| { |
| "action_representation": "raw", |
| "best_validation_action_mse": 0.02550087735883036, |
| "completed_updates": 135000, |
| "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionJoint/State_Joint/classify_blocks_30hz_cleanup", |
| "images_per_example": 2, |
| "job": "classify_blocks/State_Joint/raw", |
| "maximum_finite_gradient_norm": 9.048162460327148, |
| "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": "195c32a3062085250de958edc31bd657f5c0fe0bde9c6365fc63a8f0721da867", |
| "selected_epoch": 70.0, |
| "selected_update": 94500, |
| "source_checkpoint_sha256_before_promotion": "c20c5573fb8ccbc5687a5d2159aa7acc2061f8bb006e7c72e49d2554bb48b8c4", |
| "stage": "base", |
| "state_dim": 7, |
| "state_layout": "current_joint_angle[0:7]", |
| "updates_per_epoch": 1350, |
| "validation_history": [ |
| { |
| "train": { |
| "action_mse": 0.004342870786786079, |
| "fm_mse": 0.018307838588953018, |
| "grad_norm": 0.2136671394109726, |
| "gradient_scale_fm": 0.018307838588953018, |
| "loss": 0.018307838588953018, |
| "lr": 9.771294764860706e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 13500 |
| }, |
| "update": 13500, |
| "validation": { |
| "action_mse": 0.028377862957895378, |
| "generation_action_mse": 0.028377862957895378, |
| "generation_control_mse": 0.028377862957895378, |
| "loss": 0.028377862957895378, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0024871837813407183, |
| "fm_mse": 0.009258625097572803, |
| "grad_norm": 0.1661594808101654, |
| "gradient_scale_fm": 0.009258625097572803, |
| "loss": 0.009258625097572803, |
| "lr": 9.072434246797636e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 27000 |
| }, |
| "update": 27000, |
| "validation": { |
| "action_mse": 0.026496013799056393, |
| "generation_action_mse": 0.026496013799056393, |
| "generation_control_mse": 0.026496013799056393, |
| "loss": 0.026496013799056393, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.002089038025587797, |
| "fm_mse": 0.009630848653614521, |
| "grad_norm": 0.1746487319469452, |
| "gradient_scale_fm": 0.009630848653614521, |
| "loss": 0.009630848653614521, |
| "lr": 7.971990772146738e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 40500 |
| }, |
| "update": 40500, |
| "validation": { |
| "action_mse": 0.025921458038447826, |
| "generation_action_mse": 0.025921458038447826, |
| "generation_control_mse": 0.025921458038447826, |
| "loss": 0.025921458038447826, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.001408503740094602, |
| "fm_mse": 0.004096110817044973, |
| "grad_norm": 0.08609019219875336, |
| "gradient_scale_fm": 0.004096110817044973, |
| "loss": 0.004096110817044973, |
| "lr": 6.578479130178238e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 54000 |
| }, |
| "update": 54000, |
| "validation": { |
| "action_mse": 0.025673217460449368, |
| "generation_action_mse": 0.025673217460449368, |
| "generation_control_mse": 0.025673217460449368, |
| "loss": 0.025673217460449368, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.001385131268762052, |
| "fm_mse": 0.00800732709467411, |
| "grad_norm": 0.11242659389972687, |
| "gradient_scale_fm": 0.00800732709467411, |
| "loss": 0.00800732709467411, |
| "lr": 5.029313577650562e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 67500 |
| }, |
| "update": 67500, |
| "validation": { |
| "action_mse": 0.02563475790068907, |
| "generation_action_mse": 0.02563475790068907, |
| "generation_control_mse": 0.02563475790068907, |
| "loss": 0.02563475790068907, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0009250033763237298, |
| "fm_mse": 0.0024788188748061657, |
| "grad_norm": 0.10088391602039337, |
| "gradient_scale_fm": 0.0024788188748061657, |
| "loss": 0.0024788188748061657, |
| "lr": 3.4772574116795044e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 81000 |
| }, |
| "update": 81000, |
| "validation": { |
| "action_mse": 0.025524833861816552, |
| "generation_action_mse": 0.025524833861816552, |
| "generation_control_mse": 0.025524833861816552, |
| "loss": 0.025524833861816552, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.00032029885915108025, |
| "fm_mse": 0.0030309560243040323, |
| "grad_norm": 0.0928834080696106, |
| "gradient_scale_fm": 0.0030309560243040323, |
| "loss": 0.0030309560243040323, |
| "lr": 2.0753589729254812e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 94500 |
| }, |
| "update": 94500, |
| "validation": { |
| "action_mse": 0.02550087735883036, |
| "generation_action_mse": 0.02550087735883036, |
| "generation_control_mse": 0.02550087735883036, |
| "loss": 0.02550087735883036, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.00047760229790583253, |
| "fm_mse": 0.0020681056194007397, |
| "grad_norm": 0.09157050400972366, |
| "gradient_scale_fm": 0.0020681056194007397, |
| "loss": 0.0020681056194007397, |
| "lr": 9.618595406217668e-06, |
| "optimizer_step_skipped": 0.0, |
| "update": 108000 |
| }, |
| "update": 108000, |
| "validation": { |
| "action_mse": 0.025539865318771948, |
| "generation_action_mse": 0.025539865318771948, |
| "generation_control_mse": 0.025539865318771948, |
| "loss": 0.025539865318771948, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.00014821969671174884, |
| "fm_mse": 0.0020208621863275766, |
| "grad_norm": 0.07866480201482773, |
| "gradient_scale_fm": 0.0020208621863275766, |
| "loss": 0.0020208621863275766, |
| "lr": 2.465613527136429e-06, |
| "optimizer_step_skipped": 0.0, |
| "update": 121500 |
| }, |
| "update": 121500, |
| "validation": { |
| "action_mse": 0.025552317860071058, |
| "generation_action_mse": 0.025552317860071058, |
| "generation_control_mse": 0.025552317860071058, |
| "loss": 0.025552317860071058, |
| "samples": 9467.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0003409548371564597, |
| "fm_mse": 0.003836735850200057, |
| "grad_norm": 0.17424438893795013, |
| "gradient_scale_fm": 0.003836735850200057, |
| "loss": 0.003836735850200057, |
| "lr": 1.363939516885182e-14, |
| "optimizer_step_skipped": 0.0, |
| "update": 135000 |
| }, |
| "update": 135000, |
| "validation": { |
| "action_mse": 0.025565719430485283, |
| "generation_action_mse": 0.025565719430485283, |
| "generation_control_mse": 0.025565719430485283, |
| "loss": 0.025565719430485283, |
| "samples": 9467.0 |
| } |
| } |
| ], |
| "validation_points": 10, |
| "wall_seconds": 5200.595639228821, |
| "wandb": { |
| "entity": "401910710-university-of-california-berkeley", |
| "mode": "online", |
| "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/classify_blocks/State_Joint/raw/base.pt", |
| "project": "robot-policy-bsp-unet-v6-classify-blocks", |
| "run_id": "644aqr24", |
| "run_name": "bsp_unet_fm-base-v6-classify_blocks-state_joint-raw-h1-base", |
| "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v6-classify-blocks/runs/644aqr24" |
| } |
| } |
|
|
