix_rds_datasets:\n# ==============================================================================\ntf_agents_trainer.create_and_mix_rds_datasets.fewer_datasets_than_weights = False\ntf_agents_trainer.create_and_mix_rds_datasets.prefetch = True\ntf_agents_trainer.create_and_mix_rds_datasets.sample_from_datasets = False\n\n# Parameters for model_spec.create_model_spec:\n# ==============================================================================\n# None.\n\n# Parameters for google35.create_rds_episode_input_pipelines:\n# ==============================================================================\ngoogle35.create_rds_episode_input_pipelines.rds_dataset_names = %DATASET_NAMES\ngoogle35.create_rds_episode_input_pipelines.split_slices = %SPLIT_SLICES\ngoogle35.create_rds_episode_input_pipelines.splits = %SPLITS\ngoogle35.create_rds_episode_input_pipelines.traj_transforms_names = \\\n    @google34.infer_trajectory_transform_names()\n\n# Parameters for google35.create_rds_input_pipeline:\n# ==============================================================================\ngoogle35.create_rds_input_pipeline.episode_ds_pipeline_fn = None\ngoogle35.create_rds_input_pipeline.repeat = True\ngoogle35.create_rds_input_pipeline.traj_shuffle_buffer_size = 4096\ngoogle35.create_rds_input_pipeline.use_replicated = True\n\n# Parameters for google35.create_rds_input_pipeline_for_registered_trajectory_transform:\n# ==============================================================================\ngoogle35.create_rds_input_pipeline_for_registered_trajectory_transform.allow_read_cached = \\\n    True\n\n# Parameters for google35.create_rds_input_pipelines_for_registered_trajectory_transforms:\n# ==============================================================================\ngoogle35.create_rds_input_pipelines_for_registered_trajectory_transforms.episode_shuffle_buffer_size = \\\n    1\ngoogle35.create_rds_input_pipelines_for_registered_trajectory_transforms.rds_dataset_names = \\\n    %DATASET_NAMES\ngoogle35.create_rds_input_pipelines_for_registered_trajectory_transforms.split_slices = \\\n    %SPLIT_SLICES\ngoogle35.create_rds_input_pipelines_for_registered_trajectory_transforms.splits = \\\n    %SPLITS\ngoogle35.create_rds_input_pipelines_for_registered_trajectory_transforms.traj_transforms_names = \\\n    @google34.infer_trajectory_transform_names()\n\n# Parameters for google36.create_traj_transform_bc_transformer_builder:\n# ==============================================================================\ngoogle36.create_traj_transform_bc_transformer_builder.use_half_transition = True\ngoogle36.create_traj_transform_bc_transformer_builder.wrapper = None\n\n# Parameters for google36.create_traj_transform_bc_transformer_with_filters_builder:\n# ==============================================================================\ngoogle36.create_traj_transform_bc_transformer_with_filters_builder.step_filters = \\\n    None\ngoogle36.create_traj_transform_bc_transformer_with_filters_builder.use_half_transition = \\\n    True\n\n# Parameters for pretrained_efficientnet_encoder.EfficientNetEncoder:\n# ==============================================================================\npretrained_efficientnet_encoder.EfficientNetEncoder.freeze = False\npretrained_efficientnet_encoder.EfficientNetEncoder.include_top = False\npretrained_efficientnet_encoder.EfficientNetEncoder.model_variant = \'b3\'\npretrained_efficientnet_encoder.EfficientNetEncoder.weights = \'imagenet\'\n\n# Parameters for add_split_and_split_slice_to_dataset/google317.elementwise_string_join:\n# ==============================================================================\nadd_split_and_split_slice_to_dataset/google317.elementwise_string_join.left = \\\n    %DATASET_NAMES\nadd_split_and_split_slice_to_dataset/google317.elementwise_string_join.right = \\\n    @add_split_slice_to_split/google317.elementwise_string_join()\nadd_split_and_split_slice_to_dataset/google317.elementwise_string_join.separator = \\\n    \'_\'\n\n# Parameters for add_split_slice_to_split/google317.elementwise_string_join:\n# ==============================================================================\nadd_split_slice_to_split/google317.elementwise_string_join.left = \\\n    @add_split_slice_to_split/google35.infer_split()\nadd_split_slice_to_split/google317.elementwise_string_join.right = \\\n    @add_split_slice_to_split/google35.infer_split_slice()\nadd_split_slice_to_split/google317.elementwise_string_join.separator = \'\'\n\n# Parameters for add_traj_transform_to_dataset/google317.elementwise_string_join:\n# ==============================================================================\nadd_traj_transform_to_dataset/google317.elementwise_string_join.left = \\\n    @add_split_and_split_slice_to_dataset/google317.elementwise_string_join()\nadd_traj_transform_to_dataset/google317.elementwise_string_join.right = \\\n    @google34.infer_trajectory_transform_names()\nadd_traj_transform_to_dataset/google317.elementwise_string_join.separator = \'_\'\n\n# Parameters for google36.episode_to_steps:\n# ==============================================================================\ngoogle36.episode_to_steps.discount_rate = 0.98\ngoogle36.episode_to_steps.keep_only_initial = False\ngoogle36.episode_to_steps.keep_only_initial_final = False\ngoogle36.episode_to_steps.num_padding_steps = None\ngoogle36.episode_to_steps.propagate_metadata_to_step = False\ngoogle36.episode_to_steps.use_goal_image = False\n\n# Parameters for action_tokenizer.FractalActionTokenizer:\n# ==============================================================================\naction_tokenizer.FractalActionTokenizer.action_token_shift = None\n\n# Parameters for observation_tokenizer.FractalObservationTokenizer:\n# ==============================================================================\nobservation_tokenizer.FractalObservationTokenizer.num_context_tokens = 1\nobservation_tokenizer.FractalObservationTokenizer.num_token_per_image = 8\nobservation_tokenizer.FractalObservationTokenizer.prepend_context_to_image = False\n\n# Parameters for model_spec.get_action_spec:\n# ==============================================================================\nmodel_spec.get_action_spec.base_displacement_vector_limit = 1.0\nmodel_spec.get_action_spec.base_displacement_vertical_rotation_limit = \\\n    3.141592653589793\nmodel_spec.get_action_spec.world_vector_limit = 1.0\n\n# Parameters for ACTION_ORDER/model_spec.get_action_spec:\n# ==============================================================================\nACTION_ORDER/model_spec.get_action_spec.base_displacement_vector_limit = 1.0\nACTION_ORDER/model_spec.get_action_spec.base_displacement_vertical_rotation_limit = \\\n    3.141592653589793\nACTION_ORDER/model_spec.get_action_spec.world_vector_limit = 1.0\n\n# Parameters for model_spec.get_action_spec_order:\n# ==============================================================================\n# None.\n\n# Parameters for ACTION_ORDER/model_spec.get_action_spec_order:\n# ==============================================================================\nACTION_ORDER/model_spec.get_action_spec_order.action_spec_option = \\\n    %google3.robotics.learning.task_explore.tasks.fractal.env_options.ActionSpaceOptions.ARM\n\n# Parameters for model_spec.get_additional_state_images:\n# ==============================================================================\n# None.\n\n# Parameters for model_spec.get_spec:\n# ==============================================================================\nmodel_spec.get_spec.action_spec_option = \\\n    %google3.robotics.learning.task_explore.tasks.fractal.env_options.ActionSpaceOptions.ARM\nmodel_spec.get_spec.observation_spec_option = \\\n    %google3.robotics.learning.task_explore.tasks.fractal.data.rds.model_spec.ObservationSpecOptions.RT_1\n\n# Parameters for greedy_policy.GreedyPolicy:\n# ==============================================================================\ngreedy_policy.GreedyPolicy.name = None\n\n# Parameters for google35.infer_split:\n# ==============================================================================\ngoogle35.infer_split.default_split = \'train\'\n\n# Parameters for add_split_slice_to_split/google35.infer_split:\n# ==============================================================================\nadd_split_slice_to_split/google35.infer_split.default_split = \'train\'\nadd_split_slice_to_split/google35.infer_split.rds_dataset_names = %DATASET_NAMES\nadd_split_slice_to_split/google35.infer_split.splits = %SPLITS\n\n# Parameters for google35.infer_split_slice:\n# ==============================================================================\n# None.\n\n# Parameters for add_split_slice_to_split/google35.infer_split_slice:\n# ==============================================================================\nadd_split_slice_to_split/google35.infer_split_slice.rds_dataset_names = \\\n    %DATASET_NAMES\nadd_split_slice_to_split/google35.infer_split_slice.split_slices = %SPLIT_SLICES\n\n# Parameters for google34.infer_trajectory_transform_names:\n# ==============================================================================\ngoogle34.infer_trajectory_transform_names.base_transform_names = \\\n    %BASE_TRANSFORM_NAMES\ngoogle34.infer_trajectory_transform_names.experience_sequence_length = \\\n    %SEQUENCE_LENGTH\n\n# Parameters for add_traj_transform_to_dataset/google34.infer_trajectory_transform_names:\n# ==============================================================================\nadd_traj_transform_to_dataset/google34.infer_trajectory_transform_names.base_transform_names = \\\n    %BASE_TRANSFORM_NAMES\nadd_traj_transform_to_dataset/google34.infer_trajectory_transform_names.experience_sequence_length = \\\n    %SEQUENCE_LENGTH\n\n# Parameters for learner.Learner:\n# ==============================================================================\nlearner.Learner.after_train_strategy_step_fn = None\nlearner.Learner.experience_dataset_options = None\nlearner.Learner.max_checkpoints_to_keep = 3\nlearner.Learner.strategy_run_options = None\nlearner.Learner.summary_root_dir = None\nlearner.Learner.triggers = None\nlearner.Learner.use_kwargs_in_agent_train = False\n\n# Parameters for google316.ProxyPreProcessor:\n# ==============================================================================\ngoogle316.ProxyPreProcessor.image_history_len = None\n\n# Parameters for google33.RDSFilterBuilder:\n# ==============================================================================\ngoogle33.RDSFilterBuilder.episode_threshold_fn = None\ngoogle33.RDSFilterBuilder.filter_negative_rewards = False\ngoogle33.RDSFilterBuilder.filter_small_action_threshold = None\ngoogle33.RDSFilterBuilder.fractal_dataset_registry_legacy_dataset_name = None\ngoogle33.RDSFilterBuilder.fractal_project_name_pattern = None\ngoogle33.RDSFilterBuilder.positive_filter = False\n\n# Parameters for sequence_agent.SequenceAgent:\n# ==============================================================================\nsequence_agent.SequenceAgent.action_spec = @environment_specs.action_spec()\nsequence_agent.SequenceAgent.actor_network = %ACTOR_NETWORK\nsequence_agent.SequenceAgent.actor_optimizer = %ACTOR_OPTIMIZER\nsequence_agent.SequenceAgent.debug_summaries = %DEBUG_SUMMARIES\nsequence_agent.SequenceAgent.time_sequence_length = %SEQUENCE_LENGTH\nsequence_agent.SequenceAgent.time_step_spec = @environment_specs.time_step_spec()\nsequence_agent.SequenceAgent.use_tcl = %USE_TCL\n\n# Parameters for add_split_and_split_slice_to_dataset/google317.string_join:\n# ==============================================================================\n# None.