Hugging Face's logo

Datasets:
DiscreteRTC
/
dRTC

Dataset card Files
xet
 Community
1
dRTC
File size: 7,845 Bytes
49a009f
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
{
  "action_representation": "raw",
  "best_validation_action_mse": 0.01876369744845131,
  "completed_updates": 58600,
  "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionJoint/LastCommand_Joint/stacking_cup_30hz_cleanup",
  "images_per_example": 2,
  "job": "stacking_cup/LastCommand_Joint/raw",
  "maximum_finite_gradient_norm": 9.321064949035645,
  "observation_horizon": 1,
  "optimizer_steps_skipped": 0,
  "parameter_counts": {
    "action_backbone": 64925319,
    "embedding_output": 0,
    "observation_projector_state": 22394176,
    "total": 87319495,
    "total_trainable": 87319495
  },
  "published_sha256": "6ae91f8bc191e88ebc89cc12dc4b4aeec0d7102bee0441c0e7959cd9020bb823",
  "selected_epoch": 70.0,
  "selected_update": 41020,
  "source_checkpoint_sha256_before_promotion": "c5b4cb8c3b064954fb144413e1b2e4876527e56667d7cfd8473fca43f1231403",
  "stage": "base",
  "state_dim": 7,
  "state_layout": "last_command[0:7]",
  "updates_per_epoch": 586,
  "validation_history": [
    {
      "train": {
        "action_mse": 0.0069076791405677795,
        "fm_mse": 0.018974026665091515,
        "grad_norm": 0.31853941082954407,
        "gradient_scale_fm": 0.018974026665091515,
        "loss": 0.018974026665091515,
        "lr": 9.791544209955937e-05,
        "optimizer_step_skipped": 0.0,
        "update": 5860
      },
      "update": 5860,
      "validation": {
        "action_mse": 0.022247289291049334,
        "generation_action_mse": 0.022247289291049334,
        "generation_control_mse": 0.022247289291049334,
        "loss": 0.022247289291049334,
        "samples": 4211.0
      }
    },
    {
      "train": {
        "action_mse": 0.0030942359007894993,
        "fm_mse": 0.014058373868465424,
        "grad_norm": 0.2184688001871109,
        "gradient_scale_fm": 0.014058373868465424,
        "loss": 0.014058373868465424,
        "lr": 9.107853671722462e-05,
        "optimizer_step_skipped": 0.0,
        "update": 11720
      },
      "update": 11720,
      "validation": {
        "action_mse": 0.02128651491593573,
        "generation_action_mse": 0.02128651491593573,
        "generation_control_mse": 0.02128651491593573,
        "loss": 0.02128651491593573,
        "samples": 4211.0
      }
    },
    {
      "train": {
        "action_mse": 0.0016439835308119655,
        "fm_mse": 0.00849190540611744,
        "grad_norm": 0.1455637365579605,
        "gradient_scale_fm": 0.00849190540611744,
        "loss": 0.00849190540611744,
        "lr": 8.015165344707659e-05,
        "optimizer_step_skipped": 0.0,
        "update": 17580
      },
      "update": 17580,
      "validation": {
        "action_mse": 0.020184135154800633,
        "generation_action_mse": 0.020184135154800633,
        "generation_control_mse": 0.020184135154800633,
        "loss": 0.020184135154800633,
        "samples": 4211.0
      }
    },
    {
      "train": {
        "action_mse": 0.0010527799604460597,
        "fm_mse": 0.00540878577157855,
        "grad_norm": 0.19331131875514984,
        "gradient_scale_fm": 0.00540878577157855,
        "loss": 0.00540878577157855,
        "lr": 6.622272566087246e-05,
        "optimizer_step_skipped": 0.0,
        "update": 23440
      },
      "update": 23440,
      "validation": {
        "action_mse": 0.019338839563527402,
        "generation_action_mse": 0.019338839563527402,
        "generation_control_mse": 0.019338839563527402,
        "loss": 0.019338839563527402,
        "samples": 4211.0
      }
    },
    {
      "train": {
        "action_mse": 0.0012961123138666153,
        "fm_mse": 0.004861039575189352,
        "grad_norm": 0.13417993485927582,
        "gradient_scale_fm": 0.004861039575189352,
        "loss": 0.004861039575189352,
        "lr": 5.0678584808785014e-05,
        "optimizer_step_skipped": 0.0,
