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| Robot | File | Best epoch | BAL rank | LoRA rank |
|---|---|---|---|---|
| G1 | checkpoints/G1/best.pt | 15 | 8 | 16 |
| Go1 | checkpoints/Go1/best.pt | 18 | 8 | 16 |
1git clone https://github.com/blind-review-demo/Learning2HearWhileWalking
2cd Learning2HearWhileWalking
3bash scripts/setup_sam_audio.sh
4huggingface-cli login
5python scripts/download_sam_audio_weights.py --model-id facebook/sam-audio-small
6python scripts/separate_audio.py \
7 --audio path/to/mixed.wav \
8 --checkpoint path/to/best.pt \
9 --out-dir outputs/demoSHA256SUMS.