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diff --git a/9_2024-09-15-14-33-34/local_multitask_outhd64all_home_crop_h144w144d48_ctxt/seed_183386/epoch_9/pred_distance_to_contact/93.pkl b/9_2024-09-15-14-33-34/local_multitask_outhd64all_home_crop_h144w144d48_ctxt/seed_183386/epoch_9/pred_distance_to_contact/93.pkl
new file mode 100644
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+++ b/9_2024-09-15-14-33-34/local_multitask_outhd64all_home_crop_h144w144d48_ctxt/seed_183386/epoch_9/pred_distance_to_contact/93.pkl
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+size 151
diff --git a/9_2024-09-15-14-33-34/local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask/seed_220979/epoch_9/hparams.yaml b/9_2024-09-15-14-33-34/local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask/seed_220979/epoch_9/hparams.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e918a95354fa2b3c5a31736599dec4f3a3e149f0
--- /dev/null
+++ b/9_2024-09-15-14-33-34/local_multitask_outhd64all_home_crop_h144w144d48_mask_ctxtmask/seed_220979/epoch_9/hparams.yaml
@@ -0,0 +1,870 @@
+!!python/object/new:lightning_fabric.utilities.data.AttributeDict
+dictitems:
+  add_noise_dict:
+    FT_dict:
+      amp_sin_mean:
+      - 1
+      - 1
+      - 1
+      - 0.2
+      - 0.2
+      - 0.2
+      amp_sin_std:
+      - 0.5
+      - 0.5
+      - 0.5
+      - 0.1
+      - 0.1
+      - 0.1
+      freq_sin_mean:
+      - 25
+      - 25
+      - 25
+      - 25
+      - 25
+      - 25
+      freq_sin_std:
+      - 5
+      - 5
+      - 5
+      - 5
+      - 5
+      - 5
+      mean_gaussian:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      phase_sin_mean:
+      - 0
+      - 0
+      - 0
+      - 0
+      - 0
+      - 0
+      phase_sin_std:
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      std_gaussian:
+      - 0.3
+      - 0.3
+      - 0.3
+      - 0.1
+      - 0.1
+      - 0.1
+    desired_joint_torque_dict:
+      amp_sin_mean:
+      - 0.2
+      - 0.2
+      - 0.2
+      - 0.2
+      - 0.2
+      - 0.2
+      - 0.2
+      amp_sin_std:
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      freq_sin_mean:
+      - 25
+      - 25
+      - 25
+      - 25
+      - 25
+      - 25
+      - 25
+      freq_sin_std:
+      - 5
+      - 5
+      - 5
+      - 5
+      - 5
+      - 5
+      mean_gaussian:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      phase_sin_mean:
+      - 0
+      - 0
+      - 0
+      - 0
+      - 0
+      - 0
+      - 0
+      phase_sin_std:
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      std_gaussian:
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+    enable: false
+    external_joint_torque_dict:
+      amp_sin_mean:
+      - 0.2
+      - 0.2
+      - 0.2
+      - 0.2
+      - 0.2
+      - 0.2
+      amp_sin_std:
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      freq_sin_mean:
+      - 25
+      - 25
+      - 25
+      - 25
+      - 25
+      - 25
+      freq_sin_std:
+      - 5
+      - 5
+      - 5
+      - 5
+      - 5
+      - 5
+      mean_gaussian:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      phase_sin_mean:
+      - 0
+      - 0
+      - 0
+      - 0
+      - 0
+      - 0
+      phase_sin_std:
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      std_gaussian:
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+    joint_velo_dict:
+      amp_sin_mean:
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      amp_sin_std:
+      - 0.05
+      - 0.05
+      - 0.05
+      - 0.05
+      - 0.05
+      - 0.05
+      - 0.05
+      freq_sin_mean:
+      - 25
+      - 25
+      - 25
+      - 25
+      - 25
+      - 25
+      - 25
+      freq_sin_std:
+      - 5
+      - 5
+      - 5
+      - 5
+      - 5
+      - 5