        "update": 29300
      },
      "update": 29300,
      "validation": {
        "action_mse": 0.01884512356151253,
        "generation_action_mse": 0.01884512356151253,
        "generation_control_mse": 0.01884512356151253,
        "loss": 0.01884512356151253,
        "samples": 4211.0
      }
    },
    {
      "train": {
        "action_mse": 0.000831149984151125,
        "fm_mse": 0.004125118721276522,
        "grad_norm": 0.11217287182807922,
        "gradient_scale_fm": 0.004125118721276522,
        "loss": 0.004125118721276522,
        "lr": 3.506688076957526e-05,
        "optimizer_step_skipped": 0.0,
        "update": 35160
      },
      "update": 35160,
      "validation": {
        "action_mse": 0.018796666640862627,
        "generation_action_mse": 0.018796666640862627,
        "generation_control_mse": 0.018796666640862627,
        "loss": 0.018796666640862627,
        "samples": 4211.0
      }
    },
    {
      "train": {
        "action_mse": 0.0003532414557412267,
        "fm_mse": 0.004051512572914362,
        "grad_norm": 0.19816024601459503,
        "gradient_scale_fm": 0.004051512572914362,
        "loss": 0.004051512572914362,
        "lr": 2.09419903398412e-05,
        "optimizer_step_skipped": 0.0,
        "update": 41020
      },
      "update": 41020,
      "validation": {
        "action_mse": 0.01876369744845131,
        "generation_action_mse": 0.01876369744845131,
        "generation_control_mse": 0.01876369744845131,
        "loss": 0.01876369744845131,
        "samples": 4211.0
      }
    },
    {
      "train": {
        "action_mse": 0.0004671877541113645,
        "fm_mse": 0.001924547366797924,
        "grad_norm": 0.114122174680233,
        "gradient_scale_fm": 0.001924547366797924,
        "loss": 0.001924547366797924,
        "lr": 9.710255958776232e-06,
        "optimizer_step_skipped": 0.0,
        "update": 46880
      },
      "update": 46880,
      "validation": {
        "action_mse": 0.018850678352569854,
        "generation_action_mse": 0.018850678352569854,
        "generation_control_mse": 0.018850678352569854,
        "loss": 0.018850678352569854,
        "samples": 4211.0
      }
    },
    {
      "train": {
        "action_mse": 0.00022752101358491927,
        "fm_mse": 0.0017240040469914675,
        "grad_norm": 0.0827111303806305,
        "gradient_scale_fm": 0.0017240040469914675,
        "loss": 0.0017240040469914675,
        "lr": 2.489963449864574e-06,
        "optimizer_step_skipped": 0.0,
        "update": 52740
      },
      "update": 52740,
      "validation": {
        "action_mse": 0.018866748047222492,
        "generation_action_mse": 0.018866748047222492,
        "generation_control_mse": 0.018866748047222492,
        "loss": 0.018866748047222492,
        "samples": 4211.0
      }
    },
    {
      "train": {
        "action_mse": 0.00020837504416704178,
        "fm_mse": 0.0007039711344987154,
        "grad_norm": 0.05138221010565758,
        "gradient_scale_fm": 0.0007039711344987154,
        "loss": 0.0007039711344987154,
        "lr": 7.30949689664584e-14,
        "optimizer_step_skipped": 0.0,
        "update": 58600
      },
      "update": 58600,
      "validation": {
        "action_mse": 0.018838950036151318,
        "generation_action_mse": 0.018838950036151318,
        "generation_control_mse": 0.018838950036151318,
        "loss": 0.018838950036151318,
        "samples": 4211.0
      }
    }
  ],
  "validation_points": 10,
  "wall_seconds": 2254.6685194969177,
  "wandb": {
    "entity": "401910710-university-of-california-berkeley",
    "mode": "online",
    "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/stacking_cup/LastCommand_Joint/raw/base.pt",
    "project": "robot-policy-bsp-unet-v6-stacking-cup",
    "run_id": "61fr8332",
    "run_name": "bsp_unet_fm-base-v6-stacking_cup-lastcommand_joint-raw-h1-base",
    "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v6-stacking-cup/runs/61fr8332"
  }
}