\n\n# Parameters for add_split_slice_to_split/google317.string_join:\n# ==============================================================================\n# None.\n\n# Parameters for add_traj_transform_to_dataset/google317.string_join:\n# ==============================================================================\n# None.\n\n# Parameters for google36.tfa_transition_builder:\n# ==============================================================================\n# None.\n\n# Parameters for environment_specs.time_step_spec:\n# ==============================================================================\n# None.\n\n# Parameters for tf_agents_trainer.train:\n# ==============================================================================\ntf_agents_trainer.train.batch_size = %BATCH_SIZE\ntf_agents_trainer.train.data_spec_create_fn = @model_spec.create_model_spec\ntf_agents_trainer.train.data_spec_path = \\\n    \'/cns/tp-d/home/tedxiao-brain/tedxiao/rs=6.3:sl=48M/ttl=12w:gc=0/tot_rds_test_112923_1v1_experiment_77467904/1/train/collect_policy/environment_specs.textproto\'\ntf_agents_trainer.train.enable_xla = False\ntf_agents_trainer.train.experience_sequence_length = %SEQUENCE_LENGTH\ntf_agents_trainer.train.flywheel_tick_counter_ctor = None\ntf_agents_trainer.train.in_graph_bellman_update = False\ntf_agents_trainer.train.log_interval = %LOG_SUMMARY_INTERVAL\ntf_agents_trainer.train.num_shards = %NUM_SHARDS_REVERB\ntf_agents_trainer.train.number_training_steps = %MAX_TRAINING_STEPS\ntf_agents_trainer.train.policy_checkpoint_interval = %POLICY_CHECKPOINT_INTERVAL\ntf_agents_trainer.train.pull_buffer_names = \\\n    @add_traj_transform_to_dataset/google317.elementwise_string_join()\ntf_agents_trainer.train.pull_buffer_weights = %DATASET_WEIGHTS\ntf_agents_trainer.train.rds_datasets_create_fn = \\\n    @google35.create_rds_input_pipelines_for_registered_trajectory_transforms()\ntf_agents_trainer.train.rds_episode_datasets_create_fn = \\\n    @google35.create_rds_episode_input_pipelines()\ntf_agents_trainer.train.replay_buffer_backend = %REPLAY_BUFFER_BACKEND\ntf_agents_trainer.train.replay_buffer_name = %TRAIN_TABLE_NAME\ntf_agents_trainer.train.saved_model_policy_wrapper = None\ntf_agents_trainer.train.summary_episode_replay_buffer_names = \\\n    @add_traj_transform_to_dataset/google317.elementwise_string_join()\ntf_agents_trainer.train.summary_interval = %LOG_SUMMARY_INTERVAL\ntf_agents_trainer.train.tf_agent_class = %TF_AGENT_CLASS\ntf_agents_trainer.train.train_checkpoint_interval = %TRAIN_CHECKPOINT_INTERVAL\ntf_agents_trainer.train.train_dir = %TRAIN_DIR\ntf_agents_trainer.train.train_log_dir = %TRAIN_LOG_DIR\ntf_agents_trainer.train.train_summary = False\ntf_agents_trainer.train.train_summary_episode = False\ntf_agents_trainer.train.train_summary_load_latest_ckpt = True\ntf_agents_trainer.train.warm_start_dir = None\n\n# Parameters for transformer_network.TransformerNetwork:\n# ==============================================================================\ntransformer_network.TransformerNetwork.action_order = %ACTION_ORDER\ntransformer_network.TransformerNetwork.action_scales = [%VOCAB_SIZE]\ntransformer_network.TransformerNetwork.continuous_robot_state_features = ()\ntransformer_network.TransformerNetwork.crop_size = %CROP_SIZE\ntransformer_network.TransformerNetwork.dropout_rate = 0.1\ntransformer_network.TransformerNetwork.feed_forward_hidden_size = 512\ntransformer_network.TransformerNetwork.feed_forward_output_size = 512\ntransformer_network.TransformerNetwork.ffn_option = \'swiglu\'\ntransformer_network.TransformerNetwork.image_patch_size = 16\ntransformer_network.TransformerNetwork.image_position_embedding = \\\n    %google3.robotics.learning.task_explore.tasks.fractal.tf_agents.observation_tokenizer.PositionEmbeddingType.NONE\ntransformer_network.TransformerNetwork.image_token_encoder = \\\n    %google3.robotics.learning.task_explore.tasks.fractal.tf_agents.observation_tokenizer.EncoderType.FILM_PRETRAINED_EFFICIENT_NET\ntransformer_network.TransformerNetwork.images_to_use = (\'image\',)\ntransformer_network.TransformerNetwork.include_prev_timesteps_actions = False\ntransformer_network.TransformerNetwork.include_same_timestep_prev_action_dimensions = \\\n    False\ntransformer_network.TransformerNetwork.inference_time_return_discount_factor = 0.98\ntransformer_network.TransformerNetwork.layer_size = 128\ntransformer_network.TransformerNetwork.num_heads = 8\ntransformer_network.TransformerNetwork.num_layers = 8\ntransformer_network.TransformerNetwork.output_tokens_per_frame = None\ntransformer_network.TransformerNetwork.return_attention_scores = False\ntransformer_network.TransformerNetwork.return_optimality_weight = 0.1\ntransformer_network.TransformerNetwork.return_top_percentile = 85\ntransformer_network.TransformerNetwork.return_vocab_size = 128\ntransformer_network.TransformerNetwork.should_log_image = False\ntransformer_network.TransformerNetwork.stack_images = False\ntransformer_network.TransformerNetwork.state_features = None\ntransformer_network.TransformerNetwork.tcl_weight = 0.05\ntransformer_network.TransformerNetwork.token_embedding_size = 512\ntransformer_network.TransformerNetwork.use_token_learner = True\ntransformer_network.TransformerNetwork.vocab_size = %VOCAB_SIZE\n"

