auto-sync 2026-07-02T21:03:15Z workspace (part 2)
Browse files- workspace/outputs/hpc/logs/train_pos_tangent_flow_15072821.err +0 -0
- workspace/outputs/hpc/logs/train_pos_tangent_flow_15072821.out +432 -0
- workspace/outputs/hpc/logs/train_pos_tangent_flow_15072913.err +0 -0
- workspace/outputs/hpc/logs/train_pos_tangent_flow_15072913.out +432 -0
- workspace/outputs/hpc/logs/train_pos_tangent_flow_15072914.err +0 -0
- workspace/outputs/hpc/logs/train_pos_tangent_flow_15072914.out +432 -0
- workspace/outputs/hpc/logs/train_pos_tangent_flow_15072915.err +0 -0
- workspace/outputs/hpc/logs/train_pos_tangent_flow_15072915.out +432 -0
- workspace/outputs/hpc/logs/train_pos_tangent_flow_15072916.err +0 -0
- workspace/outputs/hpc/logs/train_pos_tangent_flow_15072916.out +432 -0
- workspace/outputs/hpc/logs/train_pos_tangent_gflow_15073384.err +0 -0
workspace/outputs/hpc/logs/train_pos_tangent_flow_15072821.err
ADDED
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workspace/outputs/hpc/logs/train_pos_tangent_flow_15072821.out
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|
| 1 |
+
{
|
| 2 |
+
"report_type": "positive_tangent_spline_flow_generator_eval",
|
| 3 |
+
"metric_scope": "offline_support_proxy",
|
| 4 |
+
"note": "Spline-flow proposals are sampled by integrating a conditional flow-matching vector field in positive keyframe tangent space, then decoded to full action chunks.",
|
| 5 |
+
"config": {
|
| 6 |
+
"obs_dim": 96,
|
| 7 |
+
"text_dim": 64,
|
| 8 |
+
"hidden_dim": 256,
|
| 9 |
+
"batch_size": 128,
|
| 10 |
+
"epochs": 300,
|
| 11 |
+
"learning_rate": 0.001,
|
| 12 |
+
"val_fraction": 0.2,
|
| 13 |
+
"seed": 0,
|
| 14 |
+
"sample_steps": 16,
|
| 15 |
+
"noise_scale": 1.0
|
| 16 |
+
},
|
| 17 |
+
"task_ids": [
|
| 18 |
+
"LiftPegUpright-v1",
|
| 19 |
+
"PickCube-v1",
|
| 20 |
+
"PullCube-v1",
|
| 21 |
+
"PushCube-v1",
|
| 22 |
+
"StackCube-v1"
|
| 23 |
+
],
|
| 24 |
+
"code_dim": 21,
|
| 25 |
+
"horizon": 16,
|
| 26 |
+
"action_dim": 7,
|
| 27 |
+
"num_examples": 43095,
|
| 28 |
+
"num_groups": 2873,
|
| 29 |
+
"num_train_examples": 34275,
|
| 30 |
+
"num_val_examples": 8820,
|
| 31 |
+
"num_train_positive": 1198,
|
| 32 |
+
"num_val_groups_with_positive": 93,
|
| 33 |
+
"overall": {
|
| 34 |
+
"num_groups": 93,
|
| 35 |
+
"mean_positive_min_rms_l2_at_1": 0.9421110171812459,
|
| 36 |
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"median_positive_min_rms_l2_at_1": 0.7673261728916128,
|
| 37 |
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"positive_closer_than_negative_rate_at_1": 0.6666666666666666,
|
| 38 |
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"ptr_proxy_at_1_thr_0p05": 0.0,
|
| 39 |
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"negative_near_at_1_thr_0p05": 0.0,
|
| 40 |
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"ptr_proxy_at_1_thr_0p1": 0.0,
|
| 41 |
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"negative_near_at_1_thr_0p1": 0.0,
|
| 42 |
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"ptr_proxy_at_1_thr_0p2": 0.0,
|
| 43 |
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"negative_near_at_1_thr_0p2": 0.0,
|
| 44 |
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"ptr_proxy_at_1_thr_0p4": 0.10752688172043011,
|
| 45 |
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"negative_near_at_1_thr_0p4": 0.04,
|
| 46 |
+
"mean_positive_min_rms_l2_at_2": 0.8744468154634157,
|
| 47 |
+
"median_positive_min_rms_l2_at_2": 0.749006545138009,
|
| 48 |
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"positive_closer_than_negative_rate_at_2": 0.6533333333333333,
|
| 49 |
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"ptr_proxy_at_2_thr_0p05": 0.0,
|
| 50 |
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"negative_near_at_2_thr_0p05": 0.0,
|
| 51 |
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"ptr_proxy_at_2_thr_0p1": 0.0,
|
| 52 |
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"negative_near_at_2_thr_0p1": 0.0,
|
| 53 |
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"ptr_proxy_at_2_thr_0p2": 0.0,
|
| 54 |
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"negative_near_at_2_thr_0p2": 0.0,
|
| 55 |
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"ptr_proxy_at_2_thr_0p4": 0.12903225806451613,
|
| 56 |
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"negative_near_at_2_thr_0p4": 0.05333333333333334,
|
| 57 |
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"mean_positive_min_rms_l2_at_4": 0.8184538823086999,
|
| 58 |
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"median_positive_min_rms_l2_at_4": 0.718162617703023,
|
| 59 |
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"positive_closer_than_negative_rate_at_4": 0.6666666666666666,
|
| 60 |
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"ptr_proxy_at_4_thr_0p05": 0.0,
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| 61 |
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|
| 62 |
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|
| 63 |
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"negative_near_at_4_thr_0p1": 0.0,
|
| 64 |
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"ptr_proxy_at_4_thr_0p2": 0.010752688172043012,
|
| 65 |
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"negative_near_at_4_thr_0p2": 0.0,
|
| 66 |
