Hugging Face's logo

Datasets:
DiscreteRTC
/
dRTC

Dataset card Files
xet
 Community
1
outsider86 commited on
Commit
449f817
·
verified ·
1 Parent(s): 98f2821

Add files using upload-large-folder tool

Browse files
Files changed (50) hide show
  1. NewModel/README.md +55 -0
  2. NewModel/completion_audit.json +1453 -0
  3. NewModel/deployment/README.md +61 -0
  4. NewModel/deployment/deployment_validation.json +613 -0
  5. NewModel/deployment/piper_dataset_statistics.json +66 -0
  6. NewModel/deployment/stacking_cups_start_statistics.json +39 -0
  7. NewModel/dit_b/bspline/checkpoints/checkpoint_manifest.json +0 -0
  8. NewModel/dit_b/bspline/checkpoints/discrete_joint_base.pt.wandb.json +9 -0
  9. NewModel/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt.wandb.json +9 -0
  10. NewModel/dit_b/bspline/checkpoints/discrete_layerwise_base.pt.wandb.json +9 -0
  11. NewModel/dit_b/bspline/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json +9 -0
  12. NewModel/dit_b/raw/checkpoints/checkpoint_manifest.json +1384 -0
  13. NewModel/dit_b/raw/checkpoints/discrete_joint_base.pt.wandb.json +9 -0
  14. NewModel/dit_b/raw/checkpoints/discrete_joint_ttrtc.pt.wandb.json +9 -0
  15. NewModel/dit_b/raw/checkpoints/discrete_layerwise_base.pt.wandb.json +9 -0
  16. NewModel/dit_b/raw/checkpoints/discrete_layerwise_ttrtc.pt +3 -0
  17. NewModel/dit_b/raw/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json +9 -0
  18. NewModel/dit_l/bspline/checkpoints/checkpoint_manifest.json +0 -0
  19. NewModel/dit_l/bspline/checkpoints/discrete_joint_base.pt +3 -0
  20. NewModel/dit_l/bspline/checkpoints/discrete_joint_base.pt.wandb.json +9 -0
  21. NewModel/dit_l/bspline/checkpoints/discrete_joint_ttrtc.pt +3 -0
  22. NewModel/dit_l/bspline/checkpoints/discrete_joint_ttrtc.pt.wandb.json +9 -0
  23. NewModel/dit_l/bspline/checkpoints/discrete_layerwise_base.pt +3 -0
  24. NewModel/dit_l/bspline/checkpoints/discrete_layerwise_base.pt.wandb.json +9 -0
  25. NewModel/dit_l/bspline/checkpoints/discrete_layerwise_ttrtc.pt +3 -0
  26. NewModel/dit_l/bspline/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json +9 -0
  27. NewModel/dit_l/bspline/checkpoints/fm_base.pt +3 -0
  28. NewModel/dit_l/bspline/checkpoints/fm_base.pt.wandb.json +9 -0
  29. NewModel/dit_l/bspline/checkpoints/fm_ttrtc.pt +3 -0
  30. NewModel/dit_l/bspline/checkpoints/fm_ttrtc.pt.wandb.json +9 -0
  31. NewModel/dit_l/raw/checkpoints/checkpoint_manifest.json +1384 -0
  32. NewModel/dit_l/raw/checkpoints/discrete_joint_base.pt +3 -0
  33. NewModel/dit_l/raw/checkpoints/discrete_joint_base.pt.wandb.json +9 -0
  34. NewModel/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt.wandb.json +9 -0
  35. NewModel/dit_l/raw/checkpoints/discrete_layerwise_base.pt.wandb.json +9 -0
  36. NewModel/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json +9 -0
  37. NewModel/dit_l/raw/checkpoints/fm_base.pt.wandb.json +9 -0
  38. NewModel/dit_l/raw/checkpoints/fm_ttrtc.pt.wandb.json +9 -0
  39. NewModel/dit_s/bspline/checkpoints/checkpoint_manifest.json +0 -0
  40. NewModel/dit_s/raw/checkpoints/checkpoint_manifest.json +1384 -0
  41. NewModel/dit_s/raw/checkpoints/fm_ttrtc.pt +3 -0
  42. NewModel/sidecars/bspline/action_manifest.json +491 -0
  43. NewModel/sidecars/bspline/encoder.json +1 -0
  44. NewModel/sidecars/bspline/normalization.json +395 -0
  45. NewModel/sidecars/bspline/splits.json +60 -0
  46. NewModel/sidecars/raw/action_manifest.json +491 -0
  47. NewModel/sidecars/raw/encoder.json +1 -0
  48. NewModel/sidecars/raw/normalization.json +82 -0
  49. NewModel/sidecars/raw/splits.json +60 -0
  50. NewModel/sweep_status.json +0 -0
NewModel/README.md ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Model-Size Sweep Results
2
+
3
+ This is the canonical local result set for the completed DiT-S/B/L capacity sweep.
4
+
5
+ ## Contents
6
+
7
+ | Capacity | Representation | Final checkpoints |
8
+ |---|---|---:|
9
+ | DiT-S | raw | 6 |
10
+ | DiT-S | B-spline | 6 |
11
+ | DiT-B | raw | 6 |
12
+ | DiT-B | B-spline | 6 |
13
+ | DiT-L | raw | 6 |
14
+ | DiT-L | B-spline | 6 |
15
+
16
+ Each group is under `dit_{s,b,l}/{raw,bspline}/`. Its `checkpoints/` directory contains FM, layerwise diffusion, and joint diffusion base/ttRTC checkpoints, plus the manifest and any W&B identity sidecars created during interruption-safe training. Compact training logs are retained under `logs/`.
17
+
18
+ Top-level evidence:
19
+
20
+ - `completion_audit.json`: passed 36/36 with zero errors, 36 unique W&B run IDs, and an exact 18 base / 18 ttRTC project split.
21
+ - `sweep_status.json`: final scheduler status and run metadata.
22
+ - `summary/`: fresh 36-checkpoint open-loop, delay, latency, B-spline decode, and dd-openvla-aligned cache-acceleration evaluation.
23
+ - `summary/deployment/`: Piper-compatible statistics plus the 36-checkpoint
24
+ contract audit and real-GPU server runtime matrix.
25
+
26
+ The W&B projects are `robot-policy-50k-bs32-basic` and `robot-policy-5k-bs32-ttRTC`. Online run histories and model artifacts remain in W&B; redundant local W&B caches were removed.
27
+
28
+ ## Integrity
29
+
30
+ On 2026-09-16, all 36 final files were checked against the SHA-256 values in `completion_audit.json` after reorganization and cleanup: 36 checked, 0 mismatches.
31
+
32
+ `../model_size_sweep_50k_bs32` is a compatibility symlink to this directory. It is required because immutable checkpoint lineage and audit records contain the original absolute path; it does not duplicate checkpoint data.
33
+
34
+ ## Cleanup
35
+
36
+ Removed permanently:
37
+
38
+ - 36 completed-run `.pt.resume` snapshots and all six local W&B cache trees;
39
+ - stale lock files and the superseded partial audit;
40
+ - the previous `action_representation_comparison`, `bspline_reproduction`, `checkpoints`, `evaluation`, `latency`, `longrun_50k_bs32`, `pilot`, `pilot_fast`, `prepared`, `raw_actions`, `replay`, and `visualizations` output trees.
41
+
42
+ The cleanup reclaimed 83,622,878,276 bytes (about 77.9 GiB). The canonical sweep occupies 69,930,109,574 bytes (about 65.1 GiB).
43
+
44
+ ## Deployment
45
+
46
+ All 36 checkpoints are served by the general interface documented at
47
+ `../../deployment/README.md`. The server auto-resolves this directory's shared
48
+ raw/B-spline sidecars and reads architecture/model-size/stage directly from
49
+ each checkpoint. `summary/deployment/deployment_validation.json` audits all 36
50
+ headers and records finite real-GPU inference for the complete 12-case DiT-S
51
+ architecture x representation x stage matrix.
52
+
53
+ ## Next step
54
+
55
+ Before retraining the six numerically affected layerwise variants, implement corruption-level conditioning, adaLN-Zero-style modulation, robust FP64 gradient clipping, finite-gradient telemetry, and DiT-B/L canary runs.
NewModel/completion_audit.json ADDED
@@ -0,0 +1,1453 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "passed": true,
3
+ "expected_checkpoints": 36,
4
+ "found_checkpoints": 36,
5
+ "records": [
6
+ {
7
+ "model_size": "DiT-S",
8
+ "representation": "raw",
9
+ "architecture": "fm",
10
+ "stage": "base",
11
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_base.pt",
12
+ "checks": {
13
+ "update": true,
14
+ "shape": true,
15
+ "batch_32": true,
16
+ "parameters": true,
17
+ "action_mse_local": true,
18
+ "independent_reload": true,
19
+ "one_manifest_entry": true,
20
+ "manifest_hash": true,
21
+ "manifest_update": true,
22
+ "manifest_parameters": true,
23
+ "no_parent": true,
24
+ "wandb_metadata": true,
25
+ "wandb_finished": true,
26
+ "wandb_update_summary": true,
27
+ "wandb_action_mse": true,
28
+ "wandb_model_artifact": true
29
+ },
30
+ "sha256": "c045b0d086480ff3da1881c87c44a2b67ecf26f96957b922e6aa8bd71d45bd4c",
31
+ "update": 50000,
32
+ "parameters": 15072903,
33
+ "final_train_action_mse": 0.0010298327542841434,
34
+ "final_validation_action_mse": 0.023626778711332008,
35
+ "wandb": {
36
+ "project": "robot-policy-50k-bs32-basic",
37
+ "entity": "401910710-university-of-california-berkeley",
38
+ "run_id": "i9p5hb9y",
39
+ "run_name": "fm-base-dit-s-raw-bs32-50kbase-5kttrtc",
40
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/i9p5hb9y",
41
+ "mode": "online",
42
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_base.pt"
43
+ }
44
+ },
45
+ {
46
+ "model_size": "DiT-S",
47
+ "representation": "raw",
48
+ "architecture": "fm",
49
+ "stage": "ttrtc",
50
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_ttrtc.pt",
51
+ "checks": {
52
+ "update": true,
53
+ "shape": true,
54
+ "batch_32": true,
55
+ "parameters": true,
56
+ "action_mse_local": true,
57
+ "independent_reload": true,
58
+ "one_manifest_entry": true,
59
+ "manifest_hash": true,
60
+ "manifest_update": true,
61
+ "manifest_parameters": true,
62
+ "parent_path": true,
63
+ "manifest_parent_path": true,
64
+ "parent_hash_stable": true,
65
+ "wandb_metadata": true,
66
+ "wandb_finished": true,
67
+ "wandb_update_summary": true,
68
+ "wandb_action_mse": true,
69
+ "wandb_model_artifact": true
70
+ },
71
+ "sha256": "360e5814cf8c0590cc5036e67f02447ed921dcdea044c972e05f9982c49c0483",
72
+ "update": 5000,
73
+ "parameters": 15072903,
74
+ "final_train_action_mse": 0.0007300518918782473,
75
+ "final_validation_action_mse": 0.026450319732248317,
76
+ "wandb": {
77
+ "project": "robot-policy-5k-bs32-ttRTC",
78
+ "entity": "401910710-university-of-california-berkeley",
79
+ "run_id": "v9ubgo5v",
80
+ "run_name": "fm-ttrtc-dit-s-raw-bs32-50kbase-5kttrtc",
81
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/v9ubgo5v",
82
+ "mode": "online",
83
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_ttrtc.pt"
84
+ }
85
+ },
86
+ {
87
+ "model_size": "DiT-S",
88
+ "representation": "raw",
89
+ "architecture": "discrete_layerwise",
90
+ "stage": "base",
91
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_base.pt",
92
+ "checks": {
93
+ "update": true,
94
+ "shape": true,
95
+ "batch_32": true,
96
+ "parameters": true,
97
+ "action_mse_local": true,
98
+ "independent_reload": true,
99
+ "one_manifest_entry": true,
100
+ "manifest_hash": true,
101
+ "manifest_update": true,
102
+ "manifest_parameters": true,
103
+ "no_parent": true,
104
+ "wandb_metadata": true,
105
+ "wandb_finished": true,
106
+ "wandb_update_summary": true,
107
+ "wandb_action_mse": true,
108
+ "wandb_model_artifact": true
109
+ },
110
+ "sha256": "eff9e989fe18cf912e789dbd64e8d6068efc1e5bdafc13e9abfce8aa1bb6ac3b",
111
+ "update": 50000,
112
+ "parameters": 15035136,
113
+ "final_train_action_mse": 0.0023149680346250534,
114
+ "final_validation_action_mse": 0.005560047861763451,
115
+ "wandb": {
116
+ "project": "robot-policy-50k-bs32-basic",
117
+ "entity": "401910710-university-of-california-berkeley",
118
+ "run_id": "zh84gs3w",
119
+ "run_name": "discrete_layerwise-base-dit-s-raw-bs32-50kbase-5kttrtc",
120
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/zh84gs3w",
121
+ "mode": "online",
122
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_base.pt"
123
+ }
124
+ },
125
+ {
126
+ "model_size": "DiT-S",
127
+ "representation": "raw",
128
+ "architecture": "discrete_layerwise",
129
+ "stage": "ttrtc",
130
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_ttrtc.pt",
131
+ "checks": {
132
+ "update": true,
133
+ "shape": true,
134
+ "batch_32": true,
135
+ "parameters": true,
136
+ "action_mse_local": true,
137
+ "independent_reload": true,
138
+ "one_manifest_entry": true,
139
+ "manifest_hash": true,
140
+ "manifest_update": true,
141
+ "manifest_parameters": true,
142
+ "parent_path": true,
143
+ "manifest_parent_path": true,
144
+ "parent_hash_stable": true,
145
+ "wandb_metadata": true,
146
+ "wandb_finished": true,
147
+ "wandb_update_summary": true,
148
+ "wandb_action_mse": true,
149
+ "wandb_model_artifact": true
150
+ },
151
+ "sha256": "f5fc888db8ba3fa2efdafc6f9b25410ea9ac28e759427289be508152c05dbfc1",
152
+ "update": 5000,
153
+ "parameters": 15035136,
154
+ "final_train_action_mse": 0.00025027745869010687,
155
+ "final_validation_action_mse": 0.006239814118089271,
156
+ "wandb": {
157
+ "project": "robot-policy-5k-bs32-ttRTC",
158
+ "entity": "401910710-university-of-california-berkeley",
159
+ "run_id": "2o2kthwz",
160
+ "run_name": "discrete_layerwise-ttrtc-dit-s-raw-bs32-50kbase-5kttrtc",
161
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/2o2kthwz",
162
+ "mode": "online",
163
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_ttrtc.pt"
164
+ }
165
+ },
166
+ {
167
+ "model_size": "DiT-S",
168
+ "representation": "raw",
169
+ "architecture": "discrete_joint",
170
+ "stage": "base",
171
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_joint_base.pt",
172
+ "checks": {
173
+ "update": true,
174
+ "shape": true,
175
+ "batch_32": true,
176
+ "parameters": true,
177
+ "action_mse_local": true,
178
+ "independent_reload": true,
179
+ "one_manifest_entry": true,
180
+ "manifest_hash": true,
181
+ "manifest_update": true,
182
+ "manifest_parameters": true,
183
+ "no_parent": true,
184
+ "wandb_metadata": true,
185
+ "wandb_finished": true,
186
+ "wandb_update_summary": true,
187
+ "wandb_action_mse": true,
188
+ "wandb_model_artifact": true
189
+ },
190
+ "sha256": "3e561c7fb2af01f0c437259db382bb5afccdf54d15c97baf7519e833e0eef8ce",
191
+ "update": 50000,
192
+ "parameters": 13850496,
193
+ "final_train_action_mse": 0.0007437773165293038,
194
+ "final_validation_action_mse": 0.012555373410577886,
195
+ "wandb": {
196
+ "project": "robot-policy-50k-bs32-basic",
197
+ "entity": "401910710-university-of-california-berkeley",
198
+ "run_id": "ykwmgupy",
199
+ "run_name": "discrete_joint-base-dit-s-raw-bs32-50kbase-5kttrtc",
200
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/ykwmgupy",
201
+ "mode": "online",
202
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_joint_base.pt"
203
+ }
204
+ },
205
+ {
206
+ "model_size": "DiT-S",
207
+ "representation": "raw",
208
+ "architecture": "discrete_joint",
209
+ "stage": "ttrtc",
210
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt",
211
+ "checks": {
212
+ "update": true,
213
+ "shape": true,
214
+ "batch_32": true,
215
+ "parameters": true,
216
+ "action_mse_local": true,
217
+ "independent_reload": true,
218
+ "one_manifest_entry": true,
219
+ "manifest_hash": true,
220
+ "manifest_update": true,
221
+ "manifest_parameters": true,
222
+ "parent_path": true,
223
+ "manifest_parent_path": true,
224
+ "parent_hash_stable": true,
225
+ "wandb_metadata": true,
226
+ "wandb_finished": true,
227
+ "wandb_update_summary": true,
228
+ "wandb_action_mse": true,
229
+ "wandb_model_artifact": true
230
+ },
231
+ "sha256": "b49affff04576f229f27d2b2072610f1636765a90c06fa45c2288b95894f21e2",
232
+ "update": 5000,
233
+ "parameters": 13850496,
234
+ "final_train_action_mse": 1.4295053915702738e-05,
235
+ "final_validation_action_mse": 0.0069909944431856275,
236
+ "wandb": {
237
+ "project": "robot-policy-5k-bs32-ttRTC",
238
+ "entity": "401910710-university-of-california-berkeley",
239
+ "run_id": "dgxz1ipu",
240
+ "run_name": "discrete_joint-ttrtc-dit-s-raw-bs32-50kbase-5kttrtc",
241
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/dgxz1ipu",
242
+ "mode": "online",
243
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt"
244
+ }
245
+ },
246
+ {
247
+ "model_size": "DiT-S",
248
+ "representation": "bspline",
249
+ "architecture": "fm",
250
+ "stage": "base",
251
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/bspline/checkpoints/fm_base.pt",
252
+ "checks": {
253
+ "update": true,
254
+ "shape": true,
255
+ "batch_32": true,
256
+ "parameters": true,
257
+ "action_mse_local": true,
258
+ "independent_reload": true,
259
+ "one_manifest_entry": true,
260
+ "manifest_hash": true,
261
+ "manifest_update": true,
262
+ "manifest_parameters": true,
263
+ "no_parent": true,
264
+ "wandb_metadata": true,
265
+ "wandb_finished": true,
266
+ "wandb_update_summary": true,
267
+ "wandb_action_mse": true,
268
+ "wandb_model_artifact": true
269
+ },
270
+ "sha256": "fd56a07b4c41b54eff0ae946d3dfef316773a2ff00ee50672ad2ba52ed377cf6",
271
+ "update": 50000,
272
+ "parameters": 15068295,
273
+ "final_train_action_mse": 0.0006067486829124391,
274
+ "final_validation_action_mse": 0.033935820902115665,
275
+ "wandb": {
276
+ "project": "robot-policy-50k-bs32-basic",
277
+ "entity": "401910710-university-of-california-berkeley",
278
+ "run_id": "2rb15m2t",
279
+ "run_name": "fm-base-dit-s-bspline-bs32-50kbase-5kttrtc",
280
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/2rb15m2t",
281
+ "mode": "online",
282
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/bspline/checkpoints/fm_base.pt"
283
+ }
284
+ },
285
+ {
286
+ "model_size": "DiT-S",
287
+ "representation": "bspline",
288
+ "architecture": "fm",
289
+ "stage": "ttrtc",
290
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/bspline/checkpoints/fm_ttrtc.pt",
291
+ "checks": {
292
+ "update": true,
293
+ "shape": true,
294
+ "batch_32": true,
295
+ "parameters": true,
296
+ "action_mse_local": true,
297
+ "independent_reload": true,
298
+ "one_manifest_entry": true,
299
+ "manifest_hash": true,
300
+ "manifest_update": true,
301
+ "manifest_parameters": true,
302
+ "parent_path": true,
303
+ "manifest_parent_path": true,
304
+ "parent_hash_stable": true,
305
+ "wandb_metadata": true,
306
+ "wandb_finished": true,
307
+ "wandb_update_summary": true,
308
+ "wandb_action_mse": true,
309
+ "wandb_model_artifact": true
310
+ },
311
+ "sha256": "0cdc64d690ecdec7ecda6263b49dab98484d7eebe978c411790c3a30339417b3",
312
+ "update": 5000,
313
+ "parameters": 15068295,
314
+ "final_train_action_mse": 0.0009720256784930825,
315
+ "final_validation_action_mse": 0.035655100364238024,
316
+ "wandb": {
317
+ "project": "robot-policy-5k-bs32-ttRTC",
318
+ "entity": "401910710-university-of-california-berkeley",
319
+ "run_id": "83pdq57s",
320
+ "run_name": "fm-ttrtc-dit-s-bspline-bs32-50kbase-5kttrtc",
321
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/83pdq57s",
322
+ "mode": "online",
323
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/bspline/checkpoints/fm_ttrtc.pt"
324
+ }
325
+ },
326
+ {
327
+ "model_size": "DiT-S",
328
+ "representation": "bspline",
329
+ "architecture": "discrete_layerwise",
330
+ "stage": "base",
331
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/bspline/checkpoints/discrete_layerwise_base.pt",
332
+ "checks": {
333
+ "update": true,
334
+ "shape": true,
335
+ "batch_32": true,
336
+ "parameters": true,
337
+ "action_mse_local": true,
338
+ "independent_reload": true,
339
+ "one_manifest_entry": true,
340
+ "manifest_hash": true,
341
+ "manifest_update": true,
342
+ "manifest_parameters": true,
343
+ "no_parent": true,
344
+ "wandb_metadata": true,
345
+ "wandb_finished": true,
346
+ "wandb_update_summary": true,
347
+ "wandb_action_mse": true,
348
+ "wandb_model_artifact": true
349
+ },
350
+ "sha256": "ff761f1243a9b7f211536738ed32201b0a9c02b98e2af2926adf0bfa64272079",
351
+ "update": 50000,
352
+ "parameters": 15002880,
353
+ "final_train_action_mse": 0.00031072075944393873,
354
+ "final_validation_action_mse": 0.0029131562152997503,
355
+ "wandb": {
356
+ "project": "robot-policy-50k-bs32-basic",
357
+ "entity": "401910710-university-of-california-berkeley",
358
+ "run_id": "ya0xdf4n",
359
+ "run_name": "discrete_layerwise-base-dit-s-bspline-bs32-50kbase-5kttrtc",
360
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/ya0xdf4n",
361
+ "mode": "online",
362
