Hugging Face's logo

Datasets:
DiscreteRTC
/
dRTC

Dataset card Files
xet
 Community
1
dRTC
File size: 8,035 Bytes
88e1496
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
241
242
243
244
{
  "action_dim": 8,
  "action_layout": "absolute_tcp_xyz[t+1,0:3] + quaternion_xyzw[t+1,3:7] + measured_gripper[t+1,7:8]",
  "action_representation": "raw",
  "best_validation_action_mse": 0.15562336780243255,
  "completed_updates": 260700,
  "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/StateAbsEE/classify_blocks_30hz_cleanup",
  "images_per_example": 2,
  "job": "classify_blocks/StateAbsEE/raw",
  "maximum_finite_gradient_norm": 8.011321067810059,
  "observation_horizon": 1,
  "optimizer_steps_skipped": 0,
  "parameter_counts": {
    "action_backbone": 64927112,
    "embedding_output": 0,
    "observation_projector_state": 22394176,
    "total": 87321288,
    "total_trainable": 87321288
  },
  "parent_checkpoint": null,
  "parent_checkpoint_sha256": null,
  "published_sha256": "776d35a3ab3aa33545e27b0a5ab2aae07205db5d0a2713484796c72869c8bed7",
  "selected_epoch": 40.0,
  "selected_update": 104280,
  "source_checkpoint_sha256_before_promotion": "2414de416dd0d4dfacb91d032ec7eec11e6fd4f7895fa7d1c23ab1e54a385598",
  "stage": "base",
  "state_dim": 7,
  "state_layout": "measured_joint_position[0:6] + measured_gripper[6:7]",
  "updates_per_epoch": 2607,
  "validation_history": [
    {
      "train": {
        "action_mse": 0.021963724866509438,
        "fm_mse": 0.05131736397743225,
        "grad_norm": 0.35938504338264465,
        "gradient_scale_fm": 0.05131736397743225,
        "loss": 0.05131736397743225,
        "lr": 9.763625439910508e-05,
        "optimizer_step_skipped": 0.0,
        "update": 26070
      },
      "update": 26070,
      "validation": {
        "action_mse": 0.15571080126817938,
        "generation_action_mse": 0.15571080126817938,
        "generation_control_mse": 0.15571080126817938,
        "loss": 0.15571080126817938,
        "samples": 19038.0
      }
    },
    {
      "train": {
        "action_mse": 0.014471538364887238,
        "fm_mse": 0.032792169600725174,
        "grad_norm": 0.2044183313846588,
        "gradient_scale_fm": 0.032792169600725174,
        "loss": 0.032792169600725174,
        "lr": 9.059266547593841e-05,
        "optimizer_step_skipped": 0.0,
        "update": 52140
      },
      "update": 52140,
      "validation": {
        "action_mse": 0.16024692593888004,
        "generation_action_mse": 0.16024692593888004,
        "generation_control_mse": 0.16024692593888004,
        "loss": 0.16024692593888004,
        "samples": 19038.0
      }
    },
    {
      "train": {
        "action_mse": 0.0034501103218644857,
        "fm_mse": 0.016826903447508812,
        "grad_norm": 0.15876294672489166,
        "gradient_scale_fm": 0.016826903447508812,
        "loss": 0.016826903447508812,
        "lr": 7.956042444879262e-05,
        "optimizer_step_skipped": 0.0,
        "update": 78210
      },
      "update": 78210,
      "validation": {
        "action_mse": 0.15593132149185832,
        "generation_action_mse": 0.15593132149185832,
        "generation_control_mse": 0.15593132149185832,
        "loss": 0.15593132149185832,
        "samples": 19038.0
      }
    },
    {
      "train": {
        "action_mse": 0.006324751302599907,
        "fm_mse": 0.01462404802441597,
        "grad_norm": 0.15776826441287994,
        "gradient_scale_fm": 0.01462404802441597,
        "loss": 0.01462404802441597,
        "lr": 6.56235638853396e-05,
        "optimizer_step_skipped": 0.0,
        "update": 104280
      },
      "update": 104280,
      "validation": {
        "action_mse": 0.15562336780243255,
        "generation_action_mse": 0.15562336780243255,
        "generation_control_mse": 0.15562336780243255,
        "loss": 0.15562336780243255,
        "samples": 19038.0
      }
    },
    {
      "train": {
        "action_mse": 0.0038740206509828568,
        "fm_mse": 0.016681209206581116,
        "grad_norm": 0.1842319667339325,
        "gradient_scale_fm": 0.016681209206581116,