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"ptr_proxy_at_4_thr_0p4": 0.1827956989247312,
|
| 67 |
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"negative_near_at_4_thr_0p4": 0.08,
|
| 68 |
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"mean_positive_min_rms_l2_at_8": 0.7871413840069235,
|
| 69 |
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"median_positive_min_rms_l2_at_8": 0.6598602798366325,
|
| 70 |
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"positive_closer_than_negative_rate_at_8": 0.68,
|
| 71 |
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"ptr_proxy_at_8_thr_0p05": 0.0,
|
| 72 |
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"negative_near_at_8_thr_0p05": 0.0,
|
| 73 |
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"ptr_proxy_at_8_thr_0p1": 0.0,
|
| 74 |
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"negative_near_at_8_thr_0p1": 0.0,
|
| 75 |
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"ptr_proxy_at_8_thr_0p2": 0.010752688172043012,
|
| 76 |
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|
| 77 |
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"ptr_proxy_at_8_thr_0p4": 0.23655913978494625,
|
| 78 |
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"negative_near_at_8_thr_0p4": 0.12,
|
| 79 |
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"mean_positive_min_rms_l2_at_16": 0.7699564657323472,
|
| 80 |
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"median_positive_min_rms_l2_at_16": 0.6446184123364918,
|
| 81 |
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"positive_closer_than_negative_rate_at_16": 0.68,
|
| 82 |
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"ptr_proxy_at_16_thr_0p05": 0.0,
|
| 83 |
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"negative_near_at_16_thr_0p05": 0.0,
|
| 84 |
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"ptr_proxy_at_16_thr_0p1": 0.0,
|
| 85 |
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"negative_near_at_16_thr_0p1": 0.0,
|
| 86 |
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"ptr_proxy_at_16_thr_0p2": 0.010752688172043012,
|
| 87 |
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"negative_near_at_16_thr_0p2": 0.0,
|
| 88 |
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"ptr_proxy_at_16_thr_0p4": 0.26881720430107525,
|
| 89 |
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"negative_near_at_16_thr_0p4": 0.14666666666666667
|
| 90 |
+
},
|
| 91 |
+
"per_task": {
|
| 92 |
+
"LiftPegUpright-v1": {
|
| 93 |
+
"num_groups": 8,
|
| 94 |
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"mean_positive_min_rms_l2_at_1": 0.5957190921199175,
|
| 95 |
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"median_positive_min_rms_l2_at_1": 0.604074517639588,
|
| 96 |
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"positive_closer_than_negative_rate_at_1": 0.625,
|
| 97 |
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"ptr_proxy_at_1_thr_0p05": 0.0,
|
| 98 |
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|
| 99 |
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|
| 100 |
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"negative_near_at_1_thr_0p1": 0.0,
|
| 101 |
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|
| 102 |
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"negative_near_at_1_thr_0p2": 0.0,
|
| 103 |
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"ptr_proxy_at_1_thr_0p4": 0.25,
|
| 104 |
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"negative_near_at_1_thr_0p4": 0.0,
|
| 105 |
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"mean_positive_min_rms_l2_at_2": 0.5671717440494088,
|
| 106 |
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"median_positive_min_rms_l2_at_2": 0.5364073733561794,
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| 107 |
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"positive_closer_than_negative_rate_at_2": 0.75,
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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"ptr_proxy_at_2_thr_0p2": 0.0,
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| 113 |
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|
| 114 |
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"ptr_proxy_at_2_thr_0p4": 0.375,
|
| 115 |
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"negative_near_at_2_thr_0p4": 0.0,
|
| 116 |
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"mean_positive_min_rms_l2_at_4": 0.49374596692031536,
|
| 117 |
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"median_positive_min_rms_l2_at_4": 0.4909703055486326,
|
| 118 |
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"positive_closer_than_negative_rate_at_4": 0.75,
|
| 119 |
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"ptr_proxy_at_4_thr_0p05": 0.0,
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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"negative_near_at_8_thr_0p2": 0.0,
|
| 368 |
+
"ptr_proxy_at_8_thr_0p4": 0.75,
|
| 369 |
+
"negative_near_at_8_thr_0p4": 0.3125,
|
| 370 |
+
"mean_positive_min_rms_l2_at_16": 0.37106603021591206,
|
| 371 |
+
"median_positive_min_rms_l2_at_16": 0.3295494901190872,
|
| 372 |
+
"positive_closer_than_negative_rate_at_16": 0.875,
|
| 373 |
+
"ptr_proxy_at_16_thr_0p05": 0.0,
|
| 374 |
+
"negative_near_at_16_thr_0p05": 0.0,
|
| 375 |
+
"ptr_proxy_at_16_thr_0p1": 0.0,
|
