Download NewModel/V8Full/classify_blocks/StateAbsEE/raw/ttrtc.training.json from DiscreteRTC/dRTC: direct link, hf CLI and curl.
- Browser
- Download file 5.07 kB
-
https://huggingface.co/datasets/DiscreteRTC/dRTC/resolve/main/NewModel/V8Full/classify_blocks/StateAbsEE/raw/ttrtc.training.json
- Command line
-
hf download hf://datasets/DiscreteRTC/dRTC/NewModel/V8Full/classify_blocks/StateAbsEE/raw/ttrtc.training.json
-
curl -L -o ttrtc.training.json https://huggingface.co/datasets/DiscreteRTC/dRTC/resolve/main/NewModel/V8Full/classify_blocks/StateAbsEE/raw/ttrtc.training.json
5.07 kB
| { | |
| "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": 0.15484847274871222, | |
| "completed_updates": 13035, | |
| "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": 1.109197974205017, | |
| "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": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/V8Full/classify_blocks/StateAbsEE/raw/base.pt", | |
| "parent_checkpoint_sha256": "776d35a3ab3aa33545e27b0a5ab2aae07205db5d0a2713484796c72869c8bed7", | |
| "published_sha256": "cb7f096e065969e50d6962bfad39a9a30fd33d48b9fd7c5767c5e1ad9260d567", | |
| "selected_epoch": 3.0, | |
| "selected_update": 7821, | |
| "source_checkpoint_sha256_before_promotion": "c6f0d56e6b2d2279e34cc52f44655870e386be728aa592e30a964326836c125d", | |
| "stage": "ttrtc", | |
| "state_dim": 7, | |
| "state_layout": "measured_joint_position[0:6] + measured_gripper[6:7]", | |
| "updates_per_epoch": 2607, | |
| "validation_history": [ | |
| { | |
| "train": { | |
| "action_mse": 0.009525667876005173, | |
| "fm_mse": 0.021458251401782036, | |
| "grad_norm": 0.17712858319282532, | |
| "gradient_scale_fm": 0.021458251401782036, | |
| "loss": 0.021458251401782036, | |
| "lr": 9.319541351472106e-05, | |
| "optimizer_step_skipped": 0.0, | |
| "update": 2607 | |
| }, | |
| "update": 2607, | |
| "validation": { | |
| "action_mse": 0.15602100612042402, | |
| "generation_action_mse": 0.15602100612042402, | |
| "generation_control_mse": 0.15602100612042402, | |
| "loss": 0.15602100612042402, | |
| "samples": 19038.0 | |
| } | |
| }, | |
| { | |
| "train": { | |
| "action_mse": 0.004873277619481087, | |
| "fm_mse": 0.014293229207396507, | |
| "grad_norm": 0.2062130868434906, | |
| "gradient_scale_fm": 0.014293229207396507, | |
| "loss": 0.014293229207396507, | |
| "lr": 6.899080954550961e-05, | |
| "optimizer_step_skipped": 0.0, | |
| "update": 5214 | |
| }, | |
| "update": 5214, | |
| "validation": { | |
| "action_mse": 0.1549639033342692, | |
| "generation_action_mse": 0.1549639033342692, | |
| "generation_control_mse": 0.1549639033342692, | |
| "loss": 0.1549639033342692, | |
| "samples": 19038.0 | |
| } | |
| }, | |
| { | |
| "train": { | |
| "action_mse": 0.002992435358464718, | |
| "fm_mse": 0.010257003828883171, | |
| "grad_norm": 0.11956104636192322, | |
| "gradient_scale_fm": 0.010257003828883171, | |
| "loss": 0.010257003828883171, | |
| "lr": 3.696324765183211e-05, | |
| "optimizer_step_skipped": 0.0, | |
| "update": 7821 | |
| }, | |
| "update": 7821, | |
| "validation": { | |
| "action_mse": 0.15484847274871222, | |
| "generation_action_mse": 0.15484847274871222, | |
| "generation_control_mse": 0.15484847274871222, | |
| "loss": 0.15484847274871222, | |
| "samples": 19038.0 | |
| } | |
| }, | |
| { | |
| "train": { | |
| "action_mse": 0.0018181530758738518, | |
| "fm_mse": 0.009025448933243752, | |
| "grad_norm": 0.13690976798534393, | |
| "gradient_scale_fm": 0.009025448933243752, | |
| "loss": 0.009025448933243752, | |
| "lr": 1.0305965779498733e-05, | |
| "optimizer_step_skipped": 0.0, | |
| "update": 10428 | |
| }, | |
| "update": 10428, | |
| "validation": { | |
| "action_mse": 0.15536102621830206, | |
| "generation_action_mse": 0.15536102621830206, | |
| "generation_control_mse": 0.15536102621830206, | |
| "loss": 0.15536102621830206, | |
| "samples": 19038.0 | |
| } | |
| }, | |
| { | |
| "train": { | |
| "action_mse": 0.0034807289484888315, | |
| "fm_mse": 0.008927682414650917, | |
| "grad_norm": 0.15104855597019196, | |
| "gradient_scale_fm": 0.008927682414650917, | |
| "loss": 0.008927682414650917, | |
| "lr": 1.570330532274511e-12, | |
| "optimizer_step_skipped": 0.0, | |
| "update": 13035 | |
| }, | |
| "update": 13035, | |
| "validation": { | |
| "action_mse": 0.15608650742484556, | |
| "generation_action_mse": 0.15608650742484556, | |
| "generation_control_mse": 0.15608650742484556, | |
| "loss": 0.15608650742484556, | |
| "samples": 19038.0 | |
| } | |
| } | |
| ], | |
| "validation_points": 5, | |
| "wall_seconds": 622.2156565189362, | |
| "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/ttrtc.pt", | |
| "project": "robot-policy-bsp-unet-v8-classify-blocks", | |
| "run_id": "zaqg93cf", | |
| "run_name": "bsp_unet_fm-ttrtc-v8-classify_blocks-stateabsee-raw-h1-ttrtc", | |
| "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v8-classify-blocks/runs/zaqg93cf" | |
| } | |
| } | |