belt_assembly: e2e_fix_lossweight final epoch-300 + val-selected best

e2e_fix_lossweight/can_serl_diffusion_best.pt

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e2e_fix_lossweight/final_epoch300.pt

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e2e_fix_lossweight/overrides.yaml

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+- dataset.type=RobomimicHDF5
+- dataset.task=belt_assembly
+- dataset.dataset_path=/weka/robots-default/helenw/image_embedding/image_ccil_real/data/real/belt_assembly_50_aligned.hdf5
+- dataset.quality_labels_path=/weka/robots-default/helenw/image_embedding/image_ccil_real/data/real/belt_assembly_50_quality.json
+- dataset.num_traj=-1
+- dataset.val_ratio=0.1
+- dataset.seed=42
+- dataset.image_size=140
+- dataset.crop_shape=[128,128]
+- dataset.random_crop=true
+- dataset.eval_fixed_crop=true
+- dataset.image_keys=[agentview_image,robot0_eye_in_hand_image]
+- dataset.state_keys=[robot0_eef_pos,robot0_eef_quat,robot0_gripper_qpos]
+- dataset.abs_action=true
+- with_image=true
+- with_state=true
+- num_cameras=2
+- state_len=9
+- action_dim=10
+- pred_horizon=16
+- action_horizon=8
+- obs_horizon=1
+- batch_size=64
+- encoder_type=dino
+- dino_path=/weka/robots-default/helenw/data/huggingface/hub/models--facebook--dinov2-small/snapshots/ed25f3a31f01632728cabb09d1542f84ab7b0056
+- patch_hw=[3,3]
+- num_epochs=300
+- val_every=10
+- checkpoint_every=0
+- val_top_k=5
+- eval_every=0
+- eval_at_start=false
+- select_best_by_val_loss=true
+- dyn_type=concat_feature
+- lr_policy=1e-4
+- lr_encoder=1e-5
+- lr_dyn=3e-4
+- dyn_d_model=256
+- dyn_nhead=8
+- dyn_num_layers=4
+- dyn_dim_feedforward=1024
+- dyn_action_emb_dim=64
+- dyn_lowdim_emb_dim=64
+- detach_encoder_for_dyn=false
+- encoder_ema_decay=0.999
+- use_dyn_adapter=true
+- dyn_encoder_grad_scale=0.05
+- aug_method=be
+- dyn_latent_space=hybrid
+- align_aug_to_live=false
+- use_aug_pcgrad=false
+- lambda_preserve=0
+- lambda_lip=1
+- ckpt_path=/weka/robots-default/helenw/image_embedding/image_ccil_real/output/real_belt_assembly_50_q193d7c561fa4_b300_s300_e300_v10_bk3_k5/baseline/2026-09-11_09-07-39/can_serl_diffusion_best.pt
+- use_wandb=false
+- e2e_phase1_epochs=50
+- loss_normalization=fixed
+- lambda_aug=0.3

e2e_fix_lossweight/val_top_k.json

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+[
+  {
+    "epoch": 10,
+    "val_loss": 0.0032580847409496715,
+    "val_action_mse": 0.0032580847409496715,
+    "path": "/weka/robots-default/helenw/image_embedding/image_ccil_real/output/e2e_fix_lossweight/2026-09-12_00-12-11/can_serl_diffusion_val_epoch_10.pt"
+  },
+  {
+    "epoch": 20,
+    "val_loss": 0.00346515544660493,
+    "val_action_mse": 0.00346515544660493,
+    "path": "/weka/robots-default/helenw/image_embedding/image_ccil_real/output/e2e_fix_lossweight/2026-09-12_00-12-11/can_serl_diffusion_val_epoch_20.pt"
+  },
+  {
+    "epoch": 40,
+    "val_loss": 0.0034785265844689954,
+    "val_action_mse": 0.0034785265844689954,
+    "path": "/weka/robots-default/helenw/image_embedding/image_ccil_real/output/e2e_fix_lossweight/2026-09-12_00-12-11/can_serl_diffusion_val_epoch_40.pt"
+  },
+  {
+    "epoch": 50,
+    "val_loss": 0.0035046532363284346,
+    "val_action_mse": 0.0035046532363284346,
+    "path": "/weka/robots-default/helenw/image_embedding/image_ccil_real/output/e2e_fix_lossweight/2026-09-12_00-12-11/can_serl_diffusion_val_epoch_50.pt"
+  },
+  {
+    "epoch": 30,
+    "val_loss": 0.0035407413872459922,
+    "val_action_mse": 0.0035407413872459922,
+    "path": "/weka/robots-default/helenw/image_embedding/image_ccil_real/output/e2e_fix_lossweight/2026-09-12_00-12-11/can_serl_diffusion_val_epoch_30.pt"
+  }
+]