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/bspline/checkpoints/discrete_layerwise_base.pt"
363
+ }
364
+ },
365
+ {
366
+ "model_size": "DiT-S",
367
+ "representation": "bspline",
368
+ "architecture": "discrete_layerwise",
369
+ "stage": "ttrtc",
370
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/bspline/checkpoints/discrete_layerwise_ttrtc.pt",
371
+ "checks": {
372
+ "update": true,
373
+ "shape": true,
374
+ "batch_32": true,
375
+ "parameters": true,
376
+ "action_mse_local": true,
377
+ "independent_reload": true,
378
+ "one_manifest_entry": true,
379
+ "manifest_hash": true,
380
+ "manifest_update": true,
381
+ "manifest_parameters": true,
382
+ "parent_path": true,
383
+ "manifest_parent_path": true,
384
+ "parent_hash_stable": true,
385
+ "wandb_metadata": true,
386
+ "wandb_finished": true,
387
+ "wandb_update_summary": true,
388
+ "wandb_action_mse": true,
389
+ "wandb_model_artifact": true
390
+ },
391
+ "sha256": "7b6879fe5c630c3516c33387adafbf210c1b983b9927fb071a35bd5bdf4eb504",
392
+ "update": 5000,
393
+ "parameters": 15002880,
394
+ "final_train_action_mse": 0.002041323110461235,
395
+ "final_validation_action_mse": 0.0037665325953639694,
396
+ "wandb": {
397
+ "project": "robot-policy-5k-bs32-ttRTC",
398
+ "entity": "401910710-university-of-california-berkeley",
399
+ "run_id": "q28aplkd",
400
+ "run_name": "discrete_layerwise-ttrtc-dit-s-bspline-bs32-50kbase-5kttrtc",
401
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/q28aplkd",
402
+ "mode": "online",
403
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/bspline/checkpoints/discrete_layerwise_ttrtc.pt"
404
+ }
405
+ },
406
+ {
407
+ "model_size": "DiT-S",
408
+ "representation": "bspline",
409
+ "architecture": "discrete_joint",
410
+ "stage": "base",
411
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/bspline/checkpoints/discrete_joint_base.pt",
412
+ "checks": {
413
+ "update": true,
414
+ "shape": true,
415
+ "batch_32": true,
416
+ "parameters": true,
417
+ "action_mse_local": true,
418
+ "independent_reload": true,
419
+ "one_manifest_entry": true,
420
+ "manifest_hash": true,
421
+ "manifest_update": true,
422
+ "manifest_parameters": true,
423
+ "no_parent": true,
424
+ "wandb_metadata": true,
425
+ "wandb_finished": true,
426
+ "wandb_update_summary": true,
427
+ "wandb_action_mse": true,
428
+ "wandb_model_artifact": true
429
+ },
430
+ "sha256": "2a0f8091c81d257856eae10d17d47eff8ddbe3370300cac25b228f3781f222bc",
431
+ "update": 50000,
432
+ "parameters": 13818240,
433
+ "final_train_action_mse": 0.0010353074176236987,
434
+ "final_validation_action_mse": 0.010927464094493189,
435
+ "wandb": {
436
+ "project": "robot-policy-50k-bs32-basic",
437
+ "entity": "401910710-university-of-california-berkeley",
438
+ "run_id": "0q4g7cq4",
439
+ "run_name": "discrete_joint-base-dit-s-bspline-bs32-50kbase-5kttrtc",
440
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/0q4g7cq4",
441
+ "mode": "online",
442
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/bspline/checkpoints/discrete_joint_base.pt"
443
+ }
444
+ },
445
+ {
446
+ "model_size": "DiT-S",
447
+ "representation": "bspline",
448
+ "architecture": "discrete_joint",
449
+ "stage": "ttrtc",
450
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/bspline/checkpoints/discrete_joint_ttrtc.pt",
451
+ "checks": {
452
+ "update": true,
453
+ "shape": true,
454
+ "batch_32": true,
455
+ "parameters": true,
456
+ "action_mse_local": true,
457
+ "independent_reload": true,
458
+ "one_manifest_entry": true,
459
+ "manifest_hash": true,
460
+ "manifest_update": true,
461
+ "manifest_parameters": true,
462
+ "parent_path": true,
463
+ "manifest_parent_path": true,
464
+ "parent_hash_stable": true,
465
+ "wandb_metadata": true,
466
+ "wandb_finished": true,
467
+ "wandb_update_summary": true,
468
+ "wandb_action_mse": true,
469
+ "wandb_model_artifact": true
470
+ },
471
+ "sha256": "e026370cbcbb6744e32f7d7fee5f2cf1c9aa60dc7dc91af8d02dc0d8dd8543cc",
472
+ "update": 5000,
473
+ "parameters": 13818240,
474
+ "final_train_action_mse": 7.13511326466687e-05,
475
+ "final_validation_action_mse": 0.013666284043210908,
476
+ "wandb": {
477
+ "project": "robot-policy-5k-bs32-ttRTC",
478
+ "entity": "401910710-university-of-california-berkeley",
479
+ "run_id": "340xpp9a",
480
+ "run_name": "discrete_joint-ttrtc-dit-s-bspline-bs32-50kbase-5kttrtc",
481
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/340xpp9a",
482
+ "mode": "online",
483
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/bspline/checkpoints/discrete_joint_ttrtc.pt"
484
+ }
485
+ },
486
+ {
487
+ "model_size": "DiT-B",
488
+ "representation": "raw",
489
+ "architecture": "fm",
490
+ "stage": "base",
491
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/fm_base.pt",
492
+ "checks": {
493
+ "update": true,
494
+ "shape": true,
495
+ "batch_32": true,
496
+ "parameters": true,
497
+ "action_mse_local": true,
498
+ "independent_reload": true,
499
+ "one_manifest_entry": true,
500
+ "manifest_hash": true,
501
+ "manifest_update": true,
502
+ "manifest_parameters": true,
503
+ "no_parent": true,
504
+ "wandb_metadata": true,
505
+ "wandb_finished": true,
506
+ "wandb_update_summary": true,
507
+ "wandb_action_mse": true,
508
+ "wandb_model_artifact": true
509
+ },
510
+ "sha256": "59480b3d2bf830947f7ca145b2d6677e2e1e580a1a9abe8447e9f3e7a5b4646a",
511
+ "update": 50000,
512
+ "parameters": 108058119,
513
+ "final_train_action_mse": 0.0009522330365143716,
514
+ "final_validation_action_mse": 0.025668903857877012,
515
+ "wandb": {
516
+ "project": "robot-policy-50k-bs32-basic",
517
+ "entity": "401910710-university-of-california-berkeley",
518
+ "run_id": "op6lpqi3",
519
+ "run_name": "fm-base-dit-b-raw-bs32-50kbase-5kttrtc",
520
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/op6lpqi3",
521
+ "mode": "online",
522
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/fm_base.pt"
523
+ }
524
+ },
525
+ {
526
+ "model_size": "DiT-B",
527
+ "representation": "raw",
528
+ "architecture": "fm",
529
+ "stage": "ttrtc",
530
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/fm_ttrtc.pt",
531
+ "checks": {
532
+ "update": true,
533
+ "shape": true,
534
+ "batch_32": true,
535
+ "parameters": true,
536
+ "action_mse_local": true,
537
+ "independent_reload": true,
538
+ "one_manifest_entry": true,
539
+ "manifest_hash": true,
540
+ "manifest_update": true,
541
+ "manifest_parameters": true,
542
+ "parent_path": true,
543
+ "manifest_parent_path": true,
544
+ "parent_hash_stable": true,
545
+ "wandb_metadata": true,
546
+ "wandb_finished": true,
547
+ "wandb_update_summary": true,
548
+ "wandb_action_mse": true,
549
+ "wandb_model_artifact": true
550
+ },
551
+ "sha256": "de187fa53a5c51e22d5296aca17d5f622c10bde234da836f8c27145968b51149",
552
+ "update": 5000,
553
+ "parameters": 108058119,
554
+ "final_train_action_mse": 0.0003830712230410427,
555
+ "final_validation_action_mse": 0.025613394245738164,
556
+ "wandb": {
557
+ "project": "robot-policy-5k-bs32-ttRTC",
558
+ "entity": "401910710-university-of-california-berkeley",
559
+ "run_id": "duznrj8t",
560
+ "run_name": "fm-ttrtc-dit-b-raw-bs32-50kbase-5kttrtc",
561
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/duznrj8t",
562
+ "mode": "online",
563
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/fm_ttrtc.pt"
564
+ }
565
+ },
566
+ {
567
+ "model_size": "DiT-B",
568
+ "representation": "raw",
569
+ "architecture": "discrete_layerwise",
570
+ "stage": "base",
571
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_base.pt",
572
+ "checks": {
573
+ "update": true,
574
+ "shape": true,
575
+ "batch_32": true,
576
+ "parameters": true,
577
+ "action_mse_local": true,
578
+ "independent_reload": true,
579
+ "one_manifest_entry": true,
580
+ "manifest_hash": true,
581
+ "manifest_update": true,
582
+ "manifest_parameters": true,
583
+ "no_parent": true,
584
+ "wandb_metadata": true,
585
+ "wandb_finished": true,
586
+ "wandb_update_summary": true,
587
+ "wandb_action_mse": true,
588
+ "wandb_model_artifact": true
589
+ },
590
+ "sha256": "7fac744844f4b7d865e5e3b0b2bb6e59b260ee58baf1f2d83c2bf9fbe197356a",
591
+ "update": 50000,
592
+ "parameters": 107392512,
593
+ "final_train_action_mse": 0.5269094705581665,
594
+ "final_validation_action_mse": 0.5175689039751887,
595
+ "wandb": {
596
+ "project": "robot-policy-50k-bs32-basic",
597
+ "entity": "401910710-university-of-california-berkeley",
598
+ "run_id": "o2g40xq8",
599
+ "run_name": "discrete_layerwise-base-dit-b-raw-bs32-50kbase-5kttrtc",
600
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/o2g40xq8",
601
+ "mode": "online",
602
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_base.pt"
603
+ }
604
+ },
605
+ {
606
+ "model_size": "DiT-B",
607
+ "representation": "raw",
608
+ "architecture": "discrete_layerwise",
609
+ "stage": "ttrtc",
610
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_ttrtc.pt",
611
+ "checks": {
612
+ "update": true,
613
+ "shape": true,
614
+ "batch_32": true,
615
+ "parameters": true,
616
+ "action_mse_local": true,
617
+ "independent_reload": true,
618
+ "one_manifest_entry": true,
619
+ "manifest_hash": true,
620
+ "manifest_update": true,
621
+ "manifest_parameters": true,
622
+ "parent_path": true,
623
+ "manifest_parent_path": true,
624
+ "parent_hash_stable": true,
625
+ "wandb_metadata": true,
626
+ "wandb_finished": true,
627
+ "wandb_update_summary": true,
628
+ "wandb_action_mse": true,
629
+ "wandb_model_artifact": true
630
+ },
631
+ "sha256": "35ffb57856657c89b29745b3f01c822a6d4e964e18b1f7edd0e1870dea0220fa",
632
+ "update": 5000,
633
+ "parameters": 107392512,
634
+ "final_train_action_mse": 0.47236576676368713,
635
+ "final_validation_action_mse": 0.5157025018706918,
636
+ "wandb": {
637
+ "project": "robot-policy-5k-bs32-ttRTC",
638
+ "entity": "401910710-university-of-california-berkeley",
639
+ "run_id": "ajt8p9vs",
640
+ "run_name": "discrete_layerwise-ttrtc-dit-b-raw-bs32-50kbase-5kttrtc",
641
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/ajt8p9vs",
642
+ "mode": "online",
643
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_ttrtc.pt"
644
+ }
645
+ },
646
+ {
647
+ "model_size": "DiT-B",
648
+ "representation": "raw",
649
+ "architecture": "discrete_joint",
650
+ "stage": "base",
651
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_base.pt",
652
+ "checks": {
653
+ "update": true,
654
+ "shape": true,
655
+ "batch_32": true,
656
+ "parameters": true,
657
+ "action_mse_local": true,
658
+ "independent_reload": true,
659
+ "one_manifest_entry": true,
660
+ "manifest_hash": true,
661
+ "manifest_update": true,
662
+ "manifest_parameters": true,
663
+ "no_parent": true,
664
+ "wandb_metadata": true,
665
+ "wandb_finished": true,
666
+ "wandb_update_summary": true,
667
+ "wandb_action_mse": true,
668
+ "wandb_model_artifact": true
669
+ },
670
+ "sha256": "10a2c9eaf0c0d0da41f146221abd7d39942a2dfee6e004e2625d394727b5526c",
671
+ "update": 50000,
672
+ "parameters": 102682368,
673
+ "final_train_action_mse": 0.00891710165888071,
674
+ "final_validation_action_mse": 0.03296893505466869,
675
+ "wandb": {
676
+ "project": "robot-policy-50k-bs32-basic",
677
+ "entity": "401910710-university-of-california-berkeley",
678
+ "run_id": "x9qrzmwd",
679
+ "run_name": "discrete_joint-base-dit-b-raw-bs32-50kbase-5kttrtc",
680
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/x9qrzmwd",
681
+ "mode": "online",
682
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_base.pt"
683
+ }
684
+ },
685
+ {
686
+ "model_size": "DiT-B",
687
+ "representation": "raw",
688
+ "architecture": "discrete_joint",
689
+ "stage": "ttrtc",
690
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_ttrtc.pt",
691
+ "checks": {
692
+ "update": true,
693
+ "shape": true,
694
+ "batch_32": true,
695
+ "parameters": true,
696
+ "action_mse_local": true,
697
+ "independent_reload": true,
698
+ "one_manifest_entry": true,
699
+ "manifest_hash": true,
700
+ "manifest_update": true,
701
+ "manifest_parameters": true,
702
+ "parent_path": true,
703
+ "manifest_parent_path": true,
704
+ "parent_hash_stable": true,
705
+ "wandb_metadata": true,
706
+ "wandb_finished": true,
707
+ "wandb_update_summary": true,
708
+ "wandb_action_mse": true,
709
+ "wandb_model_artifact": true
710
+ },
711
+ "sha256": "f6ef22b79382d464ecdb069b94b0cf8d07b9b3a8e4bc789f55bd0af361229940",
712
+ "update": 5000,
713
+ "parameters": 102682368,
714
+ "final_train_action_mse": 0.023193398490548134,
715
+ "final_validation_action_mse": 0.03653867990942672,
716
+ "wandb": {
717
+ "project": "robot-policy-5k-bs32-ttRTC",
718
+ "entity": "401910710-university-of-california-berkeley",
719
+ "run_id": "1hux9mwd",
720
+ "run_name": "discrete_joint-ttrtc-dit-b-raw-bs32-50kbase-5kttrtc",
721
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/1hux9mwd",
722
+ "mode": "online",
723
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_ttrtc.pt"
724
+ }
725
+ },
726
+ {
727
+ "model_size": "DiT-B",
728
+ "representation": "bspline",
729
+ "architecture": "fm",
730
+ "stage": "base",
731
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/fm_base.pt",
732
+ "checks": {
733
+ "update": true,
734
+ "shape": true,
735
+ "batch_32": true,
736
+ "parameters": true,
737
+ "action_mse_local": true,
738
+ "independent_reload": true,
739
+ "one_manifest_entry": true,
740
+ "manifest_hash": true,
741
+ "manifest_update": true,
742
+ "manifest_parameters": true,
743
+ "no_parent": true,
744
+ "wandb_metadata": true,
745
+ "wandb_finished": true,
746
+ "wandb_update_summary": true,
747
+ "wandb_action_mse": true,
748
+ "wandb_model_artifact": true
749
+ },
750
+ "sha256": "340951daece1369c97a5a8c4e5f605fca41b5dca5138ed58351ce73471a11897",
751
+ "update": 50000,
752
+ "parameters": 108048903,
753
+ "final_train_action_mse": 0.0006965543143451214,
754
+ "final_validation_action_mse": 0.027097747770312708,
755
+ "wandb": {
756
+ "project": "robot-policy-50k-bs32-basic",
757
+ "entity": "401910710-university-of-california-berkeley",
758
+ "run_id": "0c77dslj",
759
+ "run_name": "fm-base-dit-b-bspline-bs32-50kbase-5kttrtc",
760
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/0c77dslj",
761
+ "mode": "online",
762
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/fm_base.pt"
763
+ }
764
+ },
765
+ {
766
+ "model_size": "DiT-B",
767
+ "representation": "bspline",
768
+ "architecture": "fm",
769
+ "stage": "ttrtc",
770
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/fm_ttrtc.pt",
771
+ "checks": {
772
+ "update": true,
773
+ "shape": true,
774
+ "batch_32": true,
775
+ "parameters": true,
776
+ "action_mse_local": true,
777
+ "independent_reload": true,
778
+ "one_manifest_entry": true,
779
+ "manifest_hash": true,
780
+ "manifest_update": true,
781
+ "manifest_parameters": true,
782
+ "parent_path": true,
783
+ "manifest_parent_path": true,
784
+ "parent_hash_stable": true,
785
+ "wandb_metadata": true,
786
+ "wandb_finished": true,
787
+ "wandb_update_summary": true,
788
+ "wandb_action_mse": true,
789
+ "wandb_model_artifact": true
790
+ },
791
+ "sha256": "6215dfaaed5288b06a1c77181d87e609fb816a5161612fc1caf157ecc8c7d8ac",
792
+ "update": 5000,
793
+ "parameters": 108048903,
794
+ "final_train_action_mse": 0.0006673590978607535,
795
+ "final_validation_action_mse": 0.02992948779137805,
796
+ "wandb": {
797
+ "project": "robot-policy-5k-bs32-ttRTC",
798
+ "entity": "401910710-university-of-california-berkeley",
799
+ "run_id": "25fzgt8t",
800
+ "run_name": "fm-ttrtc-dit-b-bspline-bs32-50kbase-5kttrtc",
801
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/25fzgt8t",
802
+ "mode": "online",
803
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/fm_ttrtc.pt"
804
+ }
805
+ },
806
+ {
807
+ "model_size": "DiT-B",
808
+ "representation": "bspline",
809
+ "architecture": "discrete_layerwise",
810
+ "stage": "base",
811
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_layerwise_base.pt",
812
+ "checks": {
813
+ "update": true,
814
+ "shape": true,
815
+ "batch_32": true,
816
+ "parameters": true,
817
+ "action_mse_local": true,
818
+ "independent_reload": true,
819
+ "one_manifest_entry": true,
820
+ "manifest_hash": true,
821
+ "manifest_update": true,
822
+ "manifest_parameters": true,
823
+ "no_parent": true,
824
+ "wandb_metadata": true,
825
+ "wandb_finished": true,
826
+ "wandb_update_summary": true,
827
+ "wandb_action_mse": true,
828
+ "wandb_model_artifact": true
829
+ },
830
+ "sha256": "067aa87efdc7a8bbf3a6322e1c2c1c147c0d0745ceb60f7f099253c4eb731877",
831
+ "update": 50000,
832
+ "parameters": 107328000,
833
+ "final_train_action_mse": 0.1921829879283905,
834
+ "final_validation_action_mse": 0.19169512623921037,
835
+ "wandb": {
836
+ "project": "robot-policy-50k-bs32-basic",
837
+ "entity": "401910710-university-of-california-berkeley",
838
+ "run_id": "i40wvlpn",
839
+ "run_name": "discrete_layerwise-base-dit-b-bspline-bs32-50kbase-5kttrtc",
840
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/i40wvlpn",
841
+ "mode": "online",
842
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_layerwise_base.pt"
843
+ }
844
+ },
845
+ {
846
+ "model_size": "DiT-B",
847
+ "representation": "bspline",
848
+ "architecture": "discrete_layerwise",
849
+ "stage": "ttrtc",
850
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_layerwise_ttrtc.pt",
851
+ "checks": {
852
+ "update": true,
853
+ "shape": true,
854
+ "batch_32": true,
855
+ "parameters": true,
856
+ "action_mse_local": true,
857
+ "independent_reload": true,
858
+ "one_manifest_entry": true,
859
+ "manifest_hash": true,
860
+ "manifest_update": true,
861
+ "manifest_parameters": true,
862
+ "parent_path": true,
863
+ "manifest_parent_path": true,
864
+ "parent_hash_stable": true,
865
+ "wandb_metadata": true,
866
+ "wandb_finished": true,
867
+ "wandb_update_summary": true,
868
+ "wandb_action_mse": true,
869
+ "wandb_model_artifact": true
870
+ },
871
+ "sha256": "a7baae410941ff39f1c51641179a2d8a804de5f8ebe0a6a9869f4b81cf85dd98",
872
+ "update": 5000,
873
+ "parameters": 107328000,
874
+ "final_train_action_mse": 0.1772138923406601,
875
+ "final_validation_action_mse": 0.17480701161548495,
876
+ "wandb": {
877
+ "project": "robot-policy-5k-bs32-ttRTC",
878
+ "entity": "401910710-university-of-california-berkeley",
879
+ "run_id": "wjpva0fp",
880
+ "run_name": "discrete_layerwise-ttrtc-dit-b-bspline-bs32-50kbase-5kttrtc",
881
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/wjpva0fp",
882
+ "mode": "online",
883
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_layerwise_ttrtc.pt"
884
+ }
885
+ },
886
+ {
887
+ "model_size": "DiT-B",
888
+ "representation": "bspline",
889
+ "architecture": "discrete_joint",
890
+ "stage": "base",
891
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_joint_base.pt",
892
+ "checks": {
893
+ "update": true,
894
+ "shape": true,
895
+ "batch_32": true,
896
+ "parameters": true,
897
+ "action_mse_local": true,
898
+ "independent_reload": true,
899
+ "one_manifest_entry": true,
900
+ "manifest_hash": true,
901
+ "manifest_update": true,
902
+ "manifest_parameters": true,
903
+ "no_parent": true,
904
+ "wandb_metadata": true,
905
+ "wandb_finished": true,
906
+ "wandb_update_summary": true,
907
+ "wandb_action_mse": true,
908
+ "wandb_model_artifact": true
909
+ },
910
+ "sha256": "15d59a6a5b7634964c3e8ac409a4a3325732d02a3897c0315c94b82d43fa1155",
911
+ "update": 50000,
912
+ "parameters": 102617856,
913
+ "final_train_action_mse": 0.0007201549015007913,
914
+ "final_validation_action_mse": 0.018151554864743957,