+      mean_gaussian:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      phase_sin_mean:
+      - 0
+      - 0
+      - 0
+      - 0
+      - 0
+      - 0
+      - 0
+      phase_sin_std:
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      std_gaussian:
+      - 0.06
+      - 0.06
+      - 0.06
+      - 0.06
+      - 0.06
+      - 0.06
+      - 0.06
+    measured_joint_torque_dict:
+      amp_sin_mean:
+      - 0.2
+      - 0.2
+      - 0.2
+      - 0.2
+      - 0.2
+      - 0.2
+      amp_sin_std:
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      freq_sin_mean:
+      - 25
+      - 25
+      - 25
+      - 25
+      - 25
+      - 25
+      freq_sin_std:
+      - 5
+      - 5
+      - 5
+      - 5
+      - 5
+      - 5
+      mean_gaussian:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      phase_sin_mean:
+      - 0
+      - 0
+      - 0
+      - 0
+      - 0
+      - 0
+      phase_sin_std:
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      - 1.5
+      std_gaussian:
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+      - 0.1
+    noise_type: gaussian_per_sample
+  bilinear: true
+  compensate_obj_gravity_dict:
+    EE_pos_x_objCoM: 0.0
+    EE_pos_y_objCoM: 0.15
+    EE_pos_z_objCoM: 0.0
+    enable: false
+    num_idxs: 250
+    start_idx: 10
+  context_frame_dict:
+    enable: true
+    mask_input_dict:
+      add_env_mask: false
+      enable: true
+      exclude_object_masks: false
+      exclude_table: false
+      input_nominal_robot_mask: false
+      lumped_env_mask: false
+      max_env_masks: 5
+      only_visible: true
+      representation: channels
+      retain_robot_mask: false
+      shuffle_env_masks: true
+  cropping_dict:
+    bb_height: 144
+    bb_width: 144
+    down_scale: 48
+    enable: true
+  eval_metrics_settings_dict:
+    eval_normals_within_sdf: 0.1
+    evaluate_on_EE_cropped_dict:
+      bb_height: 90
+      bb_width: 110
+      down_scale: 22
+      enable: true
+    l1_clamp: 0.1
+    nms_dict:
+      TP_pixel_radius: 5
+      enable: true
+      gaussian_kernel_size: 5
+      lambda_FN: 1.0
+      lambda_FP: 1.0
+      log_aggregate_metrics: false
+      max_num_contact: 15
+      per_sample_metrics: false
+      sdf: false
+      threshold: 0.01
+      top_n_samples: 15
+      window_radius: 5.0
+    nms_threshold_sweep_linspace: null
+    normal_pad_dict:
+      pad_xyz_vector:
+      - 0.0
+      - 0.0
+      - 1.0
+    pseudo_sdf_contact_metric_settings_dict:
+      cropped: true
+      sdf_contact_threshold: 0.00075
+    sdf_pad_dict:
+      pad_value: 1.0
+  fuse_inputs: false
+  global_seed: 220979
+  im_resize_tuple: &id001 !!python/tuple
+  - 240
+  - 320
+  lr: 0.0005
+  mask_input_dict:
+    add_env_mask: false
+    enable: true
+    exclude_object_masks: false
+    exclude_table: false
+    input_nominal_robot_mask: false
+    lumped_env_mask: false
+    max_env_masks: 5
+    only_visible: true
+    representation: channels
+    retain_robot_mask: false
+    shuffle_env_masks: true
+  max_depth_clip: 2.0
+  model_type: local_multitask
+  multitask_evaluation_metrics_settings_dict: !!python/object:src.dataset.contact_dataclasses.MultitaskEvaluationMetricsSettingsDict
+    circle_mask_radius: 10
+    normal_scaling: 0.1
+    sdf_to_prob_dict: !!python/object:src.dataset.contact_dataclasses.SDFToProbDict
+      function_params:
+      - 0.005
+      - 5.0
+      function_type: logistic
+      offset_to_zero: false
+  multitask_heads_dict:
+    EE_obj_normals_map_head_dict:
+      enable: true
+      eval_metrics_settings_dict:
+        eval_normals_within_sdf: 0.1
+        evaluate_on_EE_cropped_dict:
+          bb_height: 90
+          bb_width: 110
+          down_scale: 22
+          enable: true
+        l1_clamp: 0.1
+        nms_dict:
+          TP_pixel_radius: 15