| 376 |
+
"negative_near_at_16_thr_0p1": 0.0,
|
| 377 |
+
"ptr_proxy_at_16_thr_0p2": 0.0625,
|
| 378 |
+
"negative_near_at_16_thr_0p2": 0.0,
|
| 379 |
+
"ptr_proxy_at_16_thr_0p4": 0.8125,
|
| 380 |
+
"negative_near_at_16_thr_0p4": 0.3125
|
| 381 |
+
}
|
| 382 |
+
},
|
| 383 |
+
"train_history": [
|
| 384 |
+
{
|
| 385 |
+
"epoch": 1.0,
|
| 386 |
+
"flow_mse": 1.8738595667187876
|
| 387 |
+
},
|
| 388 |
+
{
|
| 389 |
+
"epoch": 30.0,
|
| 390 |
+
"flow_mse": 0.9891461641442199
|
| 391 |
+
},
|
| 392 |
+
{
|
| 393 |
+
"epoch": 60.0,
|
| 394 |
+
"flow_mse": 0.8829276372673913
|
| 395 |
+
},
|
| 396 |
+
{
|
| 397 |
+
"epoch": 90.0,
|
| 398 |
+
"flow_mse": 0.8282403809598372
|
| 399 |
+
},
|
| 400 |
+
{
|
| 401 |
+
"epoch": 120.0,
|
| 402 |
+
"flow_mse": 0.7540837586025563
|
| 403 |
+
},
|
| 404 |
+
{
|
| 405 |
+
"epoch": 150.0,
|
| 406 |
+
"flow_mse": 0.7434449646628162
|
| 407 |
+
},
|
| 408 |
+
{
|
| 409 |
+
"epoch": 180.0,
|
| 410 |
+
"flow_mse": 0.7224337860618489
|
| 411 |
+
},
|
| 412 |
+
{
|
| 413 |
+
"epoch": 210.0,
|
| 414 |
+
"flow_mse": 0.6963259355850729
|
| 415 |
+
},
|
| 416 |
+
{
|
| 417 |
+
"epoch": 240.0,
|
| 418 |
+
"flow_mse": 0.6852050337051111
|
| 419 |
+
},
|
| 420 |
+
{
|
| 421 |
+
"epoch": 270.0,
|
| 422 |
+
"flow_mse": 0.6475003992575835
|
| 423 |
+
},
|
| 424 |
+
{
|
| 425 |
+
"epoch": 300.0,
|
| 426 |
+
"flow_mse": 0.6540398742002318
|
| 427 |
+
}
|
| 428 |
+
],
|
| 429 |
+
"targets": "/lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_targets.json"
|
| 430 |
+
}
|
| 431 |
+
Wrote /lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_spline_flow_eval.json
|
| 432 |
+
Wrote /lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_spline_flow.pt
|
workspace/outputs/hpc/logs/train_pos_tangent_flow_15072913.err
ADDED
|
File without changes
|
workspace/outputs/hpc/logs/train_pos_tangent_flow_15072913.out
ADDED
|
@@ -0,0 +1,432 @@
|
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|
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|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"report_type": "positive_tangent_spline_flow_generator_eval",
|
| 3 |
+
"metric_scope": "offline_support_proxy",
|
| 4 |
+
"note": "Spline-flow proposals are sampled by integrating a conditional flow-matching vector field in positive keyframe tangent space, then decoded to full action chunks.",
|
| 5 |
+
"config": {
|
| 6 |
+
"obs_dim": 96,
|
| 7 |
+
"text_dim": 64,
|
| 8 |
+
"hidden_dim": 256,
|
| 9 |
+
"batch_size": 128,
|
| 10 |
+
"epochs": 300,
|
| 11 |
+
"learning_rate": 0.001,
|
| 12 |
+
"val_fraction": 0.2,
|
| 13 |
+
"seed": 0,
|
| 14 |
+
"sample_steps": 16,
|
| 15 |
+
"noise_scale": 0.5
|
| 16 |
+
},
|
| 17 |
+
"task_ids": [
|
| 18 |
+
"LiftPegUpright-v1",
|
| 19 |
+
"PickCube-v1",
|
| 20 |
+
"PullCube-v1",
|
| 21 |
+
"PushCube-v1",
|
| 22 |
+
"StackCube-v1"
|
| 23 |
+
],
|
| 24 |
+
"code_dim": 21,
|
| 25 |
+
"horizon": 16,
|
| 26 |
+
"action_dim": 7,
|
| 27 |
+
"num_examples": 43095,
|
| 28 |
+
"num_groups": 2873,
|
| 29 |
+
"num_train_examples": 34275,
|
| 30 |
+
"num_val_examples": 8820,
|
| 31 |
+
"num_train_positive": 1198,
|
| 32 |
+
"num_val_groups_with_positive": 93,
|
| 33 |
+
"overall": {
|
| 34 |
+
"num_groups": 93,
|
| 35 |
+
"mean_positive_min_rms_l2_at_1": 0.9198481625079649,
|
| 36 |
+
"median_positive_min_rms_l2_at_1": 0.8076341837137975,
|
| 37 |
+
"positive_closer_than_negative_rate_at_1": 0.6666666666666666,
|
| 38 |
+
"ptr_proxy_at_1_thr_0p05": 0.0,
|
| 39 |
+
"negative_near_at_1_thr_0p05": 0.0,
|
| 40 |
+
"ptr_proxy_at_1_thr_0p1": 0.0,
|
| 41 |
+
"negative_near_at_1_thr_0p1": 0.0,
|
| 42 |
+
"ptr_proxy_at_1_thr_0p2": 0.0,
|
| 43 |
+
"negative_near_at_1_thr_0p2": 0.0,
|
| 44 |
+
"ptr_proxy_at_1_thr_0p4": 0.12903225806451613,
|
| 45 |
+
"negative_near_at_1_thr_0p4": 0.02666666666666667,
|
| 46 |
+
"mean_positive_min_rms_l2_at_2": 0.853517581386382,
|
| 47 |
+
"median_positive_min_rms_l2_at_2": 0.7370106275644498,
|
| 48 |
+
"positive_closer_than_negative_rate_at_2": 0.64,
|
| 49 |
+
"ptr_proxy_at_2_thr_0p05": 0.0,
|
| 50 |
+
"negative_near_at_2_thr_0p05": 0.0,
|
| 51 |
+
"ptr_proxy_at_2_thr_0p1": 0.0,
|
| 52 |
+
"negative_near_at_2_thr_0p1": 0.0,
|
| 53 |
+
"ptr_proxy_at_2_thr_0p2": 0.0,
|
| 54 |
+
"negative_near_at_2_thr_0p2": 0.0,
|
| 55 |
+
"ptr_proxy_at_2_thr_0p4": 0.17204301075268819,
|
| 56 |
+
"negative_near_at_2_thr_0p4": 0.04,
|
| 57 |
+
"mean_positive_min_rms_l2_at_4": 0.8021073418071235,
|
| 58 |
+
"median_positive_min_rms_l2_at_4": 0.6988648313820504,
|
| 59 |
+
"positive_closer_than_negative_rate_at_4": 0.64,
|
| 60 |
+
"ptr_proxy_at_4_thr_0p05": 0.0,
|
| 61 |
+
"negative_near_at_4_thr_0p05": 0.0,
|
| 62 |
+
"ptr_proxy_at_4_thr_0p1": 0.0,
|
| 63 |
+
"negative_near_at_4_thr_0p1": 0.0,
|
| 64 |
+
"ptr_proxy_at_4_thr_0p2": 0.010752688172043012,
|
| 65 |
+
"negative_near_at_4_thr_0p2": 0.0,
|
| 66 |
+
"ptr_proxy_at_4_thr_0p4": 0.24731182795698925,
|
| 67 |
+
"negative_near_at_4_thr_0p4": 0.09333333333333334,
|
| 68 |
+
"mean_positive_min_rms_l2_at_8": 0.7756408230119585,
|
| 69 |
+
"median_positive_min_rms_l2_at_8": 0.6524620059996848,
|
| 70 |
+
"positive_closer_than_negative_rate_at_8": 0.6666666666666666,
|
| 71 |
+
"ptr_proxy_at_8_thr_0p05": 0.0,
|
| 72 |
+
"negative_near_at_8_thr_0p05": 0.0,
|
| 73 |
+
"ptr_proxy_at_8_thr_0p1": 0.0,
|
| 74 |
+
"negative_near_at_8_thr_0p1": 0.0,
|
| 75 |
+
"ptr_proxy_at_8_thr_0p2": 0.010752688172043012,
|
