Upload V8 classify_blocks/StateAbsEE/raw/ttrtc.pt

NewModel/V8Full/classify_blocks/StateAbsEE/raw/ttrtc.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb7f096e065969e50d6962bfad39a9a30fd33d48b9fd7c5767c5e1ad9260d567
+size 349378967

NewModel/V8Full/classify_blocks/StateAbsEE/raw/ttrtc.server.json

@@ -0,0 +1,18 @@
+{
+  "schema_version": 1,
+  "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/V8Full/classify_blocks/cache/prepared/StateAbsEE/raw",
+  "task_instruction": "Classify the blocks.",
+  "precision": "bf16",
+  "binary_gripper": true,
+  "gripper_threshold": 0.3,
+  "expected": {
+    "architecture": "bsp_unet_fm",
+    "action_representation": "raw",
+    "observation_horizon": 1,
+    "state_dim": 7,
+    "camera_keys": [
+      "observation.images.global",
+      "observation.images.hand"
+    ]
+  }
+}

NewModel/V8Full/classify_blocks/StateAbsEE/raw/ttrtc.training.json

@@ -0,0 +1,143 @@
+{
+  "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"
+  }
+}