+          enable: true
+          gaussian_kernel_size: 5
+          lambda_FN: 1.0
+          lambda_FP: 1.0
+          log_aggregate_metrics: false
+          max_num_contact: 15
+          per_sample_metrics: false
+          sdf: false
+          threshold: 0.01
+          top_n_samples: 15
+          window_radius: 5.0
+        nms_threshold_sweep_linspace: null
+        normal_pad_dict:
+          pad_xyz_vector:
+          - 0.0
+          - 0.0
+          - 1.0
+        pseudo_sdf_contact_metric_settings_dict:
+          cropped: false
+          sdf_contact_threshold: 0.00075
+        sdf_pad_dict:
+          pad_value: 0.5
+      feature_channels: 64
+      loss_weight: 0.01
+      normalize: true
+      normals_type: EE_obj
+      representation: xyz
+      sigmoid_out: true
+      train_loss_dict:
+        component_loss: false
+        component_loss_type: mse
+        dot_product_loss: true
+        dot_product_loss_type: l1
+        huber_delta: 0.005
+        weight_map_dict:
+          enable: true
+          normalize_by_weight_map: true
+          sdf_source: self
+          sdf_to_prob_dict:
+            function_params:
+            - 0.02
+            - 5.0
+            function_type: logistic
+            offset_to_zero: true
+          weight_map: sdf_prob
+    EE_obj_sdf_on_env_map_head_dict:
+      enable: true
+      eval_metrics_settings_dict:
+        eval_normals_within_sdf: 0.1
+        evaluate_on_EE_cropped_dict:
+          bb_height: 90
+          bb_width: 110
+          down_scale: 22
+          enable: true
+        l1_clamp: 0.1
+        nms_dict:
+          TP_pixel_radius: 15
+          enable: true
+          gaussian_kernel_size: 5
+          lambda_FN: 1.0
+          lambda_FP: 1.0
+          log_aggregate_metrics: false
+          max_num_contact: 15
+          per_sample_metrics: false
+          sdf: true
+          threshold: 0.01
+          top_n_samples: 15
+          window_radius: 5.0
+        nms_threshold_sweep_linspace: null
+        normal_pad_dict:
+          pad_xyz_vector:
+          - 0.0
+          - 0.0
+          - 1.0
+        pseudo_sdf_contact_metric_settings_dict:
+          cropped: false
+          sdf_contact_threshold: 0.00075
+        sdf_pad_dict:
+          pad_value: 0.5
+      feature_channels: 64
+      loss_weight: 1.0
+      sdf_type: EE_obj_sdf_on_env
+      train_loss_dict:
+        huber_delta: 0.001
+        loss_type: l1
+        sdf_clamp_delta: 0.25
+        sdf_prob_loss_dict:
+          enable: false
+          loss_weight: 1.0
+          sdf_to_prob_dict:
+            function_params:
+            - 0.02
+            - 5.0
+            function_type: logistic
+            offset_to_zero: false
+          target_contact_prob_type: contact
+        weight_map_dict:
+          enable: false
+          normalize_by_weight_map: true
+          sdf_source: self
+          sdf_to_prob_dict:
+            function_params:
+            - 0.08
+            - 5.0
+            function_type: logistic
+            offset_to_zero: true
+          weight_map: sdf_prob
+    contact_model_checkpoint_path: ''
+    contact_prob_map_head_dict:
+      blur_contact_map_dict:
+        enable: true
+        kernel_size: 5
+        sigma: 0.0
+      enable: true
+      eval_metrics_settings_dict:
+        eval_normals_within_sdf: 0.1
+        evaluate_on_EE_cropped_dict:
+          bb_height: 90
+          bb_width: 110
+          down_scale: 22
+          enable: true
+        l1_clamp: 0.1
+        nms_dict:
+          TP_pixel_radius: 15
+          enable: true
+          gaussian_kernel_size: 5
+          lambda_FN: 1.0
+          lambda_FP: 1.0
+          log_aggregate_metrics: false
+          max_num_contact: 15
+          per_sample_metrics: false