| 76 |
+
"negative_near_at_8_thr_0p2": 0.0,
|
| 77 |
+
"ptr_proxy_at_8_thr_0p4": 0.26881720430107525,
|
| 78 |
+
"negative_near_at_8_thr_0p4": 0.10666666666666667,
|
| 79 |
+
"mean_positive_min_rms_l2_at_16": 0.7541321921929743,
|
| 80 |
+
"median_positive_min_rms_l2_at_16": 0.6209217882785246,
|
| 81 |
+
"positive_closer_than_negative_rate_at_16": 0.6666666666666666,
|
| 82 |
+
"ptr_proxy_at_16_thr_0p05": 0.0,
|
| 83 |
+
"negative_near_at_16_thr_0p05": 0.0,
|
| 84 |
+
"ptr_proxy_at_16_thr_0p1": 0.0,
|
| 85 |
+
"negative_near_at_16_thr_0p1": 0.0,
|
| 86 |
+
"ptr_proxy_at_16_thr_0p2": 0.010752688172043012,
|
| 87 |
+
"negative_near_at_16_thr_0p2": 0.0,
|
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"ptr_proxy_at_1_thr_0p2": 0.0,
|
| 334 |
+
"negative_near_at_1_thr_0p2": 0.0,
|
| 335 |
+
"ptr_proxy_at_1_thr_0p4": 0.3125,
|
| 336 |
+
"negative_near_at_1_thr_0p4": 0.125,
|
| 337 |
+
"mean_positive_min_rms_l2_at_2": 0.4205777525841578,
|
| 338 |
+
"median_positive_min_rms_l2_at_2": 0.39330366987273946,
|
| 339 |
+
"positive_closer_than_negative_rate_at_2": 0.8125,
|
| 340 |
+
"ptr_proxy_at_2_thr_0p05": 0.0,
|
| 341 |
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"negative_near_at_2_thr_0p05": 0.0,
|
| 342 |
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"ptr_proxy_at_2_thr_0p1": 0.0,
|
| 343 |
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"negative_near_at_2_thr_0p1": 0.0,
|
| 344 |
+
"ptr_proxy_at_2_thr_0p2": 0.0,
|
| 345 |
+
"negative_near_at_2_thr_0p2": 0.0,
|
| 346 |
+
"ptr_proxy_at_2_thr_0p4": 0.5,
|
| 347 |
+
"negative_near_at_2_thr_0p4": 0.1875,
|
| 348 |
+
"mean_positive_min_rms_l2_at_4": 0.3724074079666572,
|
| 349 |
+
"median_positive_min_rms_l2_at_4": 0.3422700055023292,
|
| 350 |
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"positive_closer_than_negative_rate_at_4": 0.875,
|
| 351 |
+
"ptr_proxy_at_4_thr_0p05": 0.0,
|
| 352 |
+
"negative_near_at_4_thr_0p05": 0.0,
|
| 353 |
+
"ptr_proxy_at_4_thr_0p1": 0.0,
|
| 354 |
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"negative_near_at_4_thr_0p1": 0.0,
|
| 355 |
+
"ptr_proxy_at_4_thr_0p2": 0.0625,
|
| 356 |
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"negative_near_at_4_thr_0p2": 0.0,
|
| 357 |
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"ptr_proxy_at_4_thr_0p4": 0.8125,
|
| 358 |
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"negative_near_at_4_thr_0p4": 0.375,
|
| 359 |
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"mean_positive_min_rms_l2_at_8": 0.3542953641709553,
|
| 360 |
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"median_positive_min_rms_l2_at_8": 0.31034023684182843,
|
| 361 |
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"positive_closer_than_negative_rate_at_8": 0.875,
|
| 362 |
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"ptr_proxy_at_8_thr_0p05": 0.0,
|
| 363 |
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"negative_near_at_8_thr_0p05": 0.0,
|
| 364 |
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"ptr_proxy_at_8_thr_0p1": 0.0,
|
| 365 |
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"negative_near_at_8_thr_0p1": 0.0,
|
| 366 |
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"ptr_proxy_at_8_thr_0p2": 0.0625,
|
| 367 |
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"negative_near_at_8_thr_0p2": 0.0,
|
| 368 |
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"ptr_proxy_at_8_thr_0p4": 0.8125,
|
| 369 |
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"negative_near_at_8_thr_0p4": 0.375,
|
| 370 |
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"mean_positive_min_rms_l2_at_16": 0.34517675125711517,
|
| 371 |
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"median_positive_min_rms_l2_at_16": 0.2926764124127478,
|
| 372 |
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"positive_closer_than_negative_rate_at_16": 0.875,
|
| 373 |
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"ptr_proxy_at_16_thr_0p05": 0.0,
|
| 374 |
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"negative_near_at_16_thr_0p05": 0.0,
|
| 375 |
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"ptr_proxy_at_16_thr_0p1": 0.0,
|
| 376 |
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"negative_near_at_16_thr_0p1": 0.0,
|
| 377 |
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"ptr_proxy_at_16_thr_0p2": 0.0625,
|
| 378 |
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"negative_near_at_16_thr_0p2": 0.0,
|
| 379 |
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"ptr_proxy_at_16_thr_0p4": 0.875,
|
| 380 |
+
"negative_near_at_16_thr_0p4": 0.4375
|
| 381 |
+
}
|
| 382 |
+
},
|
| 383 |
+
"train_history": [
|
| 384 |
+
{
|
| 385 |
+
"epoch": 1.0,
|
| 386 |
+
"flow_mse": 1.0508837910844806
|
| 387 |
+
},
|
| 388 |
+
{
|
| 389 |
+
"epoch": 30.0,
|
| 390 |
+
"flow_mse": 0.49279166218235415
|
| 391 |
+
},
|
| 392 |
+
{
|
| 393 |
+
"epoch": 60.0,
|
| 394 |
+
"flow_mse": 0.4238453272587071
|
| 395 |
+
},
|
| 396 |
+
{
|
| 397 |
+
"epoch": 90.0,
|
| 398 |
+
"flow_mse": 0.3865130779042666
|
| 399 |
+
},
|
| 400 |
+
{
|
| 401 |
+
"epoch": 120.0,
|
| 402 |
+
"flow_mse": 0.35950159021530403
|
| 403 |
+
},
|
| 404 |
+
{
|
| 405 |
+
"epoch": 150.0,
|
| 406 |
+
"flow_mse": 0.34672712841893677
|
| 407 |
+
},
|
| 408 |
+
{
|
| 409 |
+
"epoch": 180.0,
|
| 410 |
+
"flow_mse": 0.3311085788554859
|
| 411 |
+
