| { |
| "action_representation": "raw", |
| "best_validation_action_mse": 0.023311301932107564, |
| "completed_updates": 135000, |
| "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionJoint/LastCommand_Joint/classify_blocks_30hz_cleanup", |
| "images_per_example": 2, |
| "job": "classify_blocks/LastCommand_Joint/raw", |
| "maximum_finite_gradient_norm": 8.994522094726562, |
| "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": "41abcd85ad3237e4962c86f1c362150d7e7140bbb50e7bc218ddbc59e78558d3", |
| "selected_epoch": 90.0, |
| "selected_update": 121500, |
| "source_checkpoint_sha256_before_promotion": "86606f95d340f0e3141e49750caa97ffe52e034371ff38c5464d96505cf424fd", |
| "stage": "base", |
| "state_dim": 7, |
| "state_layout": "last_command[0:7]", |
| "updates_per_epoch": 1350, |
| "validation_history": [ |
| { |
| "train": { |
| "action_mse": 0.004911384545266628, |
| "fm_mse": 0.018283899873495102, |
| "grad_norm": 0.2077815979719162, |
| "gradient_scale_fm": 0.018283899873495102, |
| "loss": 0.018283899873495102, |
| "lr": 9.771294764860706e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 13500 |
| }, |
| "update": 13500, |
| "validation": { |
| "action_mse": 0.025996111482950432, |
| "generation_action_mse": 0.025996111482950432, |
| "generation_control_mse": 0.025996111482950432, |
| "loss": 0.025996111482950432, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.002346215769648552, |
| "fm_mse": 0.008961642161011696, |
| "grad_norm": 0.1352904587984085, |
| "gradient_scale_fm": 0.008961642161011696, |
| "loss": 0.008961642161011696, |
| "lr": 9.072434246797636e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 27000 |
| }, |
| "update": 27000, |
| "validation": { |
| "action_mse": 0.02448368024000717, |
| "generation_action_mse": 0.02448368024000717, |
| "generation_control_mse": 0.02448368024000717, |
| "loss": 0.02448368024000717, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.002110882429406047, |
| "fm_mse": 0.008873523212969303, |
| "grad_norm": 0.15812553465366364, |
| "gradient_scale_fm": 0.008873523212969303, |
| "loss": 0.008873523212969303, |
| "lr": 7.971990772146738e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 40500 |
| }, |
| "update": 40500, |
| "validation": { |
| "action_mse": 0.023963134345984446, |
| "generation_action_mse": 0.023963134345984446, |
| "generation_control_mse": 0.023963134345984446, |
| "loss": 0.023963134345984446, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0011397340567782521, |
| "fm_mse": 0.003698908956721425, |
| "grad_norm": 0.0915914922952652, |
| "gradient_scale_fm": 0.003698908956721425, |
| "loss": 0.003698908956721425, |
| "lr": 6.578479130178238e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 54000 |
| }, |
| "update": 54000, |
| "validation": { |
| "action_mse": 0.02354744208830145, |
| "generation_action_mse": 0.02354744208830145, |
| "generation_control_mse": 0.02354744208830145, |
| "loss": 0.02354744208830145, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0010942600201815367, |
| "fm_mse": 0.007658431772142649, |
| "grad_norm": 0.1383499652147293, |
| "gradient_scale_fm": 0.007658431772142649, |
| "loss": 0.007658431772142649, |
| "lr": 5.029313577650562e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 67500 |
| }, |
| "update": 67500, |
| "validation": { |
| "action_mse": 0.02333786490053986, |
| "generation_action_mse": 0.02333786490053986, |
| "generation_control_mse": 0.02333786490053986, |
| "loss": 0.02333786490053986, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0005023261182941496, |
| "fm_mse": 0.0016820864984765649, |
| "grad_norm": 0.06992922723293304, |
| "gradient_scale_fm": 0.0016820864984765649, |
| "loss": 0.0016820864984765649, |
| "lr": 3.4772574116795044e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 81000 |
| }, |
| "update": 81000, |
| "validation": { |
| "action_mse": 0.02341876317266569, |
| "generation_action_mse": 0.02341876317266569, |
| "generation_control_mse": 0.02341876317266569, |
| "loss": 0.02341876317266569, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.00027392327319830656, |
| "fm_mse": 0.002921657869592309, |
| "grad_norm": 0.10043247789144516, |
| "gradient_scale_fm": 0.002921657869592309, |
| "loss": 0.002921657869592309, |
| "lr": 2.0753589729254812e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 94500 |
| }, |
| "update": 94500, |
| "validation": { |
| "action_mse": 0.023383449121699363, |
| "generation_action_mse": 0.023383449121699363, |
| "generation_control_mse": 0.023383449121699363, |
| "loss": 0.023383449121699363, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.000440342933870852, |
| "fm_mse": 0.002174545545130968, |
| "grad_norm": 0.09116201102733612, |
| "gradient_scale_fm": 0.002174545545130968, |
| "loss": 0.002174545545130968, |
| "lr": 9.618595406217668e-06, |
| "optimizer_step_skipped": 0.0, |
| "update": 108000 |
| }, |
| "update": 108000, |
| "validation": { |
| "action_mse": 0.023370610546455256, |
| "generation_action_mse": 0.023370610546455256, |
| "generation_control_mse": 0.023370610546455256, |
| "loss": 0.023370610546455256, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.00012308041914366186, |
| "fm_mse": 0.0019587369170039892, |
| "grad_norm": 0.09106040000915527, |
| "gradient_scale_fm": 0.0019587369170039892, |
| "loss": 0.0019587369170039892, |
| "lr": 2.465613527136429e-06, |
| "optimizer_step_skipped": 0.0, |
| "update": 121500 |
| }, |
| "update": 121500, |
| "validation": { |
| "action_mse": 0.023311301932107564, |
| "generation_action_mse": 0.023311301932107564, |
| "generation_control_mse": 0.023311301932107564, |
| "loss": 0.023311301932107564, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.00020846413099206984, |
| "fm_mse": 0.003631830448284745, |
| "grad_norm": 0.16984514892101288, |
| "gradient_scale_fm": 0.003631830448284745, |
| "loss": 0.003631830448284745, |
| "lr": 1.363939516885182e-14, |
| "optimizer_step_skipped": 0.0, |
| "update": 135000 |
| }, |
| "update": 135000, |
| "validation": { |
| "action_mse": 0.02332063370907241, |
| "generation_action_mse": 0.02332063370907241, |
| "generation_control_mse": 0.02332063370907241, |
| "loss": 0.02332063370907241, |
| "samples": 9467.0 |
| } |
| } |
| ], |
| "validation_points": 10, |
| "wall_seconds": 4822.856126785278, |
| "wandb": { |
| "entity": "401910710-university-of-california-berkeley", |
| "mode": "online", |
| "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/classify_blocks/LastCommand_Joint/raw/base.pt", |
| "project": "robot-policy-bsp-unet-v6-classify-blocks", |
| "run_id": "iwouflr2", |
| "run_name": "bsp_unet_fm-base-v6-classify_blocks-lastcommand_joint-raw-h1-base", |
| "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v6-classify-blocks/runs/iwouflr2" |
| } |
| } |
|
|