+          sdf: false
+          threshold: 0.01
+          top_n_samples: 15
+          window_radius: 5.0
+        nms_threshold_sweep_linspace: null
+        normal_pad_dict:
+          pad_xyz_vector:
+          - 0.0
+          - 0.0
+          - 1.0
+        pseudo_sdf_contact_metric_settings_dict:
+          cropped: false
+          sdf_contact_threshold: 0.00075
+        sdf_pad_dict:
+          pad_value: 0.5
+      feature_channels: 64
+      loss_weight: 1.0
+      train_loss_dict:
+        loss_type: bce
+        weight_map_dict:
+          enable: false
+          normalize_by_weight_map: true
+          sdf_source: self
+          sdf_to_prob_dict:
+            function_params:
+            - 0.02
+            - 5.0
+            function_type: logistic
+            offset_to_zero: false
+          weight_map: sdf_prob
+    env_normals_map_head_dict:
+      enable: true
+      eval_metrics_settings_dict:
+        eval_normals_within_sdf: 0.1
+        evaluate_on_EE_cropped_dict:
+          bb_height: 90
+          bb_width: 110
+          down_scale: 22
+          enable: true
+        l1_clamp: 0.1
+        nms_dict:
+          TP_pixel_radius: 15
+          enable: true
+          gaussian_kernel_size: 5
+          lambda_FN: 1.0
+          lambda_FP: 1.0
+          log_aggregate_metrics: false
+          max_num_contact: 15
+          per_sample_metrics: false
+          sdf: false
+          threshold: 0.01
+          top_n_samples: 15
+          window_radius: 5.0
+        nms_threshold_sweep_linspace: null
+        normal_pad_dict:
+          pad_xyz_vector:
+          - 0.0
+          - 0.0
+          - 1.0
+        pseudo_sdf_contact_metric_settings_dict:
+          cropped: false
+          sdf_contact_threshold: 0.00075
+        sdf_pad_dict:
+          pad_value: 0.5
+      feature_channels: 64
+      loss_weight: 0.01
+      normalize: true
+      normals_type: env
+      representation: xyz
+      sigmoid_out: true
+      train_loss_dict:
+        component_loss: false
+        component_loss_type: mse
+        dot_product_loss: true
+        dot_product_loss_type: l1
+        huber_delta: 0.005
+        weight_map_dict:
+          enable: true
+          normalize_by_weight_map: true
+          sdf_source: self
+          sdf_to_prob_dict:
+            function_params:
+            - 0.02
+            - 5.0
+            function_type: logistic
+            offset_to_zero: true
+          weight_map: sdf_prob
+    env_obj_sdf_on_EE_obj_map_head_dict:
+      enable: true
+      eval_metrics_settings_dict:
+        eval_normals_within_sdf: 0.1
+        evaluate_on_EE_cropped_dict:
+          bb_height: 90
+          bb_width: 110
+          down_scale: 22
+          enable: true
+        l1_clamp: 0.1
+        nms_dict:
+          TP_pixel_radius: 15
+          enable: true
+          gaussian_kernel_size: 5
+          lambda_FN: 1.0
+          lambda_FP: 1.0
+          log_aggregate_metrics: false
+          max_num_contact: 15
+          per_sample_metrics: false
+          sdf: true
+          threshold: 0.01
+          top_n_samples: 15
+          window_radius: 5.0
+        nms_threshold_sweep_linspace: null
+        normal_pad_dict:
+          pad_xyz_vector:
+          - 0.0
+          - 0.0
+          - 1.0
+        pseudo_sdf_contact_metric_settings_dict:
+          cropped: false
+          sdf_contact_threshold: 0.00075
+        sdf_pad_dict:
+          pad_value: 0.5
+      feature_channels: 64
+      loss_weight: 1.0
+      sdf_type: env_sdf_on_EE_obj
+      train_loss_dict:
+        huber_delta: 0.001
+        loss_type: l1
+        sdf_clamp_delta: 0.25
+        sdf_prob_loss_dict:
+          enable: false
+          loss_weight: 1.0
+          sdf_to_prob_dict:
+            function_params:
+            - 0.02
+            - 5.0
+            function_type: logistic
+            offset_to_zero: false
+          target_contact_prob_type: contact
+        weight_map_dict:
+          enable: false
+          normalize_by_weight_map: true
+          sdf_source: self
+          sdf_to_prob_dict:
+            function_params:
+            - 0.08
+            - 5.0
+            function_type: logistic
+            offset_to_zero: true
+          weight_map: sdf_prob
+    feature_channels: 64
+    forking_point: output_heads
+    shared_normals_model_checkpoint_path: ''
+    shared_sdf_model_checkpoint_path: ''
+  normalize_dict:
+    O_F_ext_EE_max:
+    - 20.0
+    - 20.0
+    - 20.0
+    - 10.0
+    - 10.0
+    - 10.0
+    O_F_ext_EE_min:
+    - -20.0
+    - -20.0
+    - -20.0
+    - -10.0
+    - -10.0
+    - -10.0
+    O_position_EE_max:
+    - 0.8
+    - 0.6
+    - 0.5
+    O_position_EE_min:
+    - 0.0
+    - -0.6
+    - -0.2
+    desired_torques_max:
+    - 20.0
+    - 30.0
+    - 20.0
+    - 20.0
+    - 10.0
+    - 10.0
+    - 5.0
+    desired_torques_min:
+    - -20.0
+    - -30.0
+    - -20.0
+    - -20.0
+    - -10.0
+    - -10.0
+    - -5.0
+    enable: false
+    external_torques_max:
+    - 30.0
+    - 30.0
+    - 30.0
+    - 30.0
+    - 20.0
+    - 20.0
+    - 10.0
+    external_torques_min:
+    - -30.0
+    - -30.0
+    - -30.0
+    - -30.0
+    - -20.0
+    - -20.0
+    - -10.0
+    joint_positions_max:
+    - 2.9
+    - 1.8
+    - 2.9
+    - -0.05
+    - 2.9
+    - 3.76
+    - 2.9
+    joint_positions_min:
+    - -2.9
+    - -1.8
+    - -2.9
+    - -3.1
+    - -2.9
+    - -0.02
+    - -2.9
+    joint_velocities_max:
+    - 1.5
+    - 1.5
+    - 1.5
+    - 1.5
+    - 1.5
+    - 1.5
+    - 1.5
+    joint_velocities_min:
+    - -1.5
+    - -1.5
+    - -1.5
+    - -1.5
+    - -1.5
+    - -1.5
+    - -1.5
+    measured_torques_max:
+    - 87.0
+    - 87.0
+    - 87.0
+    - 87.0
+    - 12.0
+    - 12.0
+    - 12.0
+    measured_torques_min:
+    - -87.0
+    - -87.0
+    - -87.0
+    - -87.0
+    - -12.0
+    - -12.0
+    - -12.0
+  optical_flow_dict:
+    enable: false
+    fill_holes: true
+    max_flow_norm: 10.0
+    normalize: true
+    use_image: false
+  pose_hidden_list:
+  - 64
+  - 64
+  - 64
+  proprioception_input_dict:
+    EE_pose: false
+    EE_velocity: false
+    desired_joint_torques: false
+    external_joint_torques: false
+    external_wrench: false
+    history_dict:
+      enable: false
+      sample_freq: 100
+      time_window: 0.1
+    in_cam_frame_dict:
+      C_R_W:
+      - - 0.0
+        - 0.20356716
+        - -0.979060985
+      - - 1.0
+        - 0.0
+        - 0.0
+      - - 0.0
+        - -0.979060985
+        - -0.20356716
+      C_t_W:
+      - 0.0
+      - -0.0015862988
+      - 1.67259212
+      enable: false
+    joint_positions: false
+    joint_velocities: false
+    measured_joint_torques: false
+    rotation_representation: quaternion
+  run_name: checkpoints
+  time_dim: 1
+  vid_utils_dict:
+    context_frame: true
+    file_root_dir: videos/test_local
+    is_annotated_local: true
+    model_type: local_multitask
+    run_id: checkpoints
+  viz_utils_dict:
+    circle_dict:
+      color:
+      - 0
+      - 0
+      - 255
+      enable: true
+      radius: 4
+      thickness: 1
+    color_image_settings_dict:
+      brightness_coefficient: 30
+      saturation_coefficient: 0.3
+    convert_color_to_gray: false
+    cross_length: 3
+    forces_ylim:
+    - -15
+    - 15
+    im_resize: *id001
+    max_depth_clip: 2.0
+    max_flow_norm: 10.0
+    normalize_local_prob: true
+    torques_ylim:
+    - -5
+    - 5
+    viz_max_depth_clip: 1.8
+    viz_min_depth_clip: 0.4
+  weight_decay: 1.0e-05
+  wrench_hidden_list:
+  - 64
+  - 64
+  - 64