Hugging Face's logo

cccat6
/
FlowMo-WM

Robotics
PyTorch
world-model
visual-world-model
model-based-control
surface-vehicle
hidden-drift
Model card Files
xet
 Community
cccat6 commited on
Commit
5d763eb
·
verified ·
1 Parent(s): 23157ad

Sync PlaNet training metadata

Browse files
Files changed (3) hide show
  1. experiments/planet/result/paper_training.json +43 -0
  2. experiments/planet/result/paper_training_trace.jsonl +100 -0
  3. experiments/planet/result/parameter_count.json +8 -0
experiments/planet/result/paper_training.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "method": "planet",
3
+ "steps": 20000,
4
+ "batch_size": 256,
5
+ "train_samples": 5120000,
6
+ "final_train_loss": 0.008772878907620907,
7
+ "total_parameters": 664644,
8
+ "target_mode": "absolute_normalized",
9
+ "position_scale": 5.0,
10
+ "heading_weight": 2.0,
11
+ "current_pose_weight": 1.0,
12
+ "motion_weight": 0.5,
13
+ "precision": "bf16",
14
+ "checkpoint_name": "paper.pt",
15
+ "final_checkpoint": "paper.pt",
16
+ "intermediate_checkpoints": [
17
+ "paper_step_002000.pt",
18
+ "paper_step_004000.pt",
19
+ "paper_step_006000.pt",
20
+ "paper_step_008000.pt",
21
+ "paper_step_010000.pt",
22
+ "paper_step_012000.pt",
23
+ "paper_step_014000.pt",
24
+ "paper_step_016000.pt",
25
+ "paper_step_018000.pt",
26
+ "paper_step_020000.pt"
27
+ ],
28
+ "checkpoint_interval": 2000,
29
+ "prediction": {
30
+ "pos1": 0.11869833990931511,
31
+ "heading1": 0.049955346155911684,
32
+ "pos3": 0.12400307607216139,
33
+ "heading3": 0.051746399219458304,
34
+ "pos6": 0.13787369042014083,
35
+ "heading6": 0.05545695712013791,
36
+ "pos8": 0.14904304950808486,
37
+ "heading8": 0.058266411419026554,
38
+ "pos10": 0.16113224594543377,
39
+ "heading10": 0.0610963700649639,
40
+ "pos20": 0.22319197903076807,
41
+ "heading20": 0.07450782080801825
42
+ }
43
+ }
experiments/planet/result/paper_training_trace.jsonl ADDED
@@ -0,0 +1,100 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"method": "planet", "step": 200, "loss": 2.5629568099975586}
2
+ {"method": "planet", "step": 400, "loss": 2.551339864730835}
3
+ {"method": "planet", "step": 600, "loss": 2.0287070274353027}
4
+ {"method": "planet", "step": 800, "loss": 1.8237463235855103}
5
+ {"method": "planet", "step": 1000, "loss": 1.7517215013504028}
6
+ {"method": "planet", "step": 1200, "loss": 1.6584033966064453}
7
+ {"method": "planet", "step": 1400, "loss": 1.6117135286331177}
8
+ {"method": "planet", "step": 1600, "loss": 1.533388376235962}
9
+ {"method": "planet", "step": 1800, "loss": 1.1681071519851685}
10
+ {"method": "planet", "step": 2000, "loss": 1.016592264175415}
11
+ {"method": "planet", "step": 2200, "loss": 0.5492494702339172}
12
+ {"method": "planet", "step": 2400, "loss": 0.30327022075653076}
13
+ {"method": "planet", "step": 2600, "loss": 0.15661734342575073}
14
+ {"method": "planet", "step": 2800, "loss": 0.11776932328939438}
15
+ {"method": "planet", "step": 3000, "loss": 0.09642842411994934}
16
+ {"method": "planet", "step": 3200, "loss": 0.0814795196056366}
17
+ {"method": "planet", "step": 3400, "loss": 0.07226671278476715}
18
+ {"method": "planet", "step": 3600, "loss": 0.06579707562923431}
19
+ {"method": "planet", "step": 3800, "loss": 0.06260661780834198}
20
+ {"method": "planet", "step": 4000, "loss": 0.055573899298906326}
21
+ {"method": "planet", "step": 4200, "loss": 0.05680014565587044}
22
+ {"method": "planet", "step": 4400, "loss": 0.05043875053524971}
23
+ {"method": "planet", "step": 4600, "loss": 0.049262627959251404}
24
+ {"method": "planet", "step": 4800, "loss": 0.046282608062028885}
25
+ {"method": "planet", "step": 5000, "loss": 0.04574532434344292}
26
+ {"method": "planet", "step": 5200, "loss": 0.04081552475690842}
27
+ {"method": "planet", "step": 5400, "loss": 0.03887620195746422}
28
+ {"method": "planet", "step": 5600, "loss": 0.03593629598617554}
29
+ {"method": "planet", "step": 5800, "loss": 0.04143092408776283}
30
+ {"method": "planet", "step": 6000, "loss": 0.033399391919374466}
31
+ {"method": "planet", "step": 6200, "loss": 0.032519273459911346}
32
+ {"method": "planet", "step": 6400, "loss": 0.030036214739084244}
33
+ {"method": "planet", "step": 6600, "loss": 0.027902625501155853}
34
+ {"method": "planet", "step": 6800, "loss": 0.028032490983605385}
35
+ {"method": "planet", "step": 7000, "loss": 0.03410130366683006}
36
+ {"method": "planet", "step": 7200, "loss": 0.028813574463129044}
37
+ {"method": "planet", "step": 7400, "loss": 0.025858696550130844}
38
+ {"method": "planet", "step": 7600, "loss": 0.025693722069263458}
39