},
|
| 412 |
+
{
|
| 413 |
+
"epoch": 210.0,
|
| 414 |
+
"flow_mse": 0.3188852406602869
|
| 415 |
+
},
|
| 416 |
+
{
|
| 417 |
+
"epoch": 240.0,
|
| 418 |
+
"flow_mse": 0.31515845153885014
|
| 419 |
+
},
|
| 420 |
+
{
|
| 421 |
+
"epoch": 270.0,
|
| 422 |
+
"flow_mse": 0.3083828923499246
|
| 423 |
+
},
|
| 424 |
+
{
|
| 425 |
+
"epoch": 300.0,
|
| 426 |
+
"flow_mse": 0.30624499519002657
|
| 427 |
+
}
|
| 428 |
+
],
|
| 429 |
+
"targets": "/lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_targets.json"
|
| 430 |
+
}
|
| 431 |
+
Wrote /lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_spline_flow_noise0p5_eval.json
|
| 432 |
+
Wrote /lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_spline_flow_noise0p5.pt
|
workspace/outputs/hpc/logs/train_pos_tangent_flow_15072914.err
ADDED
|
File without changes
|
workspace/outputs/hpc/logs/train_pos_tangent_flow_15072914.out
ADDED
|
@@ -0,0 +1,432 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"report_type": "positive_tangent_spline_flow_generator_eval",
|
| 3 |
+
"metric_scope": "offline_support_proxy",
|
| 4 |
+
"note": "Spline-flow proposals are sampled by integrating a conditional flow-matching vector field in positive keyframe tangent space, then decoded to full action chunks.",
|
| 5 |
+
"config": {
|
| 6 |
+
"obs_dim": 96,
|
| 7 |
+
"text_dim": 64,
|
| 8 |
+
"hidden_dim": 256,
|
| 9 |
+
"batch_size": 128,
|
| 10 |
+
"epochs": 300,
|
| 11 |
+
"learning_rate": 0.001,
|
| 12 |
+
"val_fraction": 0.2,
|
| 13 |
+
"seed": 0,
|
| 14 |
+
"sample_steps": 16,
|
| 15 |
+
"noise_scale": 0.75
|
| 16 |
+
},
|
| 17 |
+
"task_ids": [
|
| 18 |
+
"LiftPegUpright-v1",
|
| 19 |
+
"PickCube-v1",
|
| 20 |
+
"PullCube-v1",
|
| 21 |
+
"PushCube-v1",
|
| 22 |
+
"StackCube-v1"
|
| 23 |
+
],
|
| 24 |
+
"code_dim": 21,
|
| 25 |
+
"horizon": 16,
|
| 26 |
+
"action_dim": 7,
|
| 27 |
+
"num_examples": 43095,
|
| 28 |
+
"num_groups": 2873,
|
| 29 |
+
"num_train_examples": 34275,
|
| 30 |
+
"num_val_examples": 8820,
|
| 31 |
+
"num_train_positive": 1198,
|
| 32 |
+
"num_val_groups_with_positive": 93,
|
| 33 |
+
"overall": {
|
| 34 |
+
"num_groups": 93,
|
| 35 |
+
"mean_positive_min_rms_l2_at_1": 0.9180691536754987,
|
| 36 |
+
"median_positive_min_rms_l2_at_1": 0.7754961839569097,
|
| 37 |
+
"positive_closer_than_negative_rate_at_1": 0.6533333333333333,
|
| 38 |
+
"ptr_proxy_at_1_thr_0p05": 0.0,
|
| 39 |
+
"negative_near_at_1_thr_0p05": 0.0,
|
| 40 |
+
"ptr_proxy_at_1_thr_0p1": 0.0,
|
| 41 |
+
"negative_near_at_1_thr_0p1": 0.0,
|
| 42 |
+
"ptr_proxy_at_1_thr_0p2": 0.0,
|
| 43 |
+
"negative_near_at_1_thr_0p2": 0.0,
|
| 44 |
+
"ptr_proxy_at_1_thr_0p4": 0.11827956989247312,
|
| 45 |
+
"negative_near_at_1_thr_0p4": 0.02666666666666667,
|
| 46 |
+
"mean_positive_min_rms_l2_at_2": 0.8624252271451155,
|
| 47 |
+
"median_positive_min_rms_l2_at_2": 0.7386540464249332,
|
| 48 |
+
"positive_closer_than_negative_rate_at_2": 0.6666666666666666,
|
| 49 |
+
"ptr_proxy_at_2_thr_0p05": 0.0,
|
| 50 |
+
"negative_near_at_2_thr_0p05": 0.0,
|
| 51 |
+
"ptr_proxy_at_2_thr_0p1": 0.0,
|
| 52 |
+
"negative_near_at_2_thr_0p1": 0.0,
|
| 53 |
+
"ptr_proxy_at_2_thr_0p2": 0.0,
|
| 54 |
+
"negative_near_at_2_thr_0p2": 0.0,
|
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"ptr_proxy_at_4_thr_0p2": 0.0,
|
| 298 |
+
"negative_near_at_4_thr_0p2": 0.0,
|
| 299 |
+
"ptr_proxy_at_4_thr_0p4": 0.2,
|
| 300 |
+
"negative_near_at_4_thr_0p4": 0.0,
|
| 301 |
+
"mean_positive_min_rms_l2_at_8": 0.4780868506845873,
|
| 302 |
+
"median_positive_min_rms_l2_at_8": 0.4830499917549534,
|
| 303 |
+
"positive_closer_than_negative_rate_at_8": 0.875,
|
| 304 |
+
"ptr_proxy_at_8_thr_0p05": 0.0,
|
| 305 |
+
"negative_near_at_8_thr_0p05": 0.0,
|
| 306 |
+
"ptr_proxy_at_8_thr_0p1": 0.0,
|
| 307 |
+
"negative_near_at_8_thr_0p1": 0.0,
|
| 308 |
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"ptr_proxy_at_8_thr_0p2": 0.0,
|
| 309 |
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"negative_near_at_8_thr_0p2": 0.0,
|
| 310 |
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"ptr_proxy_at_8_thr_0p4": 0.4,
|
| 311 |
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"negative_near_at_8_thr_0p4": 0.125,
|
| 312 |
+
"mean_positive_min_rms_l2_at_16": 0.4595568602939777,
|
| 313 |
+
"median_positive_min_rms_l2_at_16": 0.4830499917549534,
|
| 314 |
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"positive_closer_than_negative_rate_at_16": 0.875,
|
| 315 |
+
"ptr_proxy_at_16_thr_0p05": 0.0,
|
| 316 |
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"negative_near_at_16_thr_0p05": 0.0,
|
| 317 |
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"ptr_proxy_at_16_thr_0p1": 0.0,
|
| 318 |
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"negative_near_at_16_thr_0p1": 0.0,
|
| 319 |
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"ptr_proxy_at_16_thr_0p2": 0.0,
|
| 320 |
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"negative_near_at_16_thr_0p2": 0.0,
|
| 321 |
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"ptr_proxy_at_16_thr_0p4": 0.4,
|
| 322 |
+
"negative_near_at_16_thr_0p4": 0.125
|
| 323 |
+
},
|
| 324 |
+
"StackCube-v1": {
|
| 325 |
+
"num_groups": 16,
|
| 326 |
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"mean_positive_min_rms_l2_at_1": 0.4653990616451068,
|
| 327 |
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"median_positive_min_rms_l2_at_1": 0.41941457458660264,
