| { |
| "action_representation": "raw", |
| "best_validation_action_mse": 0.01864015763195117, |
| "completed_updates": 58600, |
| "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionJoint/State_LastCommand_Joint/stacking_cup_30hz_cleanup", |
| "images_per_example": 2, |
| "job": "stacking_cup/State_LastCommand_Joint/raw", |
| "maximum_finite_gradient_norm": 7.277584552764893, |
| "observation_horizon": 1, |
| "optimizer_steps_skipped": 0, |
| "parameter_counts": { |
| "action_backbone": 65025671, |
| "embedding_output": 0, |
| "observation_projector_state": 22394176, |
| "total": 87419847, |
| "total_trainable": 87419847 |
| }, |
| "published_sha256": "0125c4f9e8c61b74e4c428fabca4e2079363abbcf8687a1bf59b9fc7a56080b9", |
| "selected_epoch": 60.0, |
| "selected_update": 35160, |
| "source_checkpoint_sha256_before_promotion": "69c4a8ac348f7982240f3530eddd07ae410ecb50779cce294aef08781e11ac93", |
| "stage": "base", |
| "state_dim": 14, |
| "state_layout": "current_joint_angle[0:7] + last_command[7:14]", |
| "updates_per_epoch": 586, |
| "validation_history": [ |
| { |
| "train": { |
| "action_mse": 0.007384787779301405, |
| "fm_mse": 0.019071845337748528, |
| "grad_norm": 0.3099669814109802, |
| "gradient_scale_fm": 0.019071845337748528, |
| "loss": 0.019071845337748528, |
| "lr": 9.791544209955937e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 5860 |
| }, |
| "update": 5860, |
| "validation": { |
| "action_mse": 0.022518545017398344, |
| "generation_action_mse": 0.022518545017398344, |
| "generation_control_mse": 0.022518545017398344, |
| "loss": 0.022518545017398344, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0025559894274920225, |
| "fm_mse": 0.013327258639037609, |
| "grad_norm": 0.17342357337474823, |
| "gradient_scale_fm": 0.013327258639037609, |
| "loss": 0.013327258639037609, |
| "lr": 9.107853671722462e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 11720 |
| }, |
| "update": 11720, |
| "validation": { |
| "action_mse": 0.020312957115296865, |
| "generation_action_mse": 0.020312957115296865, |
| "generation_control_mse": 0.020312957115296865, |
| "loss": 0.020312957115296865, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.001957957400009036, |
| "fm_mse": 0.009790982119739056, |
| "grad_norm": 0.20088590681552887, |
| "gradient_scale_fm": 0.009790982119739056, |
| "loss": 0.009790982119739056, |
| "lr": 8.015165344707659e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 17580 |
| }, |
| "update": 17580, |
| "validation": { |
| "action_mse": 0.019583878978894242, |
| "generation_action_mse": 0.019583878978894242, |
| "generation_control_mse": 0.019583878978894242, |
| "loss": 0.019583878978894242, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0010713115334510803, |
| "fm_mse": 0.005219112150371075, |
| "grad_norm": 0.18332518637180328, |
| "gradient_scale_fm": 0.005219112150371075, |
| "loss": 0.005219112150371075, |
| "lr": 6.622272566087246e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 23440 |
| }, |
| "update": 23440, |
| "validation": { |
| "action_mse": 0.019102356327750494, |
| "generation_action_mse": 0.019102356327750494, |
| "generation_control_mse": 0.019102356327750494, |
| "loss": 0.019102356327750494, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0010935025056824088, |
| "fm_mse": 0.00430453522130847, |
| "grad_norm": 0.11928009241819382, |
| "gradient_scale_fm": 0.00430453522130847, |
| "loss": 0.00430453522130847, |
| "lr": 5.0678584808785014e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 29300 |
| }, |
| "update": 29300, |
| "validation": { |
| "action_mse": 0.01878797579437275, |
| "generation_action_mse": 0.01878797579437275, |
| "generation_control_mse": 0.01878797579437275, |
| "loss": 0.01878797579437275, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0008852930041030049, |
| "fm_mse": 0.004330254625529051, |
| "grad_norm": 0.16911813616752625, |
| "gradient_scale_fm": 0.004330254625529051, |
| "loss": 0.004330254625529051, |
| "lr": 3.506688076957526e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 35160 |
| }, |
| "update": 35160, |
| "validation": { |
| "action_mse": 0.01864015763195117, |
| "generation_action_mse": 0.01864015763195117, |
| "generation_control_mse": 0.01864015763195117, |
| "loss": 0.01864015763195117, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0003178120241500437, |
| "fm_mse": 0.003389923367649317, |
| "grad_norm": 0.18242576718330383, |
| "gradient_scale_fm": 0.003389923367649317, |
| "loss": 0.003389923367649317, |
| "lr": 2.09419903398412e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 41020 |
| }, |
| "update": 41020, |
| "validation": { |
| "action_mse": 0.018665885162768465, |
| "generation_action_mse": 0.018665885162768465, |
| "generation_control_mse": 0.018665885162768465, |
| "loss": 0.018665885162768465, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.000374570838175714, |
| "fm_mse": 0.0018098849104717374, |
| "grad_norm": 0.1027974858880043, |
| "gradient_scale_fm": 0.0018098849104717374, |
| "loss": 0.0018098849104717374, |
| "lr": 9.710255958776232e-06, |
| "optimizer_step_skipped": 0.0, |
| "update": 46880 |
| }, |
| "update": 46880, |
| "validation": { |
| "action_mse": 0.0187629052401958, |
| "generation_action_mse": 0.0187629052401958, |
| "generation_control_mse": 0.0187629052401958, |
| "loss": 0.0187629052401958, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.000234116698266007, |
| "fm_mse": 0.001726952032186091, |
| "grad_norm": 0.08753518760204315, |
| "gradient_scale_fm": 0.001726952032186091, |
| "loss": 0.001726952032186091, |
| "lr": 2.489963449864574e-06, |
| "optimizer_step_skipped": 0.0, |
| "update": 52740 |
| }, |
| "update": 52740, |
| "validation": { |
| "action_mse": 0.01867930553970176, |
| "generation_action_mse": 0.01867930553970176, |
| "generation_control_mse": 0.01867930553970176, |
| "loss": 0.01867930553970176, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0002932983625214547, |
| "fm_mse": 0.0011071747867390513, |
| "grad_norm": 0.10846235603094101, |
| "gradient_scale_fm": 0.0011071747867390513, |
| "loss": 0.0011071747867390513, |
| "lr": 7.30949689664584e-14, |
| "optimizer_step_skipped": 0.0, |
| "update": 58600 |
| }, |
| "update": 58600, |
| "validation": { |
| "action_mse": 0.018702368019038126, |
| "generation_action_mse": 0.018702368019038126, |
| "generation_control_mse": 0.018702368019038126, |
| "loss": 0.018702368019038126, |
| "samples": 4211.0 |
| } |
| } |
| ], |
| "validation_points": 10, |
| "wall_seconds": 2224.6858043670654, |
| "wandb": { |
| "entity": "401910710-university-of-california-berkeley", |
| "mode": "online", |
| "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/stacking_cup/State_LastCommand_Joint/raw/base.pt", |
| "project": "robot-policy-bsp-unet-v6-stacking-cup", |
| "run_id": "mnt9f9hy", |
| "run_name": "bsp_unet_fm-base-v6-stacking_cup-state_lastcommand_joint-raw-h1-base", |
| "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v6-stacking-cup/runs/mnt9f9hy" |
| } |
| } |
|
|