915
+ "wandb": {
916
+ "project": "robot-policy-50k-bs32-basic",
917
+ "entity": "401910710-university-of-california-berkeley",
918
+ "run_id": "tsg4colk",
919
+ "run_name": "discrete_joint-base-dit-b-bspline-bs32-50kbase-5kttrtc",
920
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/tsg4colk",
921
+ "mode": "online",
922
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_joint_base.pt"
923
+ }
924
+ },
925
+ {
926
+ "model_size": "DiT-B",
927
+ "representation": "bspline",
928
+ "architecture": "discrete_joint",
929
+ "stage": "ttrtc",
930
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt",
931
+ "checks": {
932
+ "update": true,
933
+ "shape": true,
934
+ "batch_32": true,
935
+ "parameters": true,
936
+ "action_mse_local": true,
937
+ "independent_reload": true,
938
+ "one_manifest_entry": true,
939
+ "manifest_hash": true,
940
+ "manifest_update": true,
941
+ "manifest_parameters": true,
942
+ "parent_path": true,
943
+ "manifest_parent_path": true,
944
+ "parent_hash_stable": true,
945
+ "wandb_metadata": true,
946
+ "wandb_finished": true,
947
+ "wandb_update_summary": true,
948
+ "wandb_action_mse": true,
949
+ "wandb_model_artifact": true
950
+ },
951
+ "sha256": "8e1e75c73d34cb50340d3b3ecd53a4620b2e76d18f9c956d4f1e3251b0f5e0d0",
952
+ "update": 5000,
953
+ "parameters": 102617856,
954
+ "final_train_action_mse": 0.000640853657387197,
955
+ "final_validation_action_mse": 0.022525040149048436,
956
+ "wandb": {
957
+ "project": "robot-policy-5k-bs32-ttRTC",
958
+ "entity": "401910710-university-of-california-berkeley",
959
+ "run_id": "jjch9idz",
960
+ "run_name": "discrete_joint-ttrtc-dit-b-bspline-bs32-50kbase-5kttrtc",
961
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/jjch9idz",
962
+ "mode": "online",
963
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt"
964
+ }
965
+ },
966
+ {
967
+ "model_size": "DiT-L",
968
+ "representation": "raw",
969
+ "architecture": "fm",
970
+ "stage": "base",
971
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_base.pt",
972
+ "checks": {
973
+ "update": true,
974
+ "shape": true,
975
+ "batch_32": true,
976
+ "parameters": true,
977
+ "action_mse_local": true,
978
+ "independent_reload": true,
979
+ "one_manifest_entry": true,
980
+ "manifest_hash": true,
981
+ "manifest_update": true,
982
+ "manifest_parameters": true,
983
+ "no_parent": true,
984
+ "wandb_metadata": true,
985
+ "wandb_finished": true,
986
+ "wandb_update_summary": true,
987
+ "wandb_action_mse": true,
988
+ "wandb_model_artifact": true
989
+ },
990
+ "sha256": "b56ac6f764ce6abe17bd9d9129efec1f6e1a21c336faa91b1c18740e528033ba",
991
+ "update": 50000,
992
+ "parameters": 367582471,
993
+ "final_train_action_mse": 0.00048533681547269225,
994
+ "final_validation_action_mse": 0.029271012146637077,
995
+ "wandb": {
996
+ "project": "robot-policy-50k-bs32-basic",
997
+ "entity": "401910710-university-of-california-berkeley",
998
+ "run_id": "tziiazri",
999
+ "run_name": "fm-base-dit-l-raw-bs32-50kbase-5kttrtc",
1000
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/tziiazri",
1001
+ "mode": "online",
1002
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_base.pt"
1003
+ }
1004
+ },
1005
+ {
1006
+ "model_size": "DiT-L",
1007
+ "representation": "raw",
1008
+ "architecture": "fm",
1009
+ "stage": "ttrtc",
1010
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_ttrtc.pt",
1011
+ "checks": {
1012
+ "update": true,
1013
+ "shape": true,
1014
+ "batch_32": true,
1015
+ "parameters": true,
1016
+ "action_mse_local": true,
1017
+ "independent_reload": true,
1018
+ "one_manifest_entry": true,
1019
+ "manifest_hash": true,
1020
+ "manifest_update": true,
1021
+ "manifest_parameters": true,
1022
+ "parent_path": true,
1023
+ "manifest_parent_path": true,
1024
+ "parent_hash_stable": true,
1025
+ "wandb_metadata": true,
1026
+ "wandb_finished": true,
1027
+ "wandb_update_summary": true,
1028
+ "wandb_action_mse": true,
1029
+ "wandb_model_artifact": true
1030
+ },
1031
+ "sha256": "fc84379971878778051da9d2c9689889d7caad33e629f502fa9703ab91779902",
1032
+ "update": 5000,
1033
+ "parameters": 367582471,
1034
+ "final_train_action_mse": 0.0005786071415059268,
1035
+ "final_validation_action_mse": 0.027811256415589014,
1036
+ "wandb": {
1037
+ "project": "robot-policy-5k-bs32-ttRTC",
1038
+ "entity": "401910710-university-of-california-berkeley",
1039
+ "run_id": "redv2qv4",
1040
+ "run_name": "fm-ttrtc-dit-l-raw-bs32-50kbase-5kttrtc",
1041
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/redv2qv4",
1042
+ "mode": "online",
1043
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_ttrtc.pt"
1044
+ }
1045
+ },
1046
+ {
1047
+ "model_size": "DiT-L",
1048
+ "representation": "raw",
1049
+ "architecture": "discrete_layerwise",
1050
+ "stage": "base",
1051
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_base.pt",
1052
+ "checks": {
1053
+ "update": true,
1054
+ "shape": true,
1055
+ "batch_32": true,
1056
+ "parameters": true,
1057
+ "action_mse_local": true,
1058
+ "independent_reload": true,
1059
+ "one_manifest_entry": true,
1060
+ "manifest_hash": true,
1061
+ "manifest_update": true,
1062
+ "manifest_parameters": true,
1063
+ "no_parent": true,
1064
+ "wandb_metadata": true,
1065
+ "wandb_finished": true,
1066
+ "wandb_update_summary": true,
1067
+ "wandb_action_mse": true,
1068
+ "wandb_model_artifact": true
1069
+ },
1070
+ "sha256": "05a827fb7570ec3ab5efded67a986f77d8c461e1b76b0ebde135247bba908988",
1071
+ "update": 50000,
1072
+ "parameters": 366170624,
1073
+ "final_train_action_mse": 0.009118739515542984,
1074
+ "final_validation_action_mse": 0.04226255341200158,
1075
+ "wandb": {
1076
+ "project": "robot-policy-50k-bs32-basic",
1077
+ "entity": "401910710-university-of-california-berkeley",
1078
+ "run_id": "o0tj6klu",
1079
+ "run_name": "discrete_layerwise-base-dit-l-raw-bs32-50kbase-5kttrtc",
1080
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/o0tj6klu",
1081
+ "mode": "online",
1082
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_base.pt"
1083
+ }
1084
+ },
1085
+ {
1086
+ "model_size": "DiT-L",
1087
+ "representation": "raw",
1088
+ "architecture": "discrete_layerwise",
1089
+ "stage": "ttrtc",
1090
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt",
1091
+ "checks": {
1092
+ "update": true,
1093
+ "shape": true,
1094
+ "batch_32": true,
1095
+ "parameters": true,
1096
+ "action_mse_local": true,
1097
+ "independent_reload": true,
1098
+ "one_manifest_entry": true,
1099
+ "manifest_hash": true,
1100
+ "manifest_update": true,
1101
+ "manifest_parameters": true,
1102
+ "parent_path": true,
1103
+ "manifest_parent_path": true,
1104
+ "parent_hash_stable": true,
1105
+ "wandb_metadata": true,
1106
+ "wandb_finished": true,
1107
+ "wandb_update_summary": true,
1108
+ "wandb_action_mse": true,
1109
+ "wandb_model_artifact": true
1110
+ },
1111
+ "sha256": "92107ac042da050da01a31604d31549d3e039952604bac815a391b9d394effaf",
1112
+ "update": 5000,
1113
+ "parameters": 366170624,
1114
+ "final_train_action_mse": 0.008939455263316631,
1115
+ "final_validation_action_mse": 0.03814482901361771,
1116
+ "wandb": {
1117
+ "project": "robot-policy-5k-bs32-ttRTC",
1118
+ "entity": "401910710-university-of-california-berkeley",
1119
+ "run_id": "7ejattim",
1120
+ "run_name": "discrete_layerwise-ttrtc-dit-l-raw-bs32-50kbase-5kttrtc",
1121
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/7ejattim",
1122
+ "mode": "online",
1123
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt"
1124
+ }
1125
+ },
1126
+ {
1127
+ "model_size": "DiT-L",
1128
+ "representation": "raw",
1129
+ "architecture": "discrete_joint",
1130
+ "stage": "base",
1131
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_base.pt",
1132
+ "checks": {
1133
+ "update": true,
1134
+ "shape": true,
1135
+ "batch_32": true,
1136
+ "parameters": true,
1137
+ "action_mse_local": true,
1138
+ "independent_reload": true,
1139
+ "one_manifest_entry": true,
1140
+ "manifest_hash": true,
1141
+ "manifest_update": true,
1142
+ "manifest_parameters": true,
1143
+ "no_parent": true,
1144
+ "wandb_metadata": true,
1145
+ "wandb_finished": true,
1146
+ "wandb_update_summary": true,
1147
+ "wandb_action_mse": true,
1148
+ "wandb_model_artifact": true
1149
+ },
1150
+ "sha256": "46ba37da6e38d427aebd36ad5e567595721731bd30983d75a885987c639b152b",
1151
+ "update": 50000,
1152
+ "parameters": 357842432,
1153
+ "final_train_action_mse": 0.005653353873640299,
1154
+ "final_validation_action_mse": 0.05199665301188361,
1155
+ "wandb": {
1156
+ "project": "robot-policy-50k-bs32-basic",
1157
+ "entity": "401910710-university-of-california-berkeley",
1158
+ "run_id": "kvby9apd",
1159
+ "run_name": "discrete_joint-base-dit-l-raw-bs32-50kbase-5kttrtc",
1160
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/kvby9apd",
1161
+ "mode": "online",
1162
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_base.pt"
1163
+ }
1164
+ },
1165
+ {
1166
+ "model_size": "DiT-L",
1167
+ "representation": "raw",
1168
+ "architecture": "discrete_joint",
1169
+ "stage": "ttrtc",
1170
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt",
1171
+ "checks": {
1172
+ "update": true,
1173
+ "shape": true,
1174
+ "batch_32": true,
1175
+ "parameters": true,
1176
+ "action_mse_local": true,
1177
+ "independent_reload": true,
1178
+ "one_manifest_entry": true,
1179
+ "manifest_hash": true,
1180
+ "manifest_update": true,
1181
+ "manifest_parameters": true,
1182
+ "parent_path": true,
1183
+ "manifest_parent_path": true,
1184
+ "parent_hash_stable": true,
1185
+ "wandb_metadata": true,
1186
+ "wandb_finished": true,
1187
+ "wandb_update_summary": true,
1188
+ "wandb_action_mse": true,
1189
+ "wandb_model_artifact": true
1190
+ },
1191
+ "sha256": "be4af0aee1f27807ba8b0cd0cfab5d5cc9132081742d4499675774ef7a2fe178",
1192
+ "update": 5000,
1193
+ "parameters": 357842432,
1194
+ "final_train_action_mse": 0.0020319658797234297,
1195
+ "final_validation_action_mse": 0.050682377062912565,
1196
+ "wandb": {
1197
+ "project": "robot-policy-5k-bs32-ttRTC",
1198
+ "entity": "401910710-university-of-california-berkeley",
1199
+ "run_id": "0i7ac2b6",
1200
+ "run_name": "discrete_joint-ttrtc-dit-l-raw-bs32-50kbase-5kttrtc",
1201
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/0i7ac2b6",
1202
+ "mode": "online",
1203
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt"
1204
+ }
1205
+ },
1206
+ {
1207
+ "model_size": "DiT-L",
1208
+ "representation": "bspline",
1209
+ "architecture": "fm",
1210
+ "stage": "base",
1211
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/fm_base.pt",
1212
+ "checks": {
1213
+ "update": true,
1214
+ "shape": true,
1215
+ "batch_32": true,
1216
+ "parameters": true,
1217
+ "action_mse_local": true,
1218
+ "independent_reload": true,
1219
+ "one_manifest_entry": true,
1220
+ "manifest_hash": true,
1221
+ "manifest_update": true,
1222
+ "manifest_parameters": true,
1223
+ "no_parent": true,
1224
+ "wandb_metadata": true,
1225
+ "wandb_finished": true,
1226
+ "wandb_update_summary": true,
1227
+ "wandb_action_mse": true,
1228
+ "wandb_model_artifact": true
1229
+ },
1230
+ "sha256": "dfbaa30912bfc30adb7b95ec2935213931c9c7b9accfe144e3384897e4f021be",
1231
+ "update": 50000,
1232
+ "parameters": 367570183,
1233
+ "final_train_action_mse": 0.0005894710775464773,
1234
+ "final_validation_action_mse": 0.02595717958683963,
1235
+ "wandb": {
1236
+ "project": "robot-policy-50k-bs32-basic",
1237
+ "entity": "401910710-university-of-california-berkeley",
1238
+ "run_id": "hso7oc5a",
1239
+ "run_name": "fm-base-dit-l-bspline-bs32-50kbase-5kttrtc",
1240
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/hso7oc5a",
1241
+ "mode": "online",
1242
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/fm_base.pt"
1243
+ }
1244
+ },
1245
+ {
1246
+ "model_size": "DiT-L",
1247
+ "representation": "bspline",
1248
+ "architecture": "fm",
1249
+ "stage": "ttrtc",
1250
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/fm_ttrtc.pt",
1251
+ "checks": {
1252
+ "update": true,
1253
+ "shape": true,
1254
+ "batch_32": true,
1255
+ "parameters": true,
1256
+ "action_mse_local": true,
1257
+ "independent_reload": true,
1258
+ "one_manifest_entry": true,
1259
+ "manifest_hash": true,
1260
+ "manifest_update": true,
1261
+ "manifest_parameters": true,
1262
+ "parent_path": true,
1263
+ "manifest_parent_path": true,
1264
+ "parent_hash_stable": true,
1265
+ "wandb_metadata": true,
1266
+ "wandb_finished": true,
1267
+ "wandb_update_summary": true,
1268
+ "wandb_action_mse": true,
1269
+ "wandb_model_artifact": true
1270
+ },
1271
+ "sha256": "2941af73c960752b4b3e3ac40bf7b860a5322ecf6b08ac017415123d04cefdaf",
1272
+ "update": 5000,
1273
+ "parameters": 367570183,
1274
+ "final_train_action_mse": 0.0006466201157309115,
1275
+ "final_validation_action_mse": 0.029353740894293878,
1276
+ "wandb": {
1277
+ "project": "robot-policy-5k-bs32-ttRTC",
1278
+ "entity": "401910710-university-of-california-berkeley",
1279
+ "run_id": "s56r3udm",
1280
+ "run_name": "fm-ttrtc-dit-l-bspline-bs32-50kbase-5kttrtc",
1281
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/s56r3udm",
1282
+ "mode": "online",
1283
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/fm_ttrtc.pt"
1284
+ }
1285
+ },
1286
+ {
1287
+ "model_size": "DiT-L",
1288
+ "representation": "bspline",
1289
+ "architecture": "discrete_layerwise",
1290
+ "stage": "base",
1291
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/discrete_layerwise_base.pt",
1292
+ "checks": {
1293
+ "update": true,
1294
+ "shape": true,
1295
+ "batch_32": true,
1296
+ "parameters": true,
1297
+ "action_mse_local": true,
1298
+ "independent_reload": true,
1299
+ "one_manifest_entry": true,
1300
+ "manifest_hash": true,
1301
+ "manifest_update": true,
1302
+ "manifest_parameters": true,
1303
+ "no_parent": true,
1304
+ "wandb_metadata": true,
1305
+ "wandb_finished": true,
1306
+ "wandb_update_summary": true,
1307
+ "wandb_action_mse": true,
1308
+ "wandb_model_artifact": true
1309
+ },
1310
+ "sha256": "8a0e8e7a0993651103405f25481b792ed6bbc59c3b4a57590bdbf819ae791e87",
1311
+ "update": 50000,
1312
+ "parameters": 366084608,
1313
+ "final_train_action_mse": 0.1984737366437912,
1314
+ "final_validation_action_mse": 0.18238731753081083,
1315
+ "wandb": {
1316
+ "project": "robot-policy-50k-bs32-basic",
1317
+ "entity": "401910710-university-of-california-berkeley",
1318
+ "run_id": "i9zgz3hh",
1319
+ "run_name": "discrete_layerwise-base-dit-l-bspline-bs32-50kbase-5kttrtc",
1320
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/i9zgz3hh",
1321
+ "mode": "online",
1322
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/discrete_layerwise_base.pt"
1323
+ }
1324
+ },
1325
+ {
1326
+ "model_size": "DiT-L",
1327
+ "representation": "bspline",
1328
+ "architecture": "discrete_layerwise",
1329
+ "stage": "ttrtc",
1330
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/discrete_layerwise_ttrtc.pt",
1331
+ "checks": {
1332
+ "update": true,
1333
+ "shape": true,
1334
+ "batch_32": true,
1335
+ "parameters": true,
1336
+ "action_mse_local": true,
1337
+ "independent_reload": true,
1338
+ "one_manifest_entry": true,
1339
+ "manifest_hash": true,
1340
+ "manifest_update": true,
1341
+ "manifest_parameters": true,
1342
+ "parent_path": true,
1343
+ "manifest_parent_path": true,
1344
+ "parent_hash_stable": true,
1345
+ "wandb_metadata": true,
1346
+ "wandb_finished": true,
1347
+ "wandb_update_summary": true,
1348
+ "wandb_action_mse": true,
1349
+ "wandb_model_artifact": true
1350
+ },
1351
+ "sha256": "a205ce7c6706ffb66717bdffbd5b51a5855c5f5ff9fee2b865bd73ed28d246b7",
1352
+ "update": 5000,
1353
+ "parameters": 366084608,
1354
+ "final_train_action_mse": 0.18263401091098785,
1355
+ "final_validation_action_mse": 0.17526556691154838,
1356
+ "wandb": {
1357
+ "project": "robot-policy-5k-bs32-ttRTC",
1358
+ "entity": "401910710-university-of-california-berkeley",
1359
+ "run_id": "pgnhmdfl",
1360
+ "run_name": "discrete_layerwise-ttrtc-dit-l-bspline-bs32-50kbase-5kttrtc",
1361
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/pgnhmdfl",
1362
+ "mode": "online",
1363
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/discrete_layerwise_ttrtc.pt"
1364
+ }
1365
+ },
1366
+ {
1367
+ "model_size": "DiT-L",
1368
+ "representation": "bspline",
1369
+ "architecture": "discrete_joint",
1370
+ "stage": "base",
1371
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/discrete_joint_base.pt",
1372
+ "checks": {
1373
+ "update": true,
1374
+ "shape": true,
1375
+ "batch_32": true,
1376
+ "parameters": true,
1377
+ "action_mse_local": true,
1378
+ "independent_reload": true,
1379
+ "one_manifest_entry": true,
1380
+ "manifest_hash": true,
1381
+ "manifest_update": true,
1382
+ "manifest_parameters": true,
1383
+ "no_parent": true,
1384
+ "wandb_metadata": true,
1385
+ "wandb_finished": true,
1386
+ "wandb_update_summary": true,
1387
+ "wandb_action_mse": true,
1388
+ "wandb_model_artifact": true
1389
+ },
1390
+ "sha256": "5c011eb80529ada7f02eb07d1b8101bbc320eb19e92f2791d2ea60ba9e8fbb5b",
1391
+ "update": 50000,
1392
+ "parameters": 357756416,
1393
+ "final_train_action_mse": 0.005299577489495277,
1394
+ "final_validation_action_mse": 0.01947633336567378,
1395
+ "wandb": {
1396
+ "project": "robot-policy-50k-bs32-basic",
1397
+ "entity": "401910710-university-of-california-berkeley",
1398
+ "run_id": "us6r4jrf",
1399
+ "run_name": "discrete_joint-base-dit-l-bspline-bs32-50kbase-5kttrtc",
1400
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/us6r4jrf",
1401
+ "mode": "online",
1402
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/discrete_joint_base.pt"
1403
+ }
1404
+ },
1405
+ {
1406
+ "model_size": "DiT-L",
1407
+ "representation": "bspline",
1408
+ "architecture": "discrete_joint",
1409
+ "stage": "ttrtc",
1410
+ "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/discrete_joint_ttrtc.pt",
1411
+ "checks": {
1412
+ "update": true,
1413
+ "shape": true,
1414
+ "batch_32": true,
1415
+ "parameters": true,
1416
+ "action_mse_local": true,
1417
+ "independent_reload": true,
1418
+ "one_manifest_entry": true,
1419
+ "manifest_hash": true,
1420
+ "manifest_update": true,
1421
+ "manifest_parameters": true,
1422
+ "parent_path": true,
1423
+ "manifest_parent_path": true,
1424
+ "parent_hash_stable": true,
1425
+ "wandb_metadata": true,
1426
+ "wandb_finished": true,
1427
+ "wandb_update_summary": true,
1428
+ "wandb_action_mse": true,
1429
+ "wandb_model_artifact": true
1430
+ },
1431
+ "sha256": "c66cae18ade46f2d1183dc6879cb189f5a6e1f2919c6e11d2ea98f3d5bfa7860",
1432
+ "update": 5000,
1433
+ "parameters": 357756416,
1434
+ "final_train_action_mse": 0.004066006746143103,
1435
+ "final_validation_action_mse": 0.023679019563132897,
1436
+ "wandb": {
1437
+ "project": "robot-policy-5k-bs32-ttRTC",
1438
+ "entity": "401910710-university-of-california-berkeley",
1439
+ "run_id": "ra5ijsh8",
1440
+ "run_name": "discrete_joint-ttrtc-dit-l-bspline-bs32-50kbase-5kttrtc",
1441
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/ra5ijsh8",
1442
+ "mode": "online",
1443
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/discrete_joint_ttrtc.pt"
1444
+ }
1445
+ }
1446
+ ],
1447
+ "unique_wandb_run_ids": 36,
1448
+ "wandb_project_counts": {
1449
+ "robot-policy-50k-bs32-basic": 18,
1450
+ "robot-policy-5k-bs32-ttRTC": 18
1451
+ },
1452
+ "errors": []
1453
+ }
NewModel/deployment/README.md ADDED
@@ -0,0 +1,61 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Deployment validation
2
+
3
+ Status: **passed**, 2026-09-16 UTC.
