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| Directory | LIBERO mixture | Best encoder by eval/l1 |
|---|---|---|
ae_base_spatial_ada | libero_spatial_no_noops | encoder_34000-steps.pt |
ae_base_object_ada | libero_object_no_noops | encoder_43000-steps.pt |
ae_base_goal_ada | libero_goal_no_noops | encoder_43000-steps.pt |
ae_base_10_ada | libero_10_no_noops | encoder_42000-steps.pt |
encoder_<step>-steps.pt: encoder-only checkpoint saved when validation improved.checkpoint_best_<step>-steps.pt: matching full Action AE training checkpoint.checkpoint_latest_50000-steps.pt: final training state at 50,000 steps.config.yaml, dataset_statistics.json, and metrics.jsonl: run configuration and metrics.