        "loss": 0.016681209206581116,
        "lr": 5.01515254706107e-05,
        "optimizer_step_skipped": 0.0,
        "update": 130350
      },
      "update": 130350,
      "validation": {
        "action_mse": 0.15715589200896934,
        "generation_action_mse": 0.15715589200896934,
        "generation_control_mse": 0.15715589200896934,
        "loss": 0.15715589200896934,
        "samples": 19038.0
      }
    },
    {
      "train": {
        "action_mse": 0.002683033002540469,
        "fm_mse": 0.014175997115671635,
        "grad_norm": 0.21442736685276031,
        "gradient_scale_fm": 0.014175997115671635,
        "loss": 0.014175997115671635,
        "lr": 3.46645981004493e-05,
        "optimizer_step_skipped": 0.0,
        "update": 156420
      },
      "update": 156420,
      "validation": {
        "action_mse": 0.1594503063298008,
        "generation_action_mse": 0.1594503063298008,
        "generation_control_mse": 0.1594503063298008,
        "loss": 0.1594503063298008,
        "samples": 19038.0
      }
    },
    {
      "train": {
        "action_mse": 0.0018566431244835258,
        "fm_mse": 0.012383140623569489,
        "grad_norm": 0.23481746017932892,
        "gradient_scale_fm": 0.012383140623569489,
        "loss": 0.012383140623569489,
        "lr": 2.0684533665619542e-05,
        "optimizer_step_skipped": 0.0,
        "update": 182490
      },
      "update": 182490,
      "validation": {
        "action_mse": 0.16050678469602642,
        "generation_action_mse": 0.16050678469602642,
        "generation_control_mse": 0.16050678469602642,
        "loss": 0.16050678469602642,
        "samples": 19038.0
      }
    },
    {
      "train": {
        "action_mse": 0.001047639176249504,
        "fm_mse": 0.002652818337082863,
        "grad_norm": 0.08009089529514313,
        "gradient_scale_fm": 0.002652818337082863,
        "loss": 0.002652818337082863,
        "lr": 9.585019081428886e-06,
        "optimizer_step_skipped": 0.0,
        "update": 208560
      },
      "update": 208560,
      "validation": {
        "action_mse": 0.16106696239480311,
        "generation_action_mse": 0.16106696239480311,
        "generation_control_mse": 0.16106696239480311,
        "loss": 0.16106696239480311,
        "samples": 19038.0
      }
    },
    {
      "train": {
        "action_mse": 0.0009034883696585894,
        "fm_mse": 0.002331790281459689,
        "grad_norm": 0.08415620774030685,
        "gradient_scale_fm": 0.002331790281459689,
        "loss": 0.002331790281459689,
        "lr": 2.4566972430974223e-06,
        "optimizer_step_skipped": 0.0,
        "update": 234630
      },
      "update": 234630,
      "validation": {
        "action_mse": 0.1607999001794369,
        "generation_action_mse": 0.1607999001794369,
        "generation_control_mse": 0.1607999001794369,
        "loss": 0.1607999001794369,
        "samples": 19038.0
      }
    },
    {
      "train": {
        "action_mse": 0.0009996193693950772,
        "fm_mse": 0.003389142220839858,
        "grad_norm": 0.16863179206848145,
        "gradient_scale_fm": 0.003389142220839858,
        "loss": 0.003389142220839858,
        "lr": 3.644390345058923e-15,
        "optimizer_step_skipped": 0.0,
        "update": 260700
      },
      "update": 260700,
      "validation": {
        "action_mse": 0.16077416703806005,
        "generation_action_mse": 0.16077416703806005,
        "generation_control_mse": 0.16077416703806005,
        "loss": 0.16077416703806005,
        "samples": 19038.0
      }
    }
  ],
  "validation_points": 10,
  "wall_seconds": 9616.230301618576,
  "wandb": {
    "entity": "401910710-university-of-california-berkeley",
    "mode": "online",
    "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/V8Full/classify_blocks/StateAbsEE/raw/base.pt",
    "project": "robot-policy-bsp-unet-v8-classify-blocks",
    "run_id": "bm97pph5",
    "run_name": "bsp_unet_fm-base-v8-classify_blocks-stateabsee-raw-h1-base",
    "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v8-classify-blocks/runs/bm97pph5"
  }
}