4
+
5
+ ## Completion audit
6
+
7
+ | Requirement | Evidence | Result |
8
+ | --- | --- | --- |
9
+ | Same Piper server interface | WebSocket handshake plus NumPy-msgpack `infer` / `infer_realtime` envelopes; real server process connected with `PolicyClient` | Pass |
10
+ | All checkpoint types | Embedded config/sidecar inspection found exactly 36 unique DiT-S/B/L x raw/B-spline x FM/layerwise/joint x base/ttRTC contracts | Pass |
11
+ | Correct live observations | `[global, hand]` RGB order, server-side 224x224 DINOv2+SigLIP preprocessing, legacy min/max state -> training z-score conversion, fixed task validation | Pass |
12
+ | Correct action decoding | raw identity temporal decode or authoritative cubic 30x18 B-spline basis, then training q01/q99 physical unnormalization | Pass |
13
+ | Raw ttRTC | physical `[B,30,7]` prior chunk; 3-step validation preserved exactly 3 shifted action rows | Pass |
14
+ | B-spline ttRTC | normalized `[B,18,7]` prior controls; decoded actions rejected; 3 raw steps map to 2 spans and preserve 5 cubic-support rows | Pass |
15
+ | Transport behavior | ping, metadata/init, reset, inference, structured errors, ndarray round-trip, real localhost handshake | Pass |
16
+ | Automated tests | 16 deployment cases; complete repository suite 35/35 passed | Pass |
17
+ | Real checkpoint runtime | Complete 12-case DiT-S matrix on CUDA plus actual frozen vision encoder; all outputs finite and `[1,30,7]` | Pass |
18
+
19
+ The machine-readable evidence is
20
+ [`deployment_validation.json`](deployment_validation.json). It includes all 36
21
+ resolved checkpoint contracts and the complete real DiT-S runtime matrix. The
22
+ runtime probe is a correctness check, not a replacement for the 100-trial
23
+ latency benchmark in the parent summary.
24
+
25
+ ## Runtime matrix
26
+
27
+ Every row below uses a real final checkpoint. `fixed` is reported only for the
28
+ RTC request with a three-raw-step delay.
29
+
30
+ | Representation | Architecture | Stage | Vanilla finite | RTC finite | Fixed rows |
31
+ | --- | --- | --- | --- | --- | ---: |
32
+ | raw | FM | base | yes | n/a | n/a |
33
+ | raw | FM | ttRTC | yes | yes | 3 |
34
+ | raw | layerwise DD | base | yes | n/a | n/a |
35
+ | raw | layerwise DD | ttRTC | yes | yes | 3 |
36
+ | raw | joint DD | base | yes | n/a | n/a |
37
+ | raw | joint DD | ttRTC | yes | yes | 3 |
38
+ | B-spline | FM | base | yes | n/a | n/a |
39
+ | B-spline | FM | ttRTC | yes | yes | 5 |
40
+ | B-spline | layerwise DD | base | yes | n/a | n/a |
41
+ | B-spline | layerwise DD | ttRTC | yes | yes | 5 |
42
+ | B-spline | joint DD | base | yes | n/a | n/a |
43
+ | B-spline | joint DD | ttRTC | yes | yes | 5 |
44
+
45
+ The frozen vision probe returned finite `[2,16,2176]` fused features for the
46
+ two camera views. A separate launched-server test loaded the actual DiT-S
47
+ B-spline FM checkpoint, completed the real handshake, and returned finite
48
+ `actions [1,30,7]` plus `normalized_control_rows [1,18,7]`.
49
+
50
+ ## Deployment files
51
+
52
+ - Operator guide: `robot_policy/deployment/README.md`
53
+ - Launcher: `robot_policy/deployment/run_policy_server.sh`
54
+ - Server package: `robot_policy/src/robot_policy/deployment/`
55
+ - Existing-client stats: [`piper_dataset_statistics.json`](piper_dataset_statistics.json)
56
+ - Start-pose stats: [`stacking_cups_start_statistics.json`](stacking_cups_start_statistics.json)
57
+ - Reproducible runtime validator: `robot_policy/scripts/validate_deployment.py`
58
+
59
+ No physical command was published during validation. The next operational
60
+ step is the reference Piper dry-run, followed by explicit camera/state/gripper
61
+ and safety checks before any `--execute` authorization.
NewModel/deployment/deployment_validation.json ADDED
@@ -0,0 +1,613 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "scope": "all 36 checkpoint headers plus real GPU runtime matrix for one full model-size family",
3
+ "sweep_root": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP",
4
+ "checkpoint_inventory_count": 36,
5
+ "inventory": [
6
+ {
7
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/bspline/checkpoints/discrete_joint_base.pt",
8
+ "architecture": "discrete_joint",
9
+ "training_type": "base",
10
+ "is_rtc": false,
11
+ "model_size": "DiT-B",
12
+ "representation": "bspline",
13
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
14
+ },
15
+ {
16
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt",
17
+ "architecture": "discrete_joint",
18
+ "training_type": "rtc",
19
+ "is_rtc": true,
20
+ "model_size": "DiT-B",
21
+ "representation": "bspline",
22
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
23
+ },
24
+ {
25
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/bspline/checkpoints/discrete_layerwise_base.pt",
26
+ "architecture": "discrete_layerwise",
27
+ "training_type": "base",
28
+ "is_rtc": false,
29
+ "model_size": "DiT-B",
30
+ "representation": "bspline",
31
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
32
+ },
33
+ {
34
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/bspline/checkpoints/discrete_layerwise_ttrtc.pt",
35
+ "architecture": "discrete_layerwise",
36
+ "training_type": "rtc",
37
+ "is_rtc": true,
38
+ "model_size": "DiT-B",
39
+ "representation": "bspline",
40
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
41
+ },
42
+ {
43
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/bspline/checkpoints/fm_base.pt",
44
+ "architecture": "fm",
45
+ "training_type": "base",
46
+ "is_rtc": false,
47
+ "model_size": "DiT-B",
48
+ "representation": "bspline",
49
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
50
+ },
51
+ {
52
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/bspline/checkpoints/fm_ttrtc.pt",
53
+ "architecture": "fm",
54
+ "training_type": "rtc",
55
+ "is_rtc": true,
56
+ "model_size": "DiT-B",
57
+ "representation": "bspline",
58
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
59
+ },
60
+ {
61
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/raw/checkpoints/discrete_joint_base.pt",
62
+ "architecture": "discrete_joint",
63
+ "training_type": "base",
64
+ "is_rtc": false,
65
+ "model_size": "DiT-B",
66
+ "representation": "raw",
67
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
68
+ },
69
+ {
70
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/raw/checkpoints/discrete_joint_ttrtc.pt",
71
+ "architecture": "discrete_joint",
72
+ "training_type": "ttrtc",
73
+ "is_rtc": true,
74
+ "model_size": "DiT-B",
75
+ "representation": "raw",
76
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
77
+ },
78
+ {
79
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/raw/checkpoints/discrete_layerwise_base.pt",
80
+ "architecture": "discrete_layerwise",
81
+ "training_type": "base",
82
+ "is_rtc": false,
83
+ "model_size": "DiT-B",
84
+ "representation": "raw",
85
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
86
+ },
87
+ {
88
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/raw/checkpoints/discrete_layerwise_ttrtc.pt",
89
+ "architecture": "discrete_layerwise",
90
+ "training_type": "ttrtc",
91
+ "is_rtc": true,
92
+ "model_size": "DiT-B",
93
+ "representation": "raw",
94
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
95
+ },
96
+ {
97
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/raw/checkpoints/fm_base.pt",
98
+ "architecture": "fm",
99
+ "training_type": "base",
100
+ "is_rtc": false,
101
+ "model_size": "DiT-B",
102
+ "representation": "raw",
103
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
104
+ },
105
+ {
106
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/raw/checkpoints/fm_ttrtc.pt",
107
+ "architecture": "fm",
108
+ "training_type": "ttrtc",
109
+ "is_rtc": true,
110
+ "model_size": "DiT-B",
111
+ "representation": "raw",
112
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
113
+ },
114
+ {
115
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_l/bspline/checkpoints/discrete_joint_base.pt",
116
+ "architecture": "discrete_joint",
117
+ "training_type": "base",
118
+ "is_rtc": false,
119
+ "model_size": "DiT-L",
120
+ "representation": "bspline",
121
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
122
+ },
123
+ {
124
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_l/bspline/checkpoints/discrete_joint_ttrtc.pt",
125
+ "architecture": "discrete_joint",
126
+ "training_type": "rtc",
127
+ "is_rtc": true,
128
+ "model_size": "DiT-L",
129
+ "representation": "bspline",
130
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
131
+ },
132
+ {
133
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_l/bspline/checkpoints/discrete_layerwise_base.pt",
134
+ "architecture": "discrete_layerwise",
135
+ "training_type": "base",
136
+ "is_rtc": false,
137
+ "model_size": "DiT-L",
138
+ "representation": "bspline",
139
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
140
+ },
141
+ {
142
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_l/bspline/checkpoints/discrete_layerwise_ttrtc.pt",
143
+ "architecture": "discrete_layerwise",
144
+ "training_type": "rtc",
145
+ "is_rtc": true,
146
+ "model_size": "DiT-L",
147
+ "representation": "bspline",
148
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
149
+ },
150
+ {
151
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_l/bspline/checkpoints/fm_base.pt",
152
+ "architecture": "fm",
153
+ "training_type": "base",
154
+ "is_rtc": false,
155
+ "model_size": "DiT-L",
156
+ "representation": "bspline",
157
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
158
+ },
159
+ {
160
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_l/bspline/checkpoints/fm_ttrtc.pt",
161
+ "architecture": "fm",
162
+ "training_type": "rtc",
163
+ "is_rtc": true,
164
+ "model_size": "DiT-L",
165
+ "representation": "bspline",
166
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
167
+ },
168
+ {
169
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_l/raw/checkpoints/discrete_joint_base.pt",
170
+ "architecture": "discrete_joint",
171
+ "training_type": "base",
172
+ "is_rtc": false,
173
+ "model_size": "DiT-L",
174
+ "representation": "raw",
175
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
176
+ },
177
+ {
178
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt",
179
+ "architecture": "discrete_joint",
180
+ "training_type": "ttrtc",
181
+ "is_rtc": true,
182
+ "model_size": "DiT-L",
183
+ "representation": "raw",
184
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
185
+ },
186
+ {
187
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_l/raw/checkpoints/discrete_layerwise_base.pt",
188
+ "architecture": "discrete_layerwise",
189
+ "training_type": "base",
190
+ "is_rtc": false,
191
+ "model_size": "DiT-L",
192
+ "representation": "raw",
193
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
194
+ },
195
+ {
196
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt",
197
+ "architecture": "discrete_layerwise",
198
+ "training_type": "ttrtc",
199
+ "is_rtc": true,
200
+ "model_size": "DiT-L",
201
+ "representation": "raw",
202
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
203
+ },
204
+ {
205
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_l/raw/checkpoints/fm_base.pt",
206
+ "architecture": "fm",
207
+ "training_type": "base",
208
+ "is_rtc": false,
209
+ "model_size": "DiT-L",
210
+ "representation": "raw",
211
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
212
+ },
213
+ {
214
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_l/raw/checkpoints/fm_ttrtc.pt",
215
+ "architecture": "fm",
216
+ "training_type": "ttrtc",
217
+ "is_rtc": true,
218
+ "model_size": "DiT-L",
219
+ "representation": "raw",
220
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
221
+ },
222
+ {
223
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/bspline/checkpoints/discrete_joint_base.pt",
224
+ "architecture": "discrete_joint",
225
+ "training_type": "base",
226
+ "is_rtc": false,
227
+ "model_size": "DiT-S",
228
+ "representation": "bspline",
229
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
230
+ },
231
+ {
232
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/bspline/checkpoints/discrete_joint_ttrtc.pt",
233
+ "architecture": "discrete_joint",
234
+ "training_type": "rtc",
235
+ "is_rtc": true,
236
+ "model_size": "DiT-S",
237
+ "representation": "bspline",
238
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
239
+ },
240
+ {
241
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/bspline/checkpoints/discrete_layerwise_base.pt",
242
+ "architecture": "discrete_layerwise",
243
+ "training_type": "base",
244
+ "is_rtc": false,
245
+ "model_size": "DiT-S",
246
+ "representation": "bspline",
247
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
248
+ },
249
+ {
250
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/bspline/checkpoints/discrete_layerwise_ttrtc.pt",
251
+ "architecture": "discrete_layerwise",
252
+ "training_type": "rtc",
253
+ "is_rtc": true,
254
+ "model_size": "DiT-S",
255
+ "representation": "bspline",
256
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
257
+ },
258
+ {
259
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/bspline/checkpoints/fm_base.pt",
260
+ "architecture": "fm",
261
+ "training_type": "base",
262
+ "is_rtc": false,
263
+ "model_size": "DiT-S",
264
+ "representation": "bspline",
265
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
266
+ },
267
+ {
268
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/bspline/checkpoints/fm_ttrtc.pt",
269
+ "architecture": "fm",
270
+ "training_type": "rtc",
271
+ "is_rtc": true,
272
+ "model_size": "DiT-S",
273
+ "representation": "bspline",
274
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/bspline"
275
+ },
276
+ {
277
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/raw/checkpoints/discrete_joint_base.pt",
278
+ "architecture": "discrete_joint",
279
+ "training_type": "base",
280
+ "is_rtc": false,
281
+ "model_size": "DiT-S",
282
+ "representation": "raw",
283
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
284
+ },
285
+ {
286
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt",
287
+ "architecture": "discrete_joint",
288
+ "training_type": "ttrtc",
289
+ "is_rtc": true,
290
+ "model_size": "DiT-S",
291
+ "representation": "raw",
292
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
293
+ },
294
+ {
295
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/raw/checkpoints/discrete_layerwise_base.pt",
296
+ "architecture": "discrete_layerwise",
297
+ "training_type": "base",
298
+ "is_rtc": false,
299
+ "model_size": "DiT-S",
300
+ "representation": "raw",
301
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
302
+ },
303
+ {
304
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/raw/checkpoints/discrete_layerwise_ttrtc.pt",
305
+ "architecture": "discrete_layerwise",
306
+ "training_type": "ttrtc",
307
+ "is_rtc": true,
308
+ "model_size": "DiT-S",
309
+ "representation": "raw",
310
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
311
+ },
312
+ {
313
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/raw/checkpoints/fm_base.pt",
314
+ "architecture": "fm",
315
+ "training_type": "base",
316
+ "is_rtc": false,
317
+ "model_size": "DiT-S",
318
+ "representation": "raw",
319
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
320
+ },
321
+ {
322
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/raw/checkpoints/fm_ttrtc.pt",
323
+ "architecture": "fm",
324
+ "training_type": "ttrtc",
325
+ "is_rtc": true,
326
+ "model_size": "DiT-S",
327
+ "representation": "raw",
328
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/raw"
329
+ }
330
+ ],
331
+ "runtime_model_size": "dit_s",
332
+ "vision_encoder_output_shape": [
333
+ 2,
334
+ 16,
335
+ 2176
336
+ ],
337
+ "vision_encoder_finite": true,
338
+ "vision_encoder_blank_pair_ms": 108.77782595343888,
339
+ "runtime_case_count": 12,
340
+ "runtime": [
341
+ {
342
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/raw/checkpoints/fm_base.pt",
343
+ "architecture": "fm",
344
+ "representation": "raw",
345
+ "stage": "base",
346
+ "load_seconds": 0.16424605785869062,
347
+ "actions_shape": [
348
+ 1,
349
+ 30,
350
+ 7
351
+ ],
352
+ "actions_finite": true,
353
+ "sampling_ms": 173.12908405438066,
354
+ "metadata_supports_raw_rtc": false,
355
+ "metadata_supports_parameter_row_rtc": false
356
+ },
357
+ {
358
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/raw/checkpoints/fm_ttrtc.pt",
359
+ "architecture": "fm",
360
+ "representation": "raw",
361
+ "stage": "ttrtc",
362
+ "load_seconds": 0.07994443201459944,
363
+ "actions_shape": [
364
+ 1,
365
+ 30,
366
+ 7
367
+ ],
368
+ "actions_finite": true,
369
+ "sampling_ms": 17.302872147411108,
370
+ "metadata_supports_raw_rtc": true,
371
+ "metadata_supports_parameter_row_rtc": false,
372
+ "realtime_actions_shape": [
373
+ 1,
374
+ 30,
375
+ 7
376
+ ],
377
+ "realtime_actions_finite": true,
378
+ "realtime_sampling_ms": 20.905785961076617,
379
+ "realtime_fixed_control_rows": 3
380
+ },
381
+ {
382
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/raw/checkpoints/discrete_layerwise_base.pt",
383
+ "architecture": "discrete_layerwise",
384
+ "representation": "raw",
385
+ "stage": "base",
386
+ "load_seconds": 0.19085984490811825,
387
+ "actions_shape": [
388
+ 1,
389
+ 30,
390
+ 7
391
+ ],
392
+ "actions_finite": true,
393
+ "sampling_ms": 76.56741817481816,
394
+ "metadata_supports_raw_rtc": false,
395
+ "metadata_supports_parameter_row_rtc": false
396
+ },
397
+ {
398
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/raw/checkpoints/discrete_layerwise_ttrtc.pt",
399
+ "architecture": "discrete_layerwise",
400
+ "representation": "raw",
401
+ "stage": "ttrtc",
402
+ "load_seconds": 0.09421316999942064,
403
+ "actions_shape": [
404
+ 1,
405
+ 30,
406
+ 7
407
+ ],
408
+ "actions_finite": true,
409
+ "sampling_ms": 15.391016146168113,
410
+ "metadata_supports_raw_rtc": true,
411
+ "metadata_supports_parameter_row_rtc": false,
412
+ "realtime_actions_shape": [
413
+ 1,
414
+ 30,
415
+ 7
416
+ ],
417
+ "realtime_actions_finite": true,
418
+ "realtime_sampling_ms": 12.911088997498155,