|
| 328 |
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"positive_closer_than_negative_rate_at_1": 0.9375,
|
| 329 |
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|
| 330 |
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"negative_near_at_1_thr_0p05": 0.0,
|
| 331 |
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"ptr_proxy_at_1_thr_0p1": 0.0,
|
| 332 |
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"negative_near_at_1_thr_0p1": 0.0,
|
| 333 |
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"ptr_proxy_at_1_thr_0p2": 0.0,
|
| 334 |
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"negative_near_at_1_thr_0p2": 0.0,
|
| 335 |
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"ptr_proxy_at_1_thr_0p4": 0.375,
|
| 336 |
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"negative_near_at_1_thr_0p4": 0.125,
|
| 337 |
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"mean_positive_min_rms_l2_at_2": 0.42051013683871963,
|
| 338 |
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"median_positive_min_rms_l2_at_2": 0.38124879948594215,
|
| 339 |
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"positive_closer_than_negative_rate_at_2": 0.9375,
|
| 340 |
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|
| 341 |
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|
| 342 |
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|
| 343 |
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|
| 344 |
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|
| 345 |
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|
| 346 |
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"ptr_proxy_at_2_thr_0p4": 0.6875,
|
| 347 |
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|
| 348 |
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| 349 |
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"median_positive_min_rms_l2_at_4": 0.3363705413549689,
|
| 350 |
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|
| 351 |
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|
| 352 |
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|
| 353 |
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|
| 354 |
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"negative_near_at_4_thr_0p1": 0.0,
|
| 355 |
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|
| 356 |
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"negative_near_at_4_thr_0p2": 0.0,
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| 357 |
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| 358 |
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| 359 |
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|
| 360 |
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|
| 361 |
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"positive_closer_than_negative_rate_at_8": 0.875,
|
| 362 |
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|
| 363 |
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|
| 364 |
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|
| 365 |
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|
| 366 |
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|
| 367 |
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"negative_near_at_8_thr_0p2": 0.0,
|
| 368 |
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"ptr_proxy_at_8_thr_0p4": 0.8125,
|
| 369 |
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"negative_near_at_8_thr_0p4": 0.375,
|
| 370 |
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"mean_positive_min_rms_l2_at_16": 0.3559430492046294,
|
| 371 |
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"median_positive_min_rms_l2_at_16": 0.31568421696676613,
|
| 372 |
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"positive_closer_than_negative_rate_at_16": 0.8125,
|
| 373 |
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"ptr_proxy_at_16_thr_0p05": 0.0,
|
| 374 |
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"negative_near_at_16_thr_0p05": 0.0,
|
| 375 |
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"ptr_proxy_at_16_thr_0p1": 0.0,
|
| 376 |
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"negative_near_at_16_thr_0p1": 0.0,
|
| 377 |
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|
| 378 |
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"negative_near_at_16_thr_0p2": 0.0,
|
| 379 |
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"ptr_proxy_at_16_thr_0p4": 0.8125,
|
| 380 |
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"negative_near_at_16_thr_0p4": 0.4375
|
| 381 |
+
}
|
| 382 |
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},
|
| 383 |
+
"train_history": [
|
| 384 |
+
{
|
| 385 |
+
"epoch": 1.0,
|
| 386 |
+
"flow_mse": 1.3846457318988985
|
| 387 |
+
},
|
| 388 |
+
{
|
| 389 |
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"epoch": 30.0,
|
| 390 |
+
"flow_mse": 0.7488342080769037
|
| 391 |
+
},
|
| 392 |
+
{
|
| 393 |
+
"epoch": 60.0,
|
| 394 |
+
"flow_mse": 0.6369900892493323
|
| 395 |
+
},
|
| 396 |
+
{
|
| 397 |
+
"epoch": 90.0,
|
| 398 |
+
"flow_mse": 0.5829413629732466
|
| 399 |
+
},
|
| 400 |
+
{
|
| 401 |
+
"epoch": 120.0,
|
| 402 |
+
"flow_mse": 0.5595819836665872
|
| 403 |
+
},
|
| 404 |
+
{
|
| 405 |
+
"epoch": 150.0,
|
| 406 |
+
"flow_mse": 0.5385884266464858
|
| 407 |
+
},
|
| 408 |
+
{
|
| 409 |
+
"epoch": 180.0,
|
| 410 |
+