+ {"method": "planet", "step": 7800, "loss": 0.022762829437851906}
40
+ {"method": "planet", "step": 8000, "loss": 0.020774971693754196}
41
+ {"method": "planet", "step": 8200, "loss": 0.020782269537448883}
42
+ {"method": "planet", "step": 8400, "loss": 0.022103218361735344}
43
+ {"method": "planet", "step": 8600, "loss": 0.01926327496767044}
44
+ {"method": "planet", "step": 8800, "loss": 0.018475254997611046}
45
+ {"method": "planet", "step": 9000, "loss": 0.01875205524265766}
46
+ {"method": "planet", "step": 9200, "loss": 0.019409051164984703}
47
+ {"method": "planet", "step": 9400, "loss": 0.024970123544335365}
48
+ {"method": "planet", "step": 9600, "loss": 0.05656372755765915}
49
+ {"method": "planet", "step": 9800, "loss": 0.016533659771084785}
50
+ {"method": "planet", "step": 10000, "loss": 0.01590445078909397}
51
+ {"method": "planet", "step": 10200, "loss": 0.022194253280758858}
52
+ {"method": "planet", "step": 10400, "loss": 0.019276082515716553}
53
+ {"method": "planet", "step": 10600, "loss": 0.014785937033593655}
54
+ {"method": "planet", "step": 10800, "loss": 0.01445567887276411}
55
+ {"method": "planet", "step": 11000, "loss": 0.013970823958516121}
56
+ {"method": "planet", "step": 11200, "loss": 0.014381161890923977}
57
+ {"method": "planet", "step": 11400, "loss": 0.013534503988921642}
58
+ {"method": "planet", "step": 11600, "loss": 0.013461273163557053}
59
+ {"method": "planet", "step": 11800, "loss": 0.013335428200662136}
60
+ {"method": "planet", "step": 12000, "loss": 0.015117074362933636}
61
+ {"method": "planet", "step": 12200, "loss": 0.013585953041911125}
62
+ {"method": "planet", "step": 12400, "loss": 0.012445093132555485}
63
+ {"method": "planet", "step": 12600, "loss": 0.018466467037796974}
64
+ {"method": "planet", "step": 12800, "loss": 0.0303349532186985}
65
+ {"method": "planet", "step": 13000, "loss": 0.013457043096423149}
66
+ {"method": "planet", "step": 13200, "loss": 0.011494855396449566}
67
+ {"method": "planet", "step": 13400, "loss": 0.011172358877956867}
68
+ {"method": "planet", "step": 13600, "loss": 0.017284931614995003}
69
+ {"method": "planet", "step": 13800, "loss": 0.014999824576079845}
70
+ {"method": "planet", "step": 14000, "loss": 0.011603034101426601}
71
+ {"method": "planet", "step": 14200, "loss": 0.010930616408586502}
72
+ {"method": "planet", "step": 14400, "loss": 0.010627683252096176}
73
+ {"method": "planet", "step": 14600, "loss": 0.010675529018044472}
74
+ {"method": "planet", "step": 14800, "loss": 0.024077879264950752}
75
+ {"method": "planet", "step": 15000, "loss": 0.016331953927874565}
76
+ {"method": "planet", "step": 15200, "loss": 0.010561318136751652}
77
+ {"method": "planet", "step": 15400, "loss": 0.010523191653192043}
78
+ {"method": "planet", "step": 15600, "loss": 0.009730332531034946}
79
+ {"method": "planet", "step": 15800, "loss": 0.0098954476416111}
80
+ {"method": "planet", "step": 16000, "loss": 0.00980442762374878}
81
+ {"method": "planet", "step": 16200, "loss": 0.009567534551024437}
82
+ {"method": "planet", "step": 16400, "loss": 0.009803326800465584}
83
+ {"method": "planet", "step": 16600, "loss": 0.009817032143473625}
84
+ {"method": "planet", "step": 16800, "loss": 0.009855364449322224}
85
+ {"method": "planet", "step": 17000, "loss": 0.009259337559342384}
86
+ {"method": "planet", "step": 17200, "loss": 0.033059075474739075}
87
+ {"method": "planet", "step": 17400, "loss": 0.014952229335904121}
88
+ {"method": "planet", "step": 17600, "loss": 0.009115049615502357}
89
+ {"method": "planet", "step": 17800, "loss": 0.009106462821364403}
90
+ {"method": "planet", "step": 18000, "loss": 0.009287787601351738}
91
+ {"method": "planet", "step": 18200, "loss": 0.00882282480597496}
92
+ {"method": "planet", "step": 18400, "loss": 0.008708623237907887}
93
+ {"method": "planet", "step": 18600, "loss": 0.008884254842996597}
94
+ {"method": "planet", "step": 18800, "loss": 0.008640059269964695}
95
+ {"method": "planet", "step": 19000, "loss": 0.008493084460496902}
96
+ {"method": "planet", "step": 19200, "loss": 0.008628333918750286}
97
+ {"method": "planet", "step": 19400, "loss": 0.008708713576197624}
98
+ {"method": "planet", "step": 19600, "loss": 0.008213508874177933}
99
+ {"method": "planet", "step": 19800, "loss": 0.008217941038310528}
100
+ {"method": "planet", "step": 20000, "loss": 0.008772878907620907}
experiments/planet/result/parameter_count.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "encoder": 471584,
3
+ "recurrent": 83880,
4
+ "posterior": 39108,
5
+ "prior": 27588,
6
+ "decoder": 42484,
7
+ "total": 664644
8
+ }