checkpoint

@@ -0,0 +1,2 @@
+model_checkpoint_path: "/cns/tp-d/home/tedxiao-brain/tedxiao/rs=6.3:sl=48M/ttl=12w:gc=0/tot_rds_test_112923_1v1_experiment_77467904/1/train/policy/000400120/ckpt-400120"
+all_model_checkpoint_paths: "/cns/tp-d/home/tedxiao-brain/tedxiao/rs=6.3:sl=48M/ttl=12w:gc=0/tot_rds_test_112923_1v1_experiment_77467904/1/train/policy/000400120/ckpt-400120"

ckpt-400120.data-00000-of-00001

@@ -0,0 +1,3 @@
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+oid sha256:69952f3a6a8f7ee2feb6fdd6b6d191fe7b4d77509aebf68033cba0c97de68aef
+size 473890853

fingerprint.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ad4d0dda0fb4f9f2866c8244537262ec23677d7db21343a2d3aaa10a788afa2
+size 56

policy_specs.pbtxt

@@ -0,0 +1,359 @@
+dict_value {
+  fields {
+    key: "collect_data_spec"
+    value {
+      named_tuple_value {
+        name: "Trajectory"
+        values {
+          key: "step_type"
+          value {
+            tensor_spec_value {
+              name: "step_type"
+              shape {
+              }
+              dtype: DT_INT32
+            }
+          }
+        }
+        values {
+          key: "observation"
+          value {
+            dict_value {
+              fields {
+                key: "image"
+                value {
+                  bounded_tensor_spec_value {
+                    name: "image"
+                    shape {
+                      dim {
+                        size: 256
+                      }
+                      dim {
+                        size: 320
+                      }
+                      dim {
+                        size: 3
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