"flow_mse": 0.5227664171753821
|
| 411 |
+
},
|
| 412 |
+
{
|
| 413 |
+
"epoch": 210.0,
|
| 414 |
+
"flow_mse": 0.49368886094857534
|
| 415 |
+
},
|
| 416 |
+
{
|
| 417 |
+
"epoch": 240.0,
|
| 418 |
+
"flow_mse": 0.49229037264153636
|
| 419 |
+
},
|
| 420 |
+
{
|
| 421 |
+
"epoch": 270.0,
|
| 422 |
+
"flow_mse": 0.4831820023378267
|
| 423 |
+
},
|
| 424 |
+
{
|
| 425 |
+
"epoch": 300.0,
|
| 426 |
+
"flow_mse": 0.4707111065495193
|
| 427 |
+
}
|
| 428 |
+
],
|
| 429 |
+
"targets": "/lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_targets.json"
|
| 430 |
+
}
|
| 431 |
+
Wrote /lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_spline_flow_noise0p75_eval.json
|
| 432 |
+
Wrote /lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_spline_flow_noise0p75.pt
|
workspace/outputs/hpc/logs/train_pos_tangent_flow_15072915.err
ADDED
|
File without changes
|
workspace/outputs/hpc/logs/train_pos_tangent_flow_15072915.out
ADDED
|
@@ -0,0 +1,432 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"report_type": "positive_tangent_spline_flow_generator_eval",
|
| 3 |
+
"metric_scope": "offline_support_proxy",
|
| 4 |
+
"note": "Spline-flow proposals are sampled by integrating a conditional flow-matching vector field in positive keyframe tangent space, then decoded to full action chunks.",
|
| 5 |
+
"config": {
|
| 6 |
+
"obs_dim": 96,
|
| 7 |
+
"text_dim": 64,
|
| 8 |
+
"hidden_dim": 256,
|
| 9 |
+
"batch_size": 128,
|
| 10 |
+
"epochs": 300,
|
| 11 |
+
"learning_rate": 0.001,
|
| 12 |
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| 279 |
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| 280 |
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|
| 281 |
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| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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| 286 |
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| 287 |
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| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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| 292 |
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| 294 |
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| 295 |
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| 296 |
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| 297 |
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| 298 |
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| 299 |
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|
| 300 |
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| 301 |
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| 305 |
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| 322 |
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| 323 |
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| 324 |
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| 325 |
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|
| 381 |
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|
| 382 |
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},
|
| 383 |
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"train_history": [
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| 384 |
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{
|
| 385 |
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"epoch": 1.0,
|
| 386 |
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"flow_mse": 1.0831367189378691
|
| 387 |
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},
|
| 388 |
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{
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| 389 |
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"epoch": 30.0,
|
| 390 |
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|
| 391 |
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},
|
| 392 |
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{
|
| 393 |
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"epoch": 60.0,
|
| 394 |
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"flow_mse": 0.42605766285838986
|
| 395 |
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},
|
| 396 |
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{
|
| 397 |
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"epoch": 90.0,
|
| 398 |
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"flow_mse": 0.38931261169691517
|
| 399 |
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},
|
| 400 |
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{
|
| 401 |
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"epoch": 120.0,
|
| 402 |
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"flow_mse": 0.3628120229319857
|
| 403 |
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},
|
| 404 |
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{
|
| 405 |
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"epoch": 150.0,
|
| 406 |
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"flow_mse": 0.34324805893762683
|
| 407 |
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},
|
| 408 |
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{
|
| 409 |
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"epoch": 180.0,
|
| 410 |
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"flow_mse": 0.33193599764811177
|
| 411 |
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},
|
| 412 |
+
{
|
| 413 |
+
"epoch": 210.0,
|
| 414 |