419
+ "realtime_fixed_control_rows": 3
420
+ },
421
+ {
422
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/raw/checkpoints/discrete_joint_base.pt",
423
+ "architecture": "discrete_joint",
424
+ "representation": "raw",
425
+ "stage": "base",
426
+ "load_seconds": 0.18762516998685896,
427
+ "actions_shape": [
428
+ 1,
429
+ 30,
430
+ 7
431
+ ],
432
+ "actions_finite": true,
433
+ "sampling_ms": 161.8451219983399,
434
+ "metadata_supports_raw_rtc": false,
435
+ "metadata_supports_parameter_row_rtc": false
436
+ },
437
+ {
438
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt",
439
+ "architecture": "discrete_joint",
440
+ "representation": "raw",
441
+ "stage": "ttrtc",
442
+ "load_seconds": 0.09383737994357944,
443
+ "actions_shape": [
444
+ 1,
445
+ 30,
446
+ 7
447
+ ],
448
+ "actions_finite": true,
449
+ "sampling_ms": 133.06319783441722,
450
+ "metadata_supports_raw_rtc": true,
451
+ "metadata_supports_parameter_row_rtc": false,
452
+ "realtime_actions_shape": [
453
+ 1,
454
+ 30,
455
+ 7
456
+ ],
457
+ "realtime_actions_finite": true,
458
+ "realtime_sampling_ms": 130.3309618961066,
459
+ "realtime_fixed_control_rows": 3
460
+ },
461
+ {
462
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/bspline/checkpoints/fm_base.pt",
463
+ "architecture": "fm",
464
+ "representation": "bspline",
465
+ "stage": "base",
466
+ "load_seconds": 0.4198256900999695,
467
+ "actions_shape": [
468
+ 1,
469
+ 30,
470
+ 7
471
+ ],
472
+ "actions_finite": true,
473
+ "sampling_ms": 48.46856207586825,
474
+ "metadata_supports_raw_rtc": false,
475
+ "metadata_supports_parameter_row_rtc": false,
476
+ "control_rows_shape": [
477
+ 1,
478
+ 18,
479
+ 7
480
+ ]
481
+ },
482
+ {
483
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/bspline/checkpoints/fm_ttrtc.pt",
484
+ "architecture": "fm",
485
+ "representation": "bspline",
486
+ "stage": "ttrtc",
487
+ "load_seconds": 0.20566975185647607,
488
+ "actions_shape": [
489
+ 1,
490
+ 30,
491
+ 7
492
+ ],
493
+ "actions_finite": true,
494
+ "sampling_ms": 20.158017985522747,
495
+ "metadata_supports_raw_rtc": false,
496
+ "metadata_supports_parameter_row_rtc": true,
497
+ "control_rows_shape": [
498
+ 1,
499
+ 18,
500
+ 7
501
+ ],
502
+ "realtime_actions_shape": [
503
+ 1,
504
+ 30,
505
+ 7
506
+ ],
507
+ "realtime_actions_finite": true,
508
+ "realtime_sampling_ms": 15.751024940982461,
509
+ "realtime_fixed_control_rows": 5
510
+ },
511
+ {
512
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/bspline/checkpoints/discrete_layerwise_base.pt",
513
+ "architecture": "discrete_layerwise",
514
+ "representation": "bspline",
515
+ "stage": "base",
516
+ "load_seconds": 0.24931303202174604,
517
+ "actions_shape": [
518
+ 1,
519
+ 30,
520
+ 7
521
+ ],
522
+ "actions_finite": true,
523
+ "sampling_ms": 14.600086025893688,
524
+ "metadata_supports_raw_rtc": false,
525
+ "metadata_supports_parameter_row_rtc": false,
526
+ "control_rows_shape": [
527
+ 1,
528
+ 18,
529
+ 7
530
+ ]
531
+ },
532
+ {
533
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/bspline/checkpoints/discrete_layerwise_ttrtc.pt",
534
+ "architecture": "discrete_layerwise",
535
+ "representation": "bspline",
536
+ "stage": "ttrtc",
537
+ "load_seconds": 0.2888062980491668,
538
+ "actions_shape": [
539
+ 1,
540
+ 30,
541
+ 7
542
+ ],
543
+ "actions_finite": true,
544
+ "sampling_ms": 22.35790411941707,
545
+ "metadata_supports_raw_rtc": false,
546
+ "metadata_supports_parameter_row_rtc": true,
547
+ "control_rows_shape": [
548
+ 1,
549
+ 18,
550
+ 7
551
+ ],
552
+ "realtime_actions_shape": [
553
+ 1,
554
+ 30,
555
+ 7
556
+ ],
557
+ "realtime_actions_finite": true,
558
+ "realtime_sampling_ms": 12.45253998786211,
559
+ "realtime_fixed_control_rows": 5
560
+ },
561
+ {
562
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/bspline/checkpoints/discrete_joint_base.pt",
563
+ "architecture": "discrete_joint",
564
+ "representation": "bspline",
565
+ "stage": "base",
566
+ "load_seconds": 0.30815682793036103,
567
+ "actions_shape": [
568
+ 1,
569
+ 30,
570
+ 7
571
+ ],
572
+ "actions_finite": true,
573
+ "sampling_ms": 74.84620087780058,
574
+ "metadata_supports_raw_rtc": false,
575
+ "metadata_supports_parameter_row_rtc": false,
576
+ "control_rows_shape": [
577
+ 1,
578
+ 18,
579
+ 7
580
+ ]
581
+ },
582
+ {
583
+ "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_s/bspline/checkpoints/discrete_joint_ttrtc.pt",
584
+ "architecture": "discrete_joint",
585
+ "representation": "bspline",
586
+ "stage": "ttrtc",
587
+ "load_seconds": 0.2017735568806529,
588
+ "actions_shape": [
589
+ 1,
590
+ 30,
591
+ 7
592
+ ],
593
+ "actions_finite": true,
594
+ "sampling_ms": 74.3025210686028,
595
+ "metadata_supports_raw_rtc": false,
596
+ "metadata_supports_parameter_row_rtc": true,
597
+ "control_rows_shape": [
598
+ 1,
599
+ 18,
600
+ 7
601
+ ],
602
+ "realtime_actions_shape": [
603
+ 1,
604
+ 30,
605
+ 7
606
+ ],
607
+ "realtime_actions_finite": true,
608
+ "realtime_sampling_ms": 71.99662504717708,
609
+ "realtime_fixed_control_rows": 5
610
+ }
611
+ ],
612
+ "passed": true
613
+ }
NewModel/deployment/piper_dataset_statistics.json ADDED
@@ -0,0 +1,66 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "state": {
4
+ "min": [
5
+ -0.6370277404785156,
6
+ 0.0017627825727686286,
7
+ -2.1439101696014404,
8
+ -0.4152661859989166,
9
+ -0.22359412908554077,
10
+ -0.3922452926635742,
11
+ 0.004999999888241291
12
+ ],
13
+ "max": [
14
+ 0.49696505069732666,
15
+ 2.3221256732940674,
16
+ -0.0009599311160854995,
17
+ 0.6662096381187439,
18
+ 1.229689121246338,
19
+ 0.5405284762382507,
20
+ 0.49300000071525574
21
+ ],
22
+ "mean": [
23
+ -0.06821590662002563,
24
+ 1.3402678966522217,
25
+ -1.029311180114746,
26
+ -0.026913858950138092,
27
+ 0.482304185628891,
28
+ 0.12792791426181793,
29
+ 0.19733327627182007
30
+ ],
31
+ "std": [
32
+ 0.24829290807247162,
33
+ 0.6473751068115234,
34
+ 0.5541877150535583,
35
+ 0.14618821442127228,
36
+ 0.38715362548828125,
37
+ 0.1823183298110962,
38
+ 0.2029987871646881
39
+ ],
40
+ "client_transform": "minmax_to_minus1_plus1",
41
+ "server_transform": "invert_client_minmax_then_apply_training_zscore"
42
+ },
43
+ "action": {
44
+ "min": [
45
+ -0.5571745413541794,
46
+ -0.015232279896736145,
47
+ -2.0112431049346924,
48
+ -0.39771774411201477,
49
+ -0.18397162854671478,
50
+ -0.3426015079021454,
51
+ 0.0
52
+ ],
53
+ "max": [
54
+ 0.41843727231025696,
55
+ 2.1062631607055664,
56
+ 0.0013397021684795618,
57
+ 0.36006876826286316,
58
+ 1.3638149499893188,
59
+ 0.4811461567878723,
60
+ 1.0
61
+ ],
62
+ "server_output_coordinates": "physical_absolute_robot_coordinates",
63
+ "training_bounds": "q01_q99"
64
+ }
65
+ }
66
+ }
NewModel/deployment/stacking_cups_start_statistics.json ADDED
@@ -0,0 +1,39 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "source": "52 first frames from ../Data/stacking_cups_action_30hz",
3
+ "state_order": [
4
+ "joint1",
5
+ "joint2",
6
+ "joint3",
7
+ "joint4",
8
+ "joint5",
9
+ "joint6",
10
+ "gripper"
11
+ ],
12
+ "min": [
13
+ -0.08604472875595093,
14
+ 0.00047123889089562,
15
+ -0.01940806210041046,
16
+ -0.19374899566173553,
17
+ 0.0,
18
+ 0.12236503511667252,
19
+ 0.004999999888241291
20
+ ],
21
+ "max": [
22
+ 0.046931903809309006,
23
+ 0.003979350905865431,
24
+ -0.0008726646192371845,
25
+ 0.1117534339427948,
26
+ 0.050335295498371124,
27
+ 0.5405284762382507,
28
+ 0.26100000739097595
29
+ ],
30
+ "median": [
31
+ -0.02056870609521866,
32
+ 0.0033423055429011583,
33
+ -0.0022689281031489372,
34
+ -0.06686356663703918,
35
+ 0.025586526840925217,
36
+ 0.38066503405570984,
37
+ 0.004999999888241291
38
+ ]
39
+ }
NewModel/dit_b/bspline/checkpoints/checkpoint_manifest.json ADDED
The diff for this file is too large to render. See raw diff
 
NewModel/dit_b/bspline/checkpoints/discrete_joint_base.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-50k-bs32-basic",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "tsg4colk",
5
+ "run_name": "discrete_joint-base-dit-b-bspline-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/tsg4colk",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_joint_base.pt"
9
+ }
NewModel/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-5k-bs32-ttRTC",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "jjch9idz",
5
+ "run_name": "discrete_joint-ttrtc-dit-b-bspline-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/jjch9idz",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt"
9
+ }
NewModel/dit_b/bspline/checkpoints/discrete_layerwise_base.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-50k-bs32-basic",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "i40wvlpn",
5
+ "run_name": "discrete_layerwise-base-dit-b-bspline-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/i40wvlpn",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_layerwise_base.pt"
9
+ }
NewModel/dit_b/bspline/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-5k-bs32-ttRTC",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "wjpva0fp",
5
+ "run_name": "discrete_layerwise-ttrtc-dit-b-bspline-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/wjpva0fp",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_layerwise_ttrtc.pt"
9
+ }
NewModel/dit_b/raw/checkpoints/checkpoint_manifest.json ADDED
@@ -0,0 +1,1384 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "checkpoints": [
3
+ {
4
+ "architecture": "fm",
5
+ "training_type": "base",
6
+ "parent_checkpoint": null,
7
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/fm_base.pt",
8
+ "sha256": "59480b3d2bf830947f7ca145b2d6677e2e1e580a1a9abe8447e9f3e7a5b4646a",
9
+ "configuration": {
10
+ "data": {
11
+ "dataset_path": "../Data/stacking_cups_action_30hz",
12
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
13
+ "action_representation": "raw",
14
+ "vision_cache_path": "outputs/prepared/vision",
15
+ "camera_keys": [
16
+ "observation.images.global",
17
+ "observation.images.hand"
18
+ ],
19
+ "state_key": "observation.state",
20
+ "action_key": "action",
21
+ "observation_horizon": 1,
22
+ "action_horizon": 30,
23
+ "frequency_hz": 30.0,
24
+ "split_seed": 20260915,
25
+ "train_episodes": 42,
26
+ "val_episodes": 5,
27
+ "test_episodes": 5
28
+ },
29
+ "spline": {
30
+ "degree": 3,
31
+ "span_length_steps": 2,
32
+ "num_basis": 18,
33
+ "vocab_size": 256,
34
+ "regularization": 0.0001,
35
+ "implementation_version": "uniform_left_direct_fit_v1"
36
+ },
37
+ "vision": {
38
+ "image_size": 224,
39
+ "pooled_grid": 4,
40
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
41
+ "siglip_model": "vit_so400m_patch14_siglip_224",
42
+ "extraction_layer_offset": -2,
43
+ "pretrained": true,
44
+ "cache_dtype": "float16"
45
+ },
46
+ "policy": {
47
+ "architecture": "fm",
48
+ "model_size": "DiT-B",
49
+ "hidden_dim": 768,
50
+ "depth": 12,
51
+ "heads": 12,
52
+ "mlp_ratio": 4.0,
53
+ "dropout": 0.0,
54
+ "discrete_rounds": 8,
55
+ "block_size": 21,
56
+ "fm_steps": 12
57
+ },
58
+ "train": {
59
+ "seed": 7,
60
+ "updates": 50000,
61
+ "rtc_updates": 5000,
62
+ "batch_size": 32,
63
+ "effective_batch_size": 32,
64
+ "learning_rate": 0.0003,
65
+ "weight_decay": 0.0001,
66
+ "warmup_updates": 100,
67
+ "min_lr_ratio": 0.1,
68
+ "grad_clip": 1.0,
69
+ "eval_every": 100,
70
+ "save_every": 1000,
71
+ "num_workers": 4,
72
+ "precision": "bf16",
73
+ "lambda_l1": 1.0,
74
+ "deterministic": true
75
+ },
76
+ "rtc": {
77
+ "spline_delay_min": 1,
78
+ "spline_delay_max": 5,
79
+ "raw_delay_min": 1,
80
+ "raw_delay_max": 10,
81
+ "delay_distribution": "truncated_decreasing_exponential_reference",
82
+ "zero_delay_eval": true
83
+ },
84
+ "wandb": {
85
+ "enabled": true,
86
+ "mode": "online",
87
+ "entity": "401910710-university-of-california-berkeley",
88
+ "base_project": "robot-policy-50k-bs32-basic",
89
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
90
+ "run_suffix": "dit-b-raw-bs32-50kbase-5kttrtc",
91
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_b/raw/wandb"
92
+ }
93
+ },
94
+ "code_commit": "root repository has no commit",
95
+ "code_snapshot_sha256": "8bf2e0a7a2dff9ddd6fd4225b99e471925759f44079153d010df3711043e8f5a",
96
+ "data_split": {
97
+ "train": [
98
+ 0,
99
+ 1,
100
+ 2,
101
+ 3,
102
+ 4,
103
+ 5,
104
+ 6,
105
+ 9,
106
+ 10,
107
+ 11,
108
+ 12,
109
+ 13,
110
+ 14,
111
+ 15,
112
+ 20,
113
+ 23,
114
+ 24,
115
+ 25,
116
+ 26,
117
+ 27,
118
+ 28,
119
+ 29,
120
+ 30,
121
+ 31,
122
+ 32,
123
+ 33,
124
+ 35,
125
+ 36,
126
+ 37,
127
+ 38,
128
+ 39,
129
+ 40,
130
+ 41,
131
+ 42,
132
+ 44,
133
+ 45,
134
+ 46,
135
+ 47,
136
+ 48,
137
+ 49,
138
+ 50,
139
+ 51
140
+ ],
141
+ "val": [
142
+ 7,
143
+ 16,
144
+ 17,
145
+ 21,
146
+ 43
147
+ ],
148
+ "test": [
149
+ 8,
150
+ 18,
151
+ 19,
152
+ 22,
153
+ 34
154
+ ]
155
+ },
156
+ "encoder_version": {
157
+ "type": "RawActionSequenceConfig",
158
+ "config": {
159
+ "action_horizon": 30,
160
+ "action_dim": 7,
161
+ "vocab_size": 256
162
+ },
163
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
164
+ "calibration": {
165
+ "low": [
166
+ -1.0,
167
+ -1.0,
168
+ -1.0,
169
+ -1.0,
170
+ -1.0,
171
+ -1.0,
172
+ -1.0
173
+ ],
174
+ "high": [
175
+ 1.0,
176
+ 1.0,
177
+ 1.0,
178
+ 1.0,
179
+ 1.0,
180
+ 1.0,
181
+ 1.0
182
+ ]
183
+ },
184
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
185
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
186
+ "rtc_history_steps": [
187
+ 1,
188
+ 2,
189
+ 3,
190
+ 4,
191
+ 5,
192
+ 6,
193
+ 7,
194
+ 8,
195
+ 9,
196
+ 10
197
+ ]
198
+ },
199
+ "vision_weight_versions": {
200
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
201
+ "siglip": "vit_so400m_patch14_siglip_224"
202
+ },
203
+ "training_update_count": 50000,
204
+ "checkpoint_selection_metric": {
205
+ "name": "final validation objective",
206
+ "value": 0.10855916695436463,
207
+ "split": "val",
208
+ "best_observed_value": 0.04052511369809508
209
+ },
210
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli train_base --config configs/default.yaml --architecture fm --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/fm_base.pt",
211
+ "parameter_counts": {
212
+ "observation_projector_state": 2878208,
213
+ "action_backbone": 103958784,
214
+ "embedding_output": 1221127,
215
+ "total_trainable": 108058119,
216
+ "total": 108058119
217
+ },
218
+ "wandb": {
219
+ "project": "robot-policy-50k-bs32-basic",
220
+ "entity": "401910710-university-of-california-berkeley",
221
+ "run_id": "op6lpqi3",
222
+ "run_name": "fm-base-dit-b-raw-bs32-50kbase-5kttrtc",
223
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/op6lpqi3",
224
+ "mode": "online",
225
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/fm_base.pt"
226
+ },
227
+ "determinism": {
228
+ "enabled": true,
229
+ "seed": 7,
230
+ "cublas_workspace_config": ":4096:8"
231
+ }
232
+ },
233
+ {
234
+ "architecture": "fm",
235
+ "training_type": "ttrtc",
236
+ "parent_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/fm_base.pt",
237
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/fm_ttrtc.pt",
238
+ "sha256": "de187fa53a5c51e22d5296aca17d5f622c10bde234da836f8c27145968b51149",
239
+ "configuration": {
240
+ "data": {
241
+ "dataset_path": "../Data/stacking_cups_action_30hz",
242
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
243
+ "action_representation": "raw",
244
+ "vision_cache_path": "outputs/prepared/vision",
245
+ "camera_keys": [
246
+ "observation.images.global",
247
+ "observation.images.hand"
248
+ ],
249
+ "state_key": "observation.state",
250
+ "action_key": "action",
251
+ "observation_horizon": 1,
252
+ "action_horizon": 30,
253
+ "frequency_hz": 30.0,
254
+ "split_seed": 20260915,
255
+ "train_episodes": 42,
256
+ "val_episodes": 5,
257
+ "test_episodes": 5
258
+ },
259
+ "spline": {
260
+ "degree": 3,
261
+ "span_length_steps": 2,
262
+ "num_basis": 18,
263
+ "vocab_size": 256,
264
+ "regularization": 0.0001,
265
+ "implementation_version": "uniform_left_direct_fit_v1"
266
+ },
267
+ "vision": {
268
+ "image_size": 224,
269
+ "pooled_grid": 4,
270
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
271
+ "siglip_model": "vit_so400m_patch14_siglip_224",
272
+ "extraction_layer_offset": -2,
273
+ "pretrained": true,
274
+ "cache_dtype": "float16"
275
+ },
276
+ "policy": {
277
+ "architecture": "fm",
278
+ "model_size": "DiT-B",
279
+ "hidden_dim": 768,
280
+ "depth": 12,
281
+ "heads": 12,
282
+ "mlp_ratio": 4.0,
283
+ "dropout": 0.0,
284
+ "discrete_rounds": 8,
285
+ "block_size": 21,
286
+ "fm_steps": 12
287
+ },
288
+ "train": {
289
+ "seed": 7,
290
+ "updates": 50000,
291
+ "rtc_updates": 5000,
292
+ "batch_size": 32,
293
+ "effective_batch_size": 32,
294
+ "learning_rate": 0.0003,
295
+ "weight_decay": 0.0001,
296
+ "warmup_updates": 100,
297
+ "min_lr_ratio": 0.1,
298
+ "grad_clip": 1.0,
299
+ "eval_every": 100,
300
+ "save_every": 1000,
301
+ "num_workers": 4,
302
+ "precision": "bf16",
303
+ "lambda_l1": 1.0,
304
+ "deterministic": true
305
+ },
306
+ "rtc": {
307
+ "spline_delay_min": 1,
308
+ "spline_delay_max": 5,
309
+ "raw_delay_min": 1,
310
+ "raw_delay_max": 10,
311
+ "delay_distribution": "truncated_decreasing_exponential_reference",
312
+ "zero_delay_eval": true
313
+ },
314
+ "wandb": {
315
+ "enabled": true,
316
+ "mode": "online",
317
+ "entity": "401910710-university-of-california-berkeley",
318
+ "base_project": "robot-policy-50k-bs32-basic",
319
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
320
+ "run_suffix": "dit-b-raw-bs32-50kbase-5kttrtc",
321
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_b/raw/wandb"
322
+ }
323
+ },
324
+ "code_commit": "root repository has no commit",
325
+ "code_snapshot_sha256": "0b5ba29dac635cb36d619c6fde2ef960037f6e811cb9d7577638e1f8dacbda51",
326
+ "data_split": {
327
+ "train": [
328
+ 0,
329
+ 1,
330
+ 2,
331
+ 3,
332
+ 4,
333
+ 5,
334
+ 6,
335
+ 9,
336
+ 10,
337
+ 11,
338
+ 12,
339
+ 13,
340
+ 14,
341
+ 15,
342
+ 20,
343
+ 23,
344
+ 24,
345
+ 25,
346
+ 26,
347
+ 27,
348
+ 28,
349
+ 29,
350
+ 30,
351
+ 31,
352
+ 32,
353
+ 33,
354
+ 35,
355
+ 36,
356
+ 37,
357
+ 38,
358
+ 39,
359
+ 40,
360
+ 41,
361
+ 42,
362
+ 44,
363
+ 45,
364
+ 46,
365
+ 47,
366
+ 48,
367
+ 49,
368
+ 50,
369
+ 51
370
+ ],
371
+ "val": [
372
+ 7,