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"flow_mse": 0.32323346880322107
|
| 415 |
+
},
|
| 416 |
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{
|
| 417 |
+
"epoch": 240.0,
|
| 418 |
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"flow_mse": 0.31670183336396446
|
| 419 |
+
},
|
| 420 |
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{
|
| 421 |
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"epoch": 270.0,
|
| 422 |
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"flow_mse": 0.31399087774534656
|
| 423 |
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},
|
| 424 |
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{
|
| 425 |
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"epoch": 300.0,
|
| 426 |
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"flow_mse": 0.3054940309468812
|
| 427 |
+
}
|
| 428 |
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],
|
| 429 |
+
"targets": "/lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_targets.json"
|
| 430 |
+
}
|
| 431 |
+
Wrote /lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_spline_flow_noise0p5_steps32_eval.json
|
| 432 |
+
Wrote /lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_spline_flow_noise0p5_steps32.pt
|
workspace/outputs/hpc/logs/train_pos_tangent_flow_15072916.err
ADDED
|
File without changes
|
workspace/outputs/hpc/logs/train_pos_tangent_flow_15072916.out
ADDED
|
@@ -0,0 +1,432 @@
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| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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|
| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 381 |
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|
| 382 |
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|
| 383 |
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| 384 |
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{
|
| 385 |
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|
| 386 |
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|
| 387 |
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},
|
| 388 |
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{
|
| 389 |
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|
| 390 |
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|
| 391 |
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|
| 392 |
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{
|
| 393 |
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|
| 394 |
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|
| 395 |
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|
| 396 |
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{
|
| 397 |
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|
| 398 |
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|
| 399 |
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},
|
| 400 |
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{
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| 401 |
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|
| 402 |
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|
| 403 |
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|
| 404 |
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{
|
| 405 |
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| 406 |
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|
| 407 |
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|
| 408 |
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{
|
| 409 |
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|
| 410 |
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|
| 411 |
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|
| 412 |
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{
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| 413 |
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|
| 414 |
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|
| 415 |
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},
|
| 416 |
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{
|
| 417 |
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"epoch": 240.0,
|
| 418 |
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|
| 419 |
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|
| 420 |
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{
|
| 421 |
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|
| 422 |
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|
| 423 |
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|
| 424 |
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{
|
| 425 |
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"epoch": 300.0,
|
| 426 |
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|
| 427 |
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|
| 428 |
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],
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| 429 |
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"targets": "/lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_targets.json"
|
| 430 |
+
}
|
| 431 |
+
Wrote /lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_spline_flow_noise1p25_steps32_eval.json
|
| 432 |
+
Wrote /lustre09/project/6037638/knguy52/vla/results/generator_v2_positive_tangent_spline_flow_noise1p25_steps32.pt
|
workspace/outputs/hpc/logs/train_pos_tangent_gflow_15073384.err
ADDED
|
File without changes
|