373
+ 16,
374
+ 17,
375
+ 21,
376
+ 43
377
+ ],
378
+ "test": [
379
+ 8,
380
+ 18,
381
+ 19,
382
+ 22,
383
+ 34
384
+ ]
385
+ },
386
+ "encoder_version": {
387
+ "type": "RawActionSequenceConfig",
388
+ "config": {
389
+ "action_horizon": 30,
390
+ "action_dim": 7,
391
+ "vocab_size": 256
392
+ },
393
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
394
+ "calibration": {
395
+ "low": [
396
+ -1.0,
397
+ -1.0,
398
+ -1.0,
399
+ -1.0,
400
+ -1.0,
401
+ -1.0,
402
+ -1.0
403
+ ],
404
+ "high": [
405
+ 1.0,
406
+ 1.0,
407
+ 1.0,
408
+ 1.0,
409
+ 1.0,
410
+ 1.0,
411
+ 1.0
412
+ ]
413
+ },
414
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
415
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
416
+ "rtc_history_steps": [
417
+ 1,
418
+ 2,
419
+ 3,
420
+ 4,
421
+ 5,
422
+ 6,
423
+ 7,
424
+ 8,
425
+ 9,
426
+ 10
427
+ ]
428
+ },
429
+ "vision_weight_versions": {
430
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
431
+ "siglip": "vit_so400m_patch14_siglip_224"
432
+ },
433
+ "training_update_count": 5000,
434
+ "checkpoint_selection_metric": {
435
+ "name": "final validation objective",
436
+ "value": 0.09387377597158775,
437
+ "split": "val",
438
+ "best_observed_value": 0.060947251215111464
439
+ },
440
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli finetune_rtc --config configs/default.yaml --architecture fm --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/fm_ttrtc.pt --parent /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/fm_base.pt",
441
+ "parameter_counts": {
442
+ "observation_projector_state": 2878208,
443
+ "action_backbone": 103958784,
444
+ "embedding_output": 1221127,
445
+ "total_trainable": 108058119,
446
+ "total": 108058119
447
+ },
448
+ "wandb": {
449
+ "project": "robot-policy-5k-bs32-ttRTC",
450
+ "entity": "401910710-university-of-california-berkeley",
451
+ "run_id": "duznrj8t",
452
+ "run_name": "fm-ttrtc-dit-b-raw-bs32-50kbase-5kttrtc",
453
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/duznrj8t",
454
+ "mode": "online",
455
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/fm_ttrtc.pt"
456
+ },
457
+ "determinism": {
458
+ "enabled": true,
459
+ "seed": 7,
460
+ "cublas_workspace_config": ":4096:8"
461
+ }
462
+ },
463
+ {
464
+ "architecture": "discrete_layerwise",
465
+ "training_type": "base",
466
+ "parent_checkpoint": null,
467
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_base.pt",
468
+ "sha256": "7fac744844f4b7d865e5e3b0b2bb6e59b260ee58baf1f2d83c2bf9fbe197356a",
469
+ "configuration": {
470
+ "data": {
471
+ "dataset_path": "../Data/stacking_cups_action_30hz",
472
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
473
+ "action_representation": "raw",
474
+ "vision_cache_path": "outputs/prepared/vision",
475
+ "camera_keys": [
476
+ "observation.images.global",
477
+ "observation.images.hand"
478
+ ],
479
+ "state_key": "observation.state",
480
+ "action_key": "action",
481
+ "observation_horizon": 1,
482
+ "action_horizon": 30,
483
+ "frequency_hz": 30.0,
484
+ "split_seed": 20260915,
485
+ "train_episodes": 42,
486
+ "val_episodes": 5,
487
+ "test_episodes": 5
488
+ },
489
+ "spline": {
490
+ "degree": 3,
491
+ "span_length_steps": 2,
492
+ "num_basis": 18,
493
+ "vocab_size": 256,
494
+ "regularization": 0.0001,
495
+ "implementation_version": "uniform_left_direct_fit_v1"
496
+ },
497
+ "vision": {
498
+ "image_size": 224,
499
+ "pooled_grid": 4,
500
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
501
+ "siglip_model": "vit_so400m_patch14_siglip_224",
502
+ "extraction_layer_offset": -2,
503
+ "pretrained": true,
504
+ "cache_dtype": "float16"
505
+ },
506
+ "policy": {
507
+ "architecture": "discrete_layerwise",
508
+ "model_size": "DiT-B",
509
+ "hidden_dim": 768,
510
+ "depth": 12,
511
+ "heads": 12,
512
+ "mlp_ratio": 4.0,
513
+ "dropout": 0.0,
514
+ "discrete_rounds": 8,
515
+ "block_size": 21,
516
+ "fm_steps": 12
517
+ },
518
+ "train": {
519
+ "seed": 7,
520
+ "updates": 50000,
521
+ "rtc_updates": 5000,
522
+ "batch_size": 32,
523
+ "effective_batch_size": 32,
524
+ "learning_rate": 0.0003,
525
+ "weight_decay": 0.0001,
526
+ "warmup_updates": 100,
527
+ "min_lr_ratio": 0.1,
528
+ "grad_clip": 1.0,
529
+ "eval_every": 100,
530
+ "save_every": 1000,
531
+ "num_workers": 4,
532
+ "precision": "bf16",
533
+ "lambda_l1": 1.0,
534
+ "deterministic": true
535
+ },
536
+ "rtc": {
537
+ "spline_delay_min": 1,
538
+ "spline_delay_max": 5,
539
+ "raw_delay_min": 1,
540
+ "raw_delay_max": 10,
541
+ "delay_distribution": "truncated_decreasing_exponential_reference",
542
+ "zero_delay_eval": true
543
+ },
544
+ "wandb": {
545
+ "enabled": true,
546
+ "mode": "online",
547
+ "entity": "401910710-university-of-california-berkeley",
548
+ "base_project": "robot-policy-50k-bs32-basic",
549
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
550
+ "run_suffix": "dit-b-raw-bs32-50kbase-5kttrtc",
551
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_b/raw/wandb"
552
+ }
553
+ },
554
+ "code_commit": "root repository has no commit",
555
+ "code_snapshot_sha256": "ab710f4138f8e6533d48385f8c45e0bfdf7d7de9d4fa57da0252ba7f27cc75a6",
556
+ "data_split": {
557
+ "train": [
558
+ 0,
559
+ 1,
560
+ 2,
561
+ 3,
562
+ 4,
563
+ 5,
564
+ 6,
565
+ 9,
566
+ 10,
567
+ 11,
568
+ 12,
569
+ 13,
570
+ 14,
571
+ 15,
572
+ 20,
573
+ 23,
574
+ 24,
575
+ 25,
576
+ 26,
577
+ 27,
578
+ 28,
579
+ 29,
580
+ 30,
581
+ 31,
582
+ 32,
583
+ 33,
584
+ 35,
585
+ 36,
586
+ 37,
587
+ 38,
588
+ 39,
589
+ 40,
590
+ 41,
591
+ 42,
592
+ 44,
593
+ 45,
594
+ 46,
595
+ 47,
596
+ 48,
597
+ 49,
598
+ 50,
599
+ 51
600
+ ],
601
+ "val": [
602
+ 7,
603
+ 16,
604
+ 17,
605
+ 21,
606
+ 43
607
+ ],
608
+ "test": [
609
+ 8,
610
+ 18,
611
+ 19,
612
+ 22,
613
+ 34
614
+ ]
615
+ },
616
+ "encoder_version": {
617
+ "type": "RawActionSequenceConfig",
618
+ "config": {
619
+ "action_horizon": 30,
620
+ "action_dim": 7,
621
+ "vocab_size": 256
622
+ },
623
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
624
+ "calibration": {
625
+ "low": [
626
+ -1.0,
627
+ -1.0,
628
+ -1.0,
629
+ -1.0,
630
+ -1.0,
631
+ -1.0,
632
+ -1.0
633
+ ],
634
+ "high": [
635
+ 1.0,
636
+ 1.0,
637
+ 1.0,
638
+ 1.0,
639
+ 1.0,
640
+ 1.0,
641
+ 1.0
642
+ ]
643
+ },
644
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
645
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
646
+ "rtc_history_steps": [
647
+ 1,
648
+ 2,
649
+ 3,
650
+ 4,
651
+ 5,
652
+ 6,
653
+ 7,
654
+ 8,
655
+ 9,
656
+ 10
657
+ ]
658
+ },
659
+ "vision_weight_versions": {
660
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
661
+ "siglip": "vit_so400m_patch14_siglip_224"
662
+ },
663
+ "training_update_count": 50000,
664
+ "checkpoint_selection_metric": {
665
+ "name": "final validation objective",
666
+ "value": 88.02191042900085,
667
+ "split": "val",
668
+ "best_observed_value": 26.077608227729797
669
+ },
670
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli train_base --config configs/default.yaml --architecture discrete_layerwise --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_base.pt",
671
+ "parameter_counts": {
672
+ "observation_projector_state": 2878208,
673
+ "action_backbone": 103958784,
674
+ "embedding_output": 555520,
675
+ "total_trainable": 107392512,
676
+ "total": 107392512
677
+ },
678
+ "wandb": {
679
+ "project": "robot-policy-50k-bs32-basic",
680
+ "entity": "401910710-university-of-california-berkeley",
681
+ "run_id": "o2g40xq8",
682
+ "run_name": "discrete_layerwise-base-dit-b-raw-bs32-50kbase-5kttrtc",
683
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/o2g40xq8",
684
+ "mode": "online",
685
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_base.pt"
686
+ },
687
+ "determinism": {
688
+ "enabled": true,
689
+ "seed": 7,
690
+ "cublas_workspace_config": ":4096:8"
691
+ }
692
+ },
693
+ {
694
+ "architecture": "discrete_layerwise",
695
+ "training_type": "ttrtc",
696
+ "parent_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_base.pt",
697
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_ttrtc.pt",
698
+ "sha256": "35ffb57856657c89b29745b3f01c822a6d4e964e18b1f7edd0e1870dea0220fa",
699
+ "configuration": {
700
+ "data": {
701
+ "dataset_path": "../Data/stacking_cups_action_30hz",
702
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
703
+ "action_representation": "raw",
704
+ "vision_cache_path": "outputs/prepared/vision",
705
+ "camera_keys": [
706
+ "observation.images.global",
707
+ "observation.images.hand"
708
+ ],
709
+ "state_key": "observation.state",
710
+ "action_key": "action",
711
+ "observation_horizon": 1,
712
+ "action_horizon": 30,
713
+ "frequency_hz": 30.0,
714
+ "split_seed": 20260915,
715
+ "train_episodes": 42,
716
+ "val_episodes": 5,
717
+ "test_episodes": 5
718
+ },
719
+ "spline": {
720
+ "degree": 3,
721
+ "span_length_steps": 2,
722
+ "num_basis": 18,
723
+ "vocab_size": 256,
724
+ "regularization": 0.0001,
725
+ "implementation_version": "uniform_left_direct_fit_v1"
726
+ },
727
+ "vision": {
728
+ "image_size": 224,
729
+ "pooled_grid": 4,
730
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
731
+ "siglip_model": "vit_so400m_patch14_siglip_224",
732
+ "extraction_layer_offset": -2,
733
+ "pretrained": true,
734
+ "cache_dtype": "float16"
735
+ },
736
+ "policy": {
737
+ "architecture": "discrete_layerwise",
738
+ "model_size": "DiT-B",
739
+ "hidden_dim": 768,
740
+ "depth": 12,
741
+ "heads": 12,
742
+ "mlp_ratio": 4.0,
743
+ "dropout": 0.0,
744
+ "discrete_rounds": 8,
745
+ "block_size": 21,
746
+ "fm_steps": 12
747
+ },
748
+ "train": {
749
+ "seed": 7,
750
+ "updates": 50000,
751
+ "rtc_updates": 5000,
752
+ "batch_size": 32,
753
+ "effective_batch_size": 32,
754
+ "learning_rate": 0.0003,
755
+ "weight_decay": 0.0001,
756
+ "warmup_updates": 100,
757
+ "min_lr_ratio": 0.1,
758
+ "grad_clip": 1.0,
759
+ "eval_every": 100,
760
+ "save_every": 1000,
761
+ "num_workers": 4,
762
+ "precision": "bf16",
763
+ "lambda_l1": 1.0,
764
+ "deterministic": true
765
+ },
766
+ "rtc": {
767
+ "spline_delay_min": 1,
768
+ "spline_delay_max": 5,
769
+ "raw_delay_min": 1,
770
+ "raw_delay_max": 10,
771
+ "delay_distribution": "truncated_decreasing_exponential_reference",
772
+ "zero_delay_eval": true
773
+ },
774
+ "wandb": {
775
+ "enabled": true,
776
+ "mode": "online",
777
+ "entity": "401910710-university-of-california-berkeley",
778
+ "base_project": "robot-policy-50k-bs32-basic",
779
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
780
+ "run_suffix": "dit-b-raw-bs32-50kbase-5kttrtc",
781
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_b/raw/wandb"
782
+ }
783
+ },
784
+ "code_commit": "root repository has no commit",
785
+ "code_snapshot_sha256": "ab710f4138f8e6533d48385f8c45e0bfdf7d7de9d4fa57da0252ba7f27cc75a6",
786
+ "data_split": {
787
+ "train": [
788
+ 0,
789
+ 1,
790
+ 2,
791
+ 3,
792
+ 4,
793
+ 5,
794
+ 6,
795
+ 9,
796
+ 10,
797
+ 11,
798
+ 12,
799
+ 13,
800
+ 14,
801
+ 15,
802
+ 20,
803
+ 23,
804
+ 24,
805
+ 25,
806
+ 26,
807
+ 27,
808
+ 28,
809
+ 29,
810
+ 30,
811
+ 31,
812
+ 32,
813
+ 33,
814
+ 35,
815
+ 36,
816
+ 37,
817
+ 38,
818
+ 39,
819
+ 40,
820
+ 41,
821
+ 42,
822
+ 44,
823
+ 45,
824
+ 46,
825
+ 47,
826
+ 48,
827
+ 49,
828
+ 50,
829
+ 51
830
+ ],
831
+ "val": [
832
+ 7,
833
+ 16,
834
+ 17,
835
+ 21,
836
+ 43
837
+ ],
838
+ "test": [
839
+ 8,
840
+ 18,
841
+ 19,
842
+ 22,
843
+ 34
844
+ ]
845
+ },
846
+ "encoder_version": {
847
+ "type": "RawActionSequenceConfig",
848
+ "config": {
849
+ "action_horizon": 30,
850
+ "action_dim": 7,
851
+ "vocab_size": 256
852
+ },
853
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
854
+ "calibration": {
855
+ "low": [
856
+ -1.0,
857
+ -1.0,
858
+ -1.0,
859
+ -1.0,
860
+ -1.0,
861
+ -1.0,
862
+ -1.0
863
+ ],
864
+ "high": [
865
+ 1.0,
866
+ 1.0,
867
+ 1.0,
868
+ 1.0,
869
+ 1.0,
870
+ 1.0,
871
+ 1.0
872
+ ]
873
+ },
874
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
875
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
876
+ "rtc_history_steps": [
877
+ 1,
878
+ 2,
879
+ 3,
880
+ 4,
881
+ 5,
882
+ 6,
883
+ 7,
884
+ 8,
885
+ 9,
886
+ 10
887
+ ]
888
+ },
889
+ "vision_weight_versions": {
890
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
891
+ "siglip": "vit_so400m_patch14_siglip_224"
892
+ },
893
+ "training_update_count": 5000,
894
+ "checkpoint_selection_metric": {
895
+ "name": "final validation objective",
896
+ "value": 87.7908718585968,
897
+ "split": "val",
898
+ "best_observed_value": 87.49095749855042
899
+ },
900
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli finetune_rtc --config configs/default.yaml --architecture discrete_layerwise --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_ttrtc.pt --parent /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_base.pt",
901
+ "parameter_counts": {
902
+ "observation_projector_state": 2878208,
903
+ "action_backbone": 103958784,
904
+ "embedding_output": 555520,
905
+ "total_trainable": 107392512,
906
+ "total": 107392512
907
+ },
908
+ "wandb": {
909
+ "project": "robot-policy-5k-bs32-ttRTC",
910
+ "entity": "401910710-university-of-california-berkeley",
911
+ "run_id": "ajt8p9vs",
912
+ "run_name": "discrete_layerwise-ttrtc-dit-b-raw-bs32-50kbase-5kttrtc",
913
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/ajt8p9vs",
914
+ "mode": "online",
915
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_ttrtc.pt"
916
+ },
917
+ "determinism": {
918
+ "enabled": true,
919
+ "seed": 7,
920
+ "cublas_workspace_config": ":4096:8"
921
+ }
922
+ },
923
+ {
924
+ "architecture": "discrete_joint",
925
+ "training_type": "base",
926
+ "parent_checkpoint": null,
927
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_base.pt",
928
+ "sha256": "10a2c9eaf0c0d0da41f146221abd7d39942a2dfee6e004e2625d394727b5526c",
929
+ "configuration": {
930
+ "data": {
931
+ "dataset_path": "../Data/stacking_cups_action_30hz",
932
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
933
+ "action_representation": "raw",
934
+ "vision_cache_path": "outputs/prepared/vision",
935
+ "camera_keys": [
936
+ "observation.images.global",
937
+ "observation.images.hand"
938
+ ],
939
+ "state_key": "observation.state",
940
+ "action_key": "action",
941
+ "observation_horizon": 1,
942
+ "action_horizon": 30,
943
+ "frequency_hz": 30.0,
944
+ "split_seed": 20260915,
945
+ "train_episodes": 42,
946
+ "val_episodes": 5,
947
+ "test_episodes": 5
948
+ },
949
+ "spline": {
950
+ "degree": 3,
951
+ "span_length_steps": 2,
952
+ "num_basis": 18,
953
+ "vocab_size": 256,
954
+ "regularization": 0.0001,
955
+ "implementation_version": "uniform_left_direct_fit_v1"
956
+ },
957
+ "vision": {
958
+ "image_size": 224,
959
+ "pooled_grid": 4,
960
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
961
+ "siglip_model": "vit_so400m_patch14_siglip_224",
962
+ "extraction_layer_offset": -2,
963
+ "pretrained": true,
964
+ "cache_dtype": "float16"
965
+ },
966
+ "policy": {
967
+ "architecture": "discrete_joint",
968
+ "model_size": "DiT-B",
969
+ "hidden_dim": 768,
970
+ "depth": 12,
971
+ "heads": 12,
972
+ "mlp_ratio": 4.0,
973
+ "dropout": 0.0,
974
+ "discrete_rounds": 8,
975
+ "block_size": 21,
976
+ "fm_steps": 12
977
+ },
978
+ "train": {
979
+ "seed": 7,
980
+ "updates": 50000,
981
+ "rtc_updates": 5000,
982
+ "batch_size": 32,
983
+ "effective_batch_size": 32,
984
+ "learning_rate": 0.0003,
985
+ "weight_decay": 0.0001,
986
+ "warmup_updates": 100,
987
+ "min_lr_ratio": 0.1,
988
+ "grad_clip": 1.0,
989
+ "eval_every": 100,
990
+ "save_every": 1000,
991
+ "num_workers": 4,
992
+ "precision": "bf16",
993
+ "lambda_l1": 1.0,
994
+ "deterministic": true
995
+ },
996
+ "rtc": {
997
+ "spline_delay_min": 1,
998
+ "spline_delay_max": 5,
999
+ "raw_delay_min": 1,
1000
+ "raw_delay_max": 10,
1001
+ "delay_distribution": "truncated_decreasing_exponential_reference",
1002
+ "zero_delay_eval": true
1003
+ },
1004
+ "wandb": {
1005
+ "enabled": true,
1006
+ "mode": "online",
1007
+ "entity": "401910710-university-of-california-berkeley",
1008
+ "base_project": "robot-policy-50k-bs32-basic",
1009
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
1010
+ "run_suffix": "dit-b-raw-bs32-50kbase-5kttrtc",
1011
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_b/raw/wandb"
1012
+ }
1013
+ },
1014
+ "code_commit": "root repository has no commit",
1015
+ "code_snapshot_sha256": "ab710f4138f8e6533d48385f8c45e0bfdf7d7de9d4fa57da0252ba7f27cc75a6",
1016
+ "data_split": {
1017
+ "train": [
1018
+ 0,
1019
+ 1,
1020
+ 2,
1021
+ 3,
1022
+ 4,
1023
+ 5,
1024
+ 6,
1025
+ 9,
1026
+ 10,
1027
+ 11,
1028
+ 12,
1029
+ 13,
1030
+ 14,
1031
+ 15,
1032
+ 20,
1033
+ 23,
1034
+ 24,
1035
+ 25,
1036
+ 26,
1037
+ 27,
1038
+ 28,
1039
+ 29,
1040
+ 30,
1041
+ 31,
1042
+ 32,
1043
+ 33,
1044
+ 35,
1045
+ 36,
1046
+ 37,
1047
+ 38,
1048
+ 39,
1049
+ 40,
1050
+ 41,
1051
+ 42,
1052
+ 44,
1053
+ 45,
1054
+ 46,
1055
+ 47,
1056
+ 48,
1057
+ 49,
1058
+ 50,
1059
+ 51
1060
+ ],
1061
+ "val": [
1062
+ 7,
1063
+ 16,
1064
+ 17,
1065
+ 21,
1066
+ 43
1067
+ ],
1068
+ "test": [
1069
+ 8,
1070
+ 18,
1071
+ 19,
1072
+ 22,
1073
+ 34
1074
+ ]
1075
+ },
1076
+ "encoder_version": {
1077
+ "type": "RawActionSequenceConfig",
1078
+ "config": {
1079
+ "action_horizon": 30,
1080
+ "action_dim": 7,
1081
+ "vocab_size": 256
1082
+ },
1083
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
1084
+ "calibration": {
1085
+ "low": [
1086
+ -1.0,
1087
+ -1.0,
1088
+ -1.0,
1089
+ -1.0,
1090
+ -1.0,
1091
+ -1.0,
1092
+ -1.0
1093
+ ],
1094
+ "high": [
1095
+ 1.0,
1096
+ 1.0,
1097
+ 1.0,
1098
+ 1.0,
1099
+ 1.0,
1100
+ 1.0,
1101
+ 1.0
1102
+ ]
1103
+ },
1104
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
1105
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
1106
+ "rtc_history_steps": [
1107
+ 1,
1108
+ 2,
1109
+ 3,
1110
+ 4,
1111
+ 5,
1112
+ 6,
1113
+ 7,
1114
+ 8,
1115
+ 9,
1116
+ 10
1117
+ ]
1118
+ },
1119
+ "vision_weight_versions": {
1120
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
1121
+ "siglip": "vit_so400m_patch14_siglip_224"
1122
+ },
1123
+ "training_update_count": 50000,
1124
+ "checkpoint_selection_metric": {
1125
+ "name": "final validation objective",
1126
+ "value": 19.919997096061707,
1127
+ "split": "val",
1128
+ "best_observed_value": 15.75439453125
1129
+ },
1130
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli train_base --config configs/default.yaml --architecture discrete_joint --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_base.pt",
1131
+ "parameter_counts": {
1132
+ "observation_projector_state": 2878208,
1133
+ "action_backbone": 99248640,
1134
+ "embedding_output": 555520,
1135
+ "total_trainable": 102682368,
1136
+ "total": 102682368
1137
+ },
1138
+ "wandb": {
1139
+ "project": "robot-policy-50k-bs32-basic",
1140
+ "entity": "401910710-university-of-california-berkeley",
1141
+ "run_id": "x9qrzmwd",
1142
+ "run_name": "discrete_joint-base-dit-b-raw-bs32-50kbase-5kttrtc",
1143
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/x9qrzmwd",
1144
+ "mode": "online",
1145
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_base.pt"
1146
+ },
1147
+ "determinism": {
1148
+ "enabled": true,
1149
+ "seed": 7,
1150
+ "cublas_workspace_config": ":4096:8"
1151
+ }
1152
+ },
1153
+ {
1154
+ "architecture": "discrete_joint",
1155
+ "training_type": "ttrtc",
1156
+ "parent_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_base.pt",
1157
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_ttrtc.pt",
1158
+ "sha256": "f6ef22b79382d464ecdb069b94b0cf8d07b9b3a8e4bc789f55bd0af361229940",
1159
+ "configuration": {
1160
+ "data": {
1161
+ "dataset_path": "../Data/stacking_cups_action_30hz",
1162
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
1163
+ "action_representation": "raw",
1164
+ "vision_cache_path": "outputs/prepared/vision",
1165
+ "camera_keys": [
1166
+ "observation.images.global",
1167
+ "observation.images.hand"
1168
+ ],
1169
+ "state_key": "observation.state",
1170
+ "action_key": "action",
1171
+ "observation_horizon": 1,
1172
+ "action_horizon": 30,
1173
+ "frequency_hz": 30.0,
1174
+ "split_seed": 20260915,
1175
+ "train_episodes": 42,
1176
+ "val_episodes": 5,
1177
+ "test_episodes": 5
1178
+ },
1179
+ "spline": {
1180
+ "degree": 3,
1181
+ "span_length_steps": 2,
1182
+ "num_basis": 18,
1183
+ "vocab_size": 256,
1184
+ "regularization": 0.0001,
1185
+ "implementation_version": "uniform_left_direct_fit_v1"
1186
+ },
1187
+ "vision": {
1188
+ "image_size": 224,
1189
+ "pooled_grid": 4,
1190
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
1191
+ "siglip_model": "vit_so400m_patch14_siglip_224",
1192
+ "extraction_layer_offset": -2,
1193
+ "pretrained": true,
1194
+ "cache_dtype": "float16"
1195
+ },
1196
+ "policy": {
1197
+ "architecture": "discrete_joint",
1198
+ "model_size": "DiT-B",
1199
+ "hidden_dim": 768,
1200
+ "depth": 12,
1201
+ "heads": 12,
1202
+ "mlp_ratio": 4.0,
1203
+ "dropout": 0.0,
1204
+ "discrete_rounds": 8,
1205
+ "block_size": 21,
1206
+ "fm_steps": 12
1207
+ },
1208
+ "train": {
1209
+ "seed": 7,
1210
+ "updates": 50000,
1211
+ "rtc_updates": 5000,
1212
+ "batch_size": 32,
1213
+ "effective_batch_size": 32,
1214
+ "learning_rate": 0.0003,
1215
+ "weight_decay": 0.0001,
1216
+ "warmup_updates": 100,
1217
+ "min_lr_ratio": 0.1,
1218
+ "grad_clip": 1.0,
1219
+ "eval_every": 100,
1220
+ "save_every": 1000,
1221
+ "num_workers": 4,
1222
+ "precision": "bf16",
1223
+ "lambda_l1": 1.0,
1224
+ "deterministic": true
1225
+ },
1226
+ "rtc": {
1227
+ "spline_delay_min": 1,
1228
+ "spline_delay_max": 5,
1229
+ "raw_delay_min": 1,
1230
+ "raw_delay_max": 10,
1231
+ "delay_distribution": "truncated_decreasing_exponential_reference",
1232
+ "zero_delay_eval": true
1233
+ },
1234
+ "wandb": {
1235
+ "enabled": true,
1236
+ "mode": "online",
1237
+ "entity": "401910710-university-of-california-berkeley",
1238
+ "base_project": "robot-policy-50k-bs32-basic",
1239
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
1240
+ "run_suffix": "dit-b-raw-bs32-50kbase-5kttrtc",
1241
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_b/raw/wandb"
1242
+ }
1243
+ },
1244
+ "code_commit": "root repository has no commit",
1245
+ "code_snapshot_sha256": "ab710f4138f8e6533d48385f8c45e0bfdf7d7de9d4fa57da0252ba7f27cc75a6",
1246
+ "data_split": {
1247
+ "train": [
1248
+ 0,
1249
+ 1,
1250
+ 2,
1251
+ 3,
1252
+ 4,
1253
+ 5,
1254
+ 6,
1255
+ 9,
1256
+ 10,
1257
+ 11,
1258
+ 12,
1259
+ 13,
1260
+ 14,
1261
+ 15,
1262
+ 20,
1263
+ 23,
1264
+ 24,
1265
+ 25,
1266
+ 26,
1267
+ 27,
1268
+ 28,
1269
+ 29,
1270
+ 30,
1271
+ 31,
1272
+ 32,
1273
+ 33,
1274
+ 35,
1275
+ 36,
1276
+ 37,
1277
+ 38,
1278
+ 39,
1279
+ 40,
1280
+ 41,
1281
+ 42,
1282
+ 44,
1283
+ 45,
1284
+ 46,
1285
+ 47,
1286
+ 48,
1287
+ 49,
1288
+ 50,
1289
+ 51
1290
+ ],
1291
+ "val": [
1292
+ 7,
1293
+ 16,
1294
+ 17,
1295
+ 21,
1296
+ 43
1297
+ ],
1298
+ "test": [
1299
+ 8,
1300
+ 18,
1301
+ 19,
1302
+ 22,
1303
+ 34
1304
+ ]
1305
+ },
1306
+ "encoder_version": {
1307
+ "type": "RawActionSequenceConfig",
1308
+ "config": {
1309
+ "action_horizon": 30,
1310
+ "action_dim": 7,
1311
+ "vocab_size": 256
1312
+ },
1313
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
1314
+ "calibration": {
1315
+ "low": [
1316
+ -1.0,
1317
+ -1.0,
1318
+ -1.0,
1319
+ -1.0,
1320
+ -1.0,
1321
+ -1.0,
1322
+ -1.0
1323
+ ],
1324
+ "high": [
1325
+ 1.0,
1326
+ 1.0,
1327
+ 1.0,
1328
+ 1.0,
1329
+ 1.0,
1330
+ 1.0,
1331
+ 1.0
1332
+ ]
1333
+ },
1334
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
1335
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
1336
+ "rtc_history_steps": [
1337
+ 1,
1338
+ 2,
1339
+ 3,
1340
+ 4,
1341
+ 5,
1342
+ 6,
1343
+ 7,
1344
+ 8,
1345
+ 9,
1346
+ 10
1347
+ ]
1348
+ },
1349
+ "vision_weight_versions": {
1350
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
1351
+ "siglip": "vit_so400m_patch14_siglip_224"
1352
+ },
1353
+ "training_update_count": 5000,
1354
+ "checkpoint_selection_metric": {
1355
+ "name": "final validation objective",
1356
+ "value": 18.554104268550873,
1357
+ "split": "val",
1358
+ "best_observed_value": 18.198987901210785
1359
+ },
1360
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli finetune_rtc --config configs/default.yaml --architecture discrete_joint --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_ttrtc.pt --parent /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_base.pt",
1361
+ "parameter_counts": {
1362
+ "observation_projector_state": 2878208,
1363
+ "action_backbone": 99248640,
1364
+ "embedding_output": 555520,
1365
+ "total_trainable": 102682368,
1366
+ "total": 102682368
1367
+ },
1368
+ "wandb": {
1369
+ "project": "robot-policy-5k-bs32-ttRTC",
1370
+ "entity": "401910710-university-of-california-berkeley",
1371
+ "run_id": "1hux9mwd",
1372
+ "run_name": "discrete_joint-ttrtc-dit-b-raw-bs32-50kbase-5kttrtc",
1373
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/1hux9mwd",
1374
+ "mode": "online",
1375
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_ttrtc.pt"
1376
+ },
1377
+ "determinism": {
1378
+ "enabled": true,
1379
+ "seed": 7,
1380
+ "cublas_workspace_config": ":4096:8"
1381
+ }
1382
+ }
1383
+ ]
1384
+ }
NewModel/dit_b/raw/checkpoints/discrete_joint_base.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-50k-bs32-basic",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "x9qrzmwd",
5
+ "run_name": "discrete_joint-base-dit-b-raw-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/x9qrzmwd",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_base.pt"
9
+ }
NewModel/dit_b/raw/checkpoints/discrete_joint_ttrtc.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-5k-bs32-ttRTC",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "1hux9mwd",
5
+ "run_name": "discrete_joint-ttrtc-dit-b-raw-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/1hux9mwd",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_joint_ttrtc.pt"
9
+ }
NewModel/dit_b/raw/checkpoints/discrete_layerwise_base.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-50k-bs32-basic",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "o2g40xq8",
5
+ "run_name": "discrete_layerwise-base-dit-b-raw-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/o2g40xq8",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_base.pt"
9
+ }
NewModel/dit_b/raw/checkpoints/discrete_layerwise_ttrtc.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:35ffb57856657c89b29745b3f01c822a6d4e964e18b1f7edd0e1870dea0220fa
3
+ size 1289571903
NewModel/dit_b/raw/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-5k-bs32-ttRTC",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "ajt8p9vs",
5
+ "run_name": "discrete_layerwise-ttrtc-dit-b-raw-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/ajt8p9vs",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/checkpoints/discrete_layerwise_ttrtc.pt"
9
+ }
NewModel/dit_l/bspline/checkpoints/checkpoint_manifest.json ADDED
The diff for this file is too large to render. See raw diff
 
NewModel/dit_l/bspline/checkpoints/discrete_joint_base.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5c011eb80529ada7f02eb07d1b8101bbc320eb19e92f2791d2ea60ba9e8fbb5b
3
+ size 4300142367
NewModel/dit_l/bspline/checkpoints/discrete_joint_base.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-50k-bs32-basic",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "us6r4jrf",
5
+ "run_name": "discrete_joint-base-dit-l-bspline-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/us6r4jrf",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/discrete_joint_base.pt"
9
+ }
NewModel/dit_l/bspline/checkpoints/discrete_joint_ttrtc.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c66cae18ade46f2d1183dc6879cb189f5a6e1f2919c6e11d2ea98f3d5bfa7860
3
+ size 4294271627
NewModel/dit_l/bspline/checkpoints/discrete_joint_ttrtc.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-5k-bs32-ttRTC",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "ra5ijsh8",
5
+ "run_name": "discrete_joint-ttrtc-dit-l-bspline-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/ra5ijsh8",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/discrete_joint_ttrtc.pt"
9
+ }
NewModel/dit_l/bspline/checkpoints/discrete_layerwise_base.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8a0e8e7a0993651103405f25481b792ed6bbc59c3b4a57590bdbf819ae791e87
3
+ size 4399925363
NewModel/dit_l/bspline/checkpoints/discrete_layerwise_base.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-50k-bs32-basic",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "i9zgz3hh",
5
+ "run_name": "discrete_layerwise-base-dit-l-bspline-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/i9zgz3hh",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/discrete_layerwise_base.pt"
9
+ }
NewModel/dit_l/bspline/checkpoints/discrete_layerwise_ttrtc.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a205ce7c6706ffb66717bdffbd5b51a5855c5f5ff9fee2b865bd73ed28d246b7
3
+ size 4394054647
NewModel/dit_l/bspline/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-5k-bs32-ttRTC",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "pgnhmdfl",
5
+ "run_name": "discrete_layerwise-ttrtc-dit-l-bspline-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/pgnhmdfl",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/discrete_layerwise_ttrtc.pt"
9
+ }
NewModel/dit_l/bspline/checkpoints/fm_base.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dfbaa30912bfc30adb7b95ec2935213931c9c7b9accfe144e3384897e4f021be
3
+ size 4416327727
NewModel/dit_l/bspline/checkpoints/fm_base.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-50k-bs32-basic",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "hso7oc5a",
5
+ "run_name": "fm-base-dit-l-bspline-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/hso7oc5a",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/fm_base.pt"
9
+ }
NewModel/dit_l/bspline/checkpoints/fm_ttrtc.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2941af73c960752b4b3e3ac40bf7b860a5322ecf6b08ac017415123d04cefdaf
3
+ size 4411742195
NewModel/dit_l/bspline/checkpoints/fm_ttrtc.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-5k-bs32-ttRTC",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "s56r3udm",
5
+ "run_name": "fm-ttrtc-dit-l-bspline-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/s56r3udm",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/fm_ttrtc.pt"
9
+ }
NewModel/dit_l/raw/checkpoints/checkpoint_manifest.json ADDED
@@ -0,0 +1,1384 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "checkpoints": [
3
+ {
4
+ "architecture": "fm",
5
+ "training_type": "base",
6
+ "parent_checkpoint": null,
7
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_base.pt",
8
+ "sha256": "b56ac6f764ce6abe17bd9d9129efec1f6e1a21c336faa91b1c18740e528033ba",
9
+ "configuration": {
10
+ "data": {
11
+ "dataset_path": "../Data/stacking_cups_action_30hz",
12
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
13
+ "action_representation": "raw",
14
+ "vision_cache_path": "outputs/prepared/vision",
15
+ "camera_keys": [
16
+ "observation.images.global",
17
+ "observation.images.hand"
18
+ ],
19
+ "state_key": "observation.state",
20
+ "action_key": "action",
21
+ "observation_horizon": 1,
22
+ "action_horizon": 30,
23
+ "frequency_hz": 30.0,
24
+ "split_seed": 20260915,
25
+ "train_episodes": 42,
26
+ "val_episodes": 5,
27
+ "test_episodes": 5
28
+ },
29
+ "spline": {
30
+ "degree": 3,
31
+ "span_length_steps": 2,
32
+ "num_basis": 18,
33
+ "vocab_size": 256,
34
+ "regularization": 0.0001,
35
+ "implementation_version": "uniform_left_direct_fit_v1"
36
+ },
37
+ "vision": {
38
+ "image_size": 224,
39
+ "pooled_grid": 4,
40
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
41
+ "siglip_model": "vit_so400m_patch14_siglip_224",
42
+ "extraction_layer_offset": -2,
43
+ "pretrained": true,
44
+ "cache_dtype": "float16"
45
+ },
46
+ "policy": {
47
+ "architecture": "fm",
48
+ "model_size": "DiT-L",
49
+ "hidden_dim": 1024,
50
+ "depth": 24,
51
+ "heads": 16,
52
+ "mlp_ratio": 4.0,
53
+ "dropout": 0.0,
54
+ "discrete_rounds": 8,
55
+ "block_size": 21,
56
+ "fm_steps": 12
57
+ },
58
+ "train": {
59
+ "seed": 7,
60
+ "updates": 50000,
61
+ "rtc_updates": 5000,
62
+ "batch_size": 32,
63
+ "effective_batch_size": 32,
64
+ "learning_rate": 0.0003,
65
+ "weight_decay": 0.0001,
66
+ "warmup_updates": 100,
67
+ "min_lr_ratio": 0.1,
68
+ "grad_clip": 1.0,
69
+ "eval_every": 100,
70
+ "save_every": 1000,
71
+ "num_workers": 4,
72
+ "precision": "bf16",
73
+ "lambda_l1": 1.0,
74
+ "deterministic": true
75
+ },
76
+ "rtc": {
77
+ "spline_delay_min": 1,
78
+ "spline_delay_max": 5,
79
+ "raw_delay_min": 1,
80
+ "raw_delay_max": 10,
81
+ "delay_distribution": "truncated_decreasing_exponential_reference",
82
+ "zero_delay_eval": true
83
+ },
84
+ "wandb": {
85
+ "enabled": true,
86
+ "mode": "online",
87
+ "entity": "401910710-university-of-california-berkeley",
88
+ "base_project": "robot-policy-50k-bs32-basic",
89
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
90
+ "run_suffix": "dit-l-raw-bs32-50kbase-5kttrtc",
91
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_l/raw/wandb"
92
+ }
93
+ },
94
+ "code_commit": "root repository has no commit",
95
+ "code_snapshot_sha256": "ff17aee9dd010104d8e7fb887879dcefe6a855c5ba931215b572c62bfd1a56ac",
96
+ "data_split": {
97
+ "train": [
98
+ 0,
99
+ 1,
100
+ 2,
101
+ 3,
102
+ 4,
103
+ 5,
104
+ 6,
105
+ 9,
106
+ 10,
107
+ 11,
108
+ 12,
109
+ 13,
110
+ 14,
111
+ 15,
112
+ 20,
113
+ 23,
114
+ 24,
115
+ 25,
116
+ 26,
117
+ 27,
118
+ 28,
119
+ 29,
120
+ 30,
121
+ 31,
122
+ 32,
123
+ 33,
124
+ 35,
125
+ 36,
126
+ 37,
127
+ 38,
128
+ 39,
129
+ 40,
130
+ 41,
131
+ 42,
132
+ 44,
133
+ 45,
134
+ 46,
135
+ 47,
136
+ 48,
137
+ 49,
138
+ 50,
139
+ 51
140
+ ],
141
+ "val": [
142
+ 7,
143
+ 16,
144
+ 17,
145
+ 21,
146
+ 43
147
+ ],
148
+ "test": [
149
+ 8,
150
+ 18,
151
+ 19,
152
+ 22,
153
+ 34
154
+ ]
155
+ },
156
+ "encoder_version": {
157
+ "type": "RawActionSequenceConfig",
158
+ "config": {
159
+ "action_horizon": 30,
160
+ "action_dim": 7,
161
+ "vocab_size": 256
162
+ },
163
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
164
+ "calibration": {
165
+ "low": [
166
+ -1.0,
167
+ -1.0,
168
+ -1.0,
169
+ -1.0,
170
+ -1.0,
171
+ -1.0,
172
+ -1.0
173
+ ],
174
+ "high": [
175
+ 1.0,
176
+ 1.0,
177
+ 1.0,
178
+ 1.0,
179
+ 1.0,
180
+ 1.0,
181
+ 1.0
182
+ ]
183
+ },
184
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
185
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
186
+ "rtc_history_steps": [
187
+ 1,
188
+ 2,
189
+ 3,
190
+ 4,
191
+ 5,
192
+ 6,
193
+ 7,
194
+ 8,
195
+ 9,
196
+ 10
197
+ ]
198
+ },
199
+ "vision_weight_versions": {
200
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
201
+ "siglip": "vit_so400m_patch14_siglip_224"
202
+ },
203
+ "training_update_count": 50000,
204
+ "checkpoint_selection_metric": {
205
+ "name": "final validation objective",
206
+ "value": 0.10084222572913859,
207
+ "split": "val",
208
+ "best_observed_value": 0.03871208673808724
209
+ },
210
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli train_base --config configs/default.yaml --architecture fm --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_base.pt",
211
+ "parameter_counts": {
212
+ "observation_projector_state": 4360448,
213
+ "action_backbone": 361069568,
214
+ "embedding_output": 2152455,
215
+ "total_trainable": 367582471,
216
+ "total": 367582471
217
+ },
218
+ "wandb": {
219
+ "project": "robot-policy-50k-bs32-basic",
220
+ "entity": "401910710-university-of-california-berkeley",
221
+ "run_id": "tziiazri",
222
+ "run_name": "fm-base-dit-l-raw-bs32-50kbase-5kttrtc",
223
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/tziiazri",
224
+ "mode": "online",
225
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_base.pt"
226
+ },
227
+ "determinism": {
228
+ "enabled": true,
229
+ "seed": 7,
230
+ "cublas_workspace_config": ":4096:8"
231
+ }
232
+ },
233
+ {
234
+ "architecture": "discrete_layerwise",
235
+ "training_type": "base",
236
+ "parent_checkpoint": null,
237
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_base.pt",
238
+ "sha256": "05a827fb7570ec3ab5efded67a986f77d8c461e1b76b0ebde135247bba908988",
239
+ "configuration": {
240
+ "data": {
241
+ "dataset_path": "../Data/stacking_cups_action_30hz",
242
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
243
+ "action_representation": "raw",
244
+ "vision_cache_path": "outputs/prepared/vision",
245
+ "camera_keys": [
246
+ "observation.images.global",
247
+ "observation.images.hand"
248
+ ],
249
+ "state_key": "observation.state",
250
+ "action_key": "action",
251
+ "observation_horizon": 1,
252
+ "action_horizon": 30,
253
+ "frequency_hz": 30.0,
254
+ "split_seed": 20260915,
255
+ "train_episodes": 42,
256
+ "val_episodes": 5,
257
+ "test_episodes": 5
258
+ },
259
+ "spline": {
260
+ "degree": 3,
261
+ "span_length_steps": 2,
262
+ "num_basis": 18,
263
+ "vocab_size": 256,
264
+ "regularization": 0.0001,
265
+ "implementation_version": "uniform_left_direct_fit_v1"
266
+ },
267
+ "vision": {
268
+ "image_size": 224,
269
+ "pooled_grid": 4,
270
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
271
+ "siglip_model": "vit_so400m_patch14_siglip_224",
272
+ "extraction_layer_offset": -2,
273
+ "pretrained": true,
274
+ "cache_dtype": "float16"
275
+ },
276
+ "policy": {
277
+ "architecture": "discrete_layerwise",
278
+ "model_size": "DiT-L",
279
+ "hidden_dim": 1024,
280
+ "depth": 24,
281
+ "heads": 16,
282
+ "mlp_ratio": 4.0,
283
+ "dropout": 0.0,
284
+ "discrete_rounds": 8,
285
+ "block_size": 21,
286
+ "fm_steps": 12
287
+ },
288
+ "train": {
289
+ "seed": 7,
290
+ "updates": 50000,
291
+ "rtc_updates": 5000,
292
+ "batch_size": 32,
293
+ "effective_batch_size": 32,
294
+ "learning_rate": 0.0003,
295
+ "weight_decay": 0.0001,
296
+ "warmup_updates": 100,
297
+ "min_lr_ratio": 0.1,
298
+ "grad_clip": 1.0,
299
+ "eval_every": 100,
300
+ "save_every": 1000,
301
+ "num_workers": 4,
302
+ "precision": "bf16",
303
+ "lambda_l1": 1.0,
304
+ "deterministic": true
305
+ },
306
+ "rtc": {
307
+ "spline_delay_min": 1,
308
+ "spline_delay_max": 5,
309
+ "raw_delay_min": 1,
310
+ "raw_delay_max": 10,
311
+ "delay_distribution": "truncated_decreasing_exponential_reference",
312
+ "zero_delay_eval": true
313
+ },
314
+ "wandb": {
315
+ "enabled": true,
316
+ "mode": "online",
317
+ "entity": "401910710-university-of-california-berkeley",
318
+ "base_project": "robot-policy-50k-bs32-basic",
319
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
320
+ "run_suffix": "dit-l-raw-bs32-50kbase-5kttrtc",
321
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_l/raw/wandb"
322
+ }
323
+ },
324
+ "code_commit": "root repository has no commit",
325
+ "code_snapshot_sha256": "ab710f4138f8e6533d48385f8c45e0bfdf7d7de9d4fa57da0252ba7f27cc75a6",
326
+ "data_split": {
327
+ "train": [
328
+ 0,
329
+ 1,
330
+ 2,
331
+ 3,
332
+ 4,
333
+ 5,
334
+ 6,
335
+ 9,
336
+ 10,
337
+ 11,
338
+ 12,
339
+ 13,
340
+ 14,
341
+ 15,
342
+ 20,
343
+ 23,
344
+ 24,
345
+ 25,
346
+ 26,
347
+ 27,
348
+ 28,
349
+ 29,
350
+ 30,
351
+ 31,
352
+ 32,
353
+ 33,
354
+ 35,
355
+ 36,
356
+ 37,
357
+ 38,
358
+ 39,
359
+ 40,
360
+ 41,
361
+ 42,
362
+ 44,
363
+ 45,
364
+ 46,
365
+ 47,
366
+ 48,
367
+ 49,
368
+ 50,
369
+ 51
370
+ ],
371
+ "val": [
372
+ 7,
373
+ 16,
374
+ 17,
375
+ 21,
376
+ 43
377
+ ],
378
+ "test": [
379
+ 8,
380
+ 18,
381
+ 19,
382
+ 22,
383
+ 34
384
+ ]
385
+ },
386
+ "encoder_version": {
387
+ "type": "RawActionSequenceConfig",
388
+ "config": {
389
+ "action_horizon": 30,
390
+ "action_dim": 7,
391
+ "vocab_size": 256
392
+ },
393
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
394
+ "calibration": {
395
+ "low": [
396
+ -1.0,
397
+ -1.0,
398
+ -1.0,
399
+ -1.0,
400
+ -1.0,
401
+ -1.0,
402
+ -1.0
403
+ ],
404
+ "high": [
405
+ 1.0,
406
+ 1.0,
407
+ 1.0,
408
+ 1.0,
409
+ 1.0,
410
+ 1.0,
411
+ 1.0
412
+ ]
413
+ },
414
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
415
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
416
+ "rtc_history_steps": [
417
+ 1,
418
+ 2,
419
+ 3,
420
+ 4,
421
+ 5,
422
+ 6,
423
+ 7,
424
+ 8,
425
+ 9,
426
+ 10
427
+ ]
428
+ },
429
+ "vision_weight_versions": {
430
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
431
+ "siglip": "vit_so400m_patch14_siglip_224"
432
+ },
433
+ "training_update_count": 50000,
434
+ "checkpoint_selection_metric": {
435
+ "name": "final validation objective",
436
+ "value": 18.5058074593544,
437
+ "split": "val",
438
+ "best_observed_value": 16.136233776807785
439
+ },
440
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli train_base --config configs/default.yaml --architecture discrete_layerwise --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_base.pt",
441
+ "parameter_counts": {
442
+ "observation_projector_state": 4360448,
443
+ "action_backbone": 361069568,
444
+ "embedding_output": 740608,
445
+ "total_trainable": 366170624,
446
+ "total": 366170624
447
+ },
448
+ "wandb": {
449
+ "project": "robot-policy-50k-bs32-basic",
450
+ "entity": "401910710-university-of-california-berkeley",
451
+ "run_id": "o0tj6klu",
452
+ "run_name": "discrete_layerwise-base-dit-l-raw-bs32-50kbase-5kttrtc",
453
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/o0tj6klu",
454
+ "mode": "online",
455
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_base.pt"
456
+ },
457
+ "determinism": {
458
+ "enabled": true,
459
+ "seed": 7,
460
+ "cublas_workspace_config": ":4096:8"
461
+ }
462
+ },
463
+ {
464
+ "architecture": "fm",
465
+ "training_type": "ttrtc",
466
+ "parent_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_base.pt",
467
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_ttrtc.pt",
468
+ "sha256": "fc84379971878778051da9d2c9689889d7caad33e629f502fa9703ab91779902",
469
+ "configuration": {
470
+ "data": {
471
+ "dataset_path": "../Data/stacking_cups_action_30hz",
472
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
473
+ "action_representation": "raw",
474
+ "vision_cache_path": "outputs/prepared/vision",
475
+ "camera_keys": [
476
+ "observation.images.global",
477
+ "observation.images.hand"
478
+ ],
479
+ "state_key": "observation.state",
480
+ "action_key": "action",
481
+ "observation_horizon": 1,
482
+ "action_horizon": 30,
483
+ "frequency_hz": 30.0,
484
+ "split_seed": 20260915,
485
+ "train_episodes": 42,
486
+ "val_episodes": 5,
487
+ "test_episodes": 5
488
+ },
489
+ "spline": {
490
+ "degree": 3,
491
+ "span_length_steps": 2,
492
+ "num_basis": 18,
493
+ "vocab_size": 256,
494
+ "regularization": 0.0001,
495
+ "implementation_version": "uniform_left_direct_fit_v1"
496
+ },
497
+ "vision": {
498
+ "image_size": 224,
499
+ "pooled_grid": 4,
500
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
501
+ "siglip_model": "vit_so400m_patch14_siglip_224",
502
+ "extraction_layer_offset": -2,
503
+ "pretrained": true,
504
+ "cache_dtype": "float16"
505
+ },
506
+ "policy": {
507
+ "architecture": "fm",
508
+ "model_size": "DiT-L",
509
+ "hidden_dim": 1024,
510
+ "depth": 24,
511
+ "heads": 16,
512
+ "mlp_ratio": 4.0,
513
+ "dropout": 0.0,
514
+ "discrete_rounds": 8,
515
+ "block_size": 21,
516
+ "fm_steps": 12
517
+ },
518
+ "train": {
519
+ "seed": 7,
520
+ "updates": 50000,
521
+ "rtc_updates": 5000,
522
+ "batch_size": 32,
523
+ "effective_batch_size": 32,
524
+ "learning_rate": 0.0003,
525
+ "weight_decay": 0.0001,
526
+ "warmup_updates": 100,
527
+ "min_lr_ratio": 0.1,
528
+ "grad_clip": 1.0,
529
+ "eval_every": 100,
530
+ "save_every": 1000,
531
+ "num_workers": 4,
532
+ "precision": "bf16",
533
+ "lambda_l1": 1.0,
534
+ "deterministic": true
535
+ },
536
+ "rtc": {
537
+ "spline_delay_min": 1,
538
+ "spline_delay_max": 5,
539
+ "raw_delay_min": 1,
540
+ "raw_delay_max": 10,
541
+ "delay_distribution": "truncated_decreasing_exponential_reference",
542
+ "zero_delay_eval": true
543
+ },
544
+ "wandb": {
545
+ "enabled": true,
546
+ "mode": "online",
547
+ "entity": "401910710-university-of-california-berkeley",
548
+ "base_project": "robot-policy-50k-bs32-basic",
549
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
550
+ "run_suffix": "dit-l-raw-bs32-50kbase-5kttrtc",
551
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_l/raw/wandb"
552
+ }
553
+ },
554
+ "code_commit": "root repository has no commit",
555
+ "code_snapshot_sha256": "ab710f4138f8e6533d48385f8c45e0bfdf7d7de9d4fa57da0252ba7f27cc75a6",
556
+ "data_split": {
557
+ "train": [
558
+ 0,
559
+ 1,
560
+ 2,
561
+ 3,
562
+ 4,
563
+ 5,
564
+ 6,
565
+ 9,
566
+ 10,
567
+ 11,
568
+ 12,
569
+ 13,
570
+ 14,
571
+ 15,
572
+ 20,
573
+ 23,
574
+ 24,
575
+ 25,
576
+ 26,
577
+ 27,
578
+ 28,
579
+ 29,
580
+ 30,
581
+ 31,
582
+ 32,
583
+ 33,
584
+ 35,
585
+ 36,
586
+ 37,
587
+ 38,
588
+ 39,
589
+ 40,
590
+ 41,
591
+ 42,
592
+ 44,
593
+ 45,
594
+ 46,
595
+ 47,
596
+ 48,
597
+ 49,
598
+ 50,
599
+ 51
600
+ ],
601
+ "val": [
602
+ 7,
603
+ 16,
604
+ 17,
605
+ 21,
606
+ 43
607
+ ],
608
+ "test": [
609
+ 8,
610
+ 18,
611
+ 19,
612
+ 22,
613
+ 34
614
+ ]
615
+ },
616
+ "encoder_version": {
617
+ "type": "RawActionSequenceConfig",
618
+ "config": {
619
+ "action_horizon": 30,
620
+ "action_dim": 7,
621
+ "vocab_size": 256
622
+ },
623
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
624
+ "calibration": {
625
+ "low": [
626
+ -1.0,
627
+ -1.0,
628
+ -1.0,
629
+ -1.0,
630
+ -1.0,
631
+ -1.0,
632
+ -1.0
633
+ ],
634
+ "high": [
635
+ 1.0,
636
+ 1.0,
637
+ 1.0,
638
+ 1.0,
639
+ 1.0,
640
+ 1.0,
641
+ 1.0
642
+ ]
643
+ },
644
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
645
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
646
+ "rtc_history_steps": [
647
+ 1,
648
+ 2,
649
+ 3,
650
+ 4,
651
+ 5,
652
+ 6,
653
+ 7,
654
+ 8,
655
+ 9,
656
+ 10
657
+ ]
658
+ },
659
+ "vision_weight_versions": {
660
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
661
+ "siglip": "vit_so400m_patch14_siglip_224"
662
+ },
663
+ "training_update_count": 5000,
664
+ "checkpoint_selection_metric": {
665
+ "name": "final validation objective",
666
+ "value": 0.09900920937070623,
667
+ "split": "val",
668
+ "best_observed_value": 0.06002456188434735
669
+ },
670
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli finetune_rtc --config configs/default.yaml --architecture fm --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_ttrtc.pt --parent /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_base.pt",
671
+ "parameter_counts": {
672
+ "observation_projector_state": 4360448,
673
+ "action_backbone": 361069568,
674
+ "embedding_output": 2152455,
675
+ "total_trainable": 367582471,
676
+ "total": 367582471
677
+ },
678
+ "wandb": {
679
+ "project": "robot-policy-5k-bs32-ttRTC",
680
+ "entity": "401910710-university-of-california-berkeley",
681
+ "run_id": "redv2qv4",
682
+ "run_name": "fm-ttrtc-dit-l-raw-bs32-50kbase-5kttrtc",
683
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/redv2qv4",
684
+ "mode": "online",
685
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_ttrtc.pt"
686
+ },
687
+ "determinism": {
688
+ "enabled": true,
689
+ "seed": 7,
690
+ "cublas_workspace_config": ":4096:8"
691
+ }
692
+ },
693
+ {
694
+ "architecture": "discrete_joint",
695
+ "training_type": "base",
696
+ "parent_checkpoint": null,
697
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_base.pt",
698
+ "sha256": "46ba37da6e38d427aebd36ad5e567595721731bd30983d75a885987c639b152b",
699
+ "configuration": {
700
+ "data": {
701
+ "dataset_path": "../Data/stacking_cups_action_30hz",
702
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
703
+ "action_representation": "raw",
704
+ "vision_cache_path": "outputs/prepared/vision",
705
+ "camera_keys": [
706
+ "observation.images.global",
707
+ "observation.images.hand"
708
+ ],
709
+ "state_key": "observation.state",
710
+ "action_key": "action",
711
+ "observation_horizon": 1,
712
+ "action_horizon": 30,
713
+ "frequency_hz": 30.0,
714
+ "split_seed": 20260915,
715
+ "train_episodes": 42,
716
+ "val_episodes": 5,
717
+ "test_episodes": 5
718
+ },
719
+ "spline": {
720
+ "degree": 3,
721
+ "span_length_steps": 2,
722
+ "num_basis": 18,
723
+ "vocab_size": 256,
724
+ "regularization": 0.0001,
725
+ "implementation_version": "uniform_left_direct_fit_v1"
726
+ },
727
+ "vision": {
728
+ "image_size": 224,
729
+ "pooled_grid": 4,
730
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
731
+ "siglip_model": "vit_so400m_patch14_siglip_224",
732
+ "extraction_layer_offset": -2,
733
+ "pretrained": true,
734
+ "cache_dtype": "float16"
735
+ },
736
+ "policy": {
737
+ "architecture": "discrete_joint",
738
+ "model_size": "DiT-L",
739
+ "hidden_dim": 1024,
740
+ "depth": 24,
741
+ "heads": 16,
742
+ "mlp_ratio": 4.0,
743
+ "dropout": 0.0,
744
+ "discrete_rounds": 8,
745
+ "block_size": 21,
746
+ "fm_steps": 12
747
+ },
748
+ "train": {
749
+ "seed": 7,
750
+ "updates": 50000,
751
+ "rtc_updates": 5000,
752
+ "batch_size": 32,
753
+ "effective_batch_size": 32,
754
+ "learning_rate": 0.0003,
755
+ "weight_decay": 0.0001,
756
+ "warmup_updates": 100,
757
+ "min_lr_ratio": 0.1,
758
+ "grad_clip": 1.0,
759
+ "eval_every": 100,
760
+ "save_every": 1000,
761
+ "num_workers": 4,
762
+ "precision": "bf16",
763
+ "lambda_l1": 1.0,
764
+ "deterministic": true
765
+ },
766
+ "rtc": {
767
+ "spline_delay_min": 1,
768
+ "spline_delay_max": 5,
769
+ "raw_delay_min": 1,
770
+ "raw_delay_max": 10,
771
+ "delay_distribution": "truncated_decreasing_exponential_reference",
772
+ "zero_delay_eval": true
773
+ },
774
+ "wandb": {
775
+ "enabled": true,
776
+ "mode": "online",
777
+ "entity": "401910710-university-of-california-berkeley",
778
+ "base_project": "robot-policy-50k-bs32-basic",
779
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
780
+ "run_suffix": "dit-l-raw-bs32-50kbase-5kttrtc",
781
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_l/raw/wandb"
782
+ }
783
+ },
784
+ "code_commit": "root repository has no commit",
785
+ "code_snapshot_sha256": "ab710f4138f8e6533d48385f8c45e0bfdf7d7de9d4fa57da0252ba7f27cc75a6",
786
+ "data_split": {
787
+ "train": [
788
+ 0,
789
+ 1,
790
+ 2,
791
+ 3,
792
+ 4,
793
+ 5,
794
+ 6,
795
+ 9,
796
+ 10,
797
+ 11,
798
+ 12,
799
+ 13,
800
+ 14,
801
+ 15,
802
+ 20,
803
+ 23,
804
+ 24,
805
+ 25,
806
+ 26,
807
+ 27,
808
+ 28,
809
+ 29,
810
+ 30,
811
+ 31,
812
+ 32,
813
+ 33,
814
+ 35,
815
+ 36,
816
+ 37,
817
+ 38,
818
+ 39,
819
+ 40,
820
+ 41,
821
+ 42,
822
+ 44,
823
+ 45,
824
+ 46,
825
+ 47,
826
+ 48,
827
+ 49,
828
+ 50,
829
+ 51
830
+ ],
831
+ "val": [
832
+ 7,
833
+ 16,
834
+ 17,
835
+ 21,
836
+ 43
837
+ ],
838
+ "test": [
839
+ 8,
840
+ 18,
841
+ 19,
842
+ 22,
843
+ 34
844
+ ]
845
+ },
846
+ "encoder_version": {
847
+ "type": "RawActionSequenceConfig",
848
+ "config": {
849
+ "action_horizon": 30,
850
+ "action_dim": 7,
851
+ "vocab_size": 256
852
+ },
853
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
854
+ "calibration": {
855
+ "low": [
856
+ -1.0,
857
+ -1.0,
858
+ -1.0,
859
+ -1.0,
860
+ -1.0,
861
+ -1.0,
862
+ -1.0
863
+ ],
864
+ "high": [
865
+ 1.0,
866
+ 1.0,
867
+ 1.0,
868
+ 1.0,
869
+ 1.0,
870
+ 1.0,
871
+ 1.0
872
+ ]
873
+ },
874
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
875
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
876
+ "rtc_history_steps": [
877
+ 1,
878
+ 2,
879
+ 3,
880
+ 4,
881
+ 5,
882
+ 6,
883
+ 7,
884
+ 8,
885
+ 9,
886
+ 10
887
+ ]
888
+ },
889
+ "vision_weight_versions": {
890
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
891
+ "siglip": "vit_so400m_patch14_siglip_224"
892
+ },
893
+ "training_update_count": 50000,
894
+ "checkpoint_selection_metric": {
895
+ "name": "final validation objective",
896
+ "value": 25.920375645160675,
897
+ "split": "val",
898
+ "best_observed_value": 18.233765304088593
899
+ },
900
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli train_base --config configs/default.yaml --architecture discrete_joint --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_base.pt",
901
+ "parameter_counts": {
902
+ "observation_projector_state": 4360448,
903
+ "action_backbone": 352741376,
904
+ "embedding_output": 740608,
905
+ "total_trainable": 357842432,
906
+ "total": 357842432
907
+ },
908
+ "wandb": {
909
+ "project": "robot-policy-50k-bs32-basic",
910
+ "entity": "401910710-university-of-california-berkeley",
911
+ "run_id": "kvby9apd",
912
+ "run_name": "discrete_joint-base-dit-l-raw-bs32-50kbase-5kttrtc",
913
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/kvby9apd",
914
+ "mode": "online",
915
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_base.pt"
916
+ },
917
+ "determinism": {
918
+ "enabled": true,
919
+ "seed": 7,
920
+ "cublas_workspace_config": ":4096:8"
921
+ }
922
+ },
923
+ {
924
+ "architecture": "discrete_joint",
925
+ "training_type": "ttrtc",
926
+ "parent_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_base.pt",
927
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt",
928
+ "sha256": "be4af0aee1f27807ba8b0cd0cfab5d5cc9132081742d4499675774ef7a2fe178",
929
+ "configuration": {
930
+ "data": {
931
+ "dataset_path": "../Data/stacking_cups_action_30hz",
932
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
933
+ "action_representation": "raw",
934
+ "vision_cache_path": "outputs/prepared/vision",
935
+ "camera_keys": [
936
+ "observation.images.global",
937
+ "observation.images.hand"
938
+ ],
939
+ "state_key": "observation.state",
940
+ "action_key": "action",
941
+ "observation_horizon": 1,
942
+ "action_horizon": 30,
943
+ "frequency_hz": 30.0,
944
+ "split_seed": 20260915,
945
+ "train_episodes": 42,
946
+ "val_episodes": 5,
947
+ "test_episodes": 5
948
+ },
949
+ "spline": {
950
+ "degree": 3,
951
+ "span_length_steps": 2,
952
+ "num_basis": 18,
953
+ "vocab_size": 256,
954
+ "regularization": 0.0001,
955
+ "implementation_version": "uniform_left_direct_fit_v1"
956
+ },
957
+ "vision": {
958
+ "image_size": 224,
959
+ "pooled_grid": 4,
960
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
961
+ "siglip_model": "vit_so400m_patch14_siglip_224",
962
+ "extraction_layer_offset": -2,
963
+ "pretrained": true,
964
+ "cache_dtype": "float16"
965
+ },
966
+ "policy": {
967
+ "architecture": "discrete_joint",
968
+ "model_size": "DiT-L",
969
+ "hidden_dim": 1024,
970
+ "depth": 24,
971
+ "heads": 16,
972
+ "mlp_ratio": 4.0,
973
+ "dropout": 0.0,
974
+ "discrete_rounds": 8,
975
+ "block_size": 21,
976
+ "fm_steps": 12
977
+ },
978
+ "train": {
979
+ "seed": 7,
980
+ "updates": 50000,
981
+ "rtc_updates": 5000,
982
+ "batch_size": 32,
983
+ "effective_batch_size": 32,
984
+ "learning_rate": 0.0003,
985
+ "weight_decay": 0.0001,
986
+ "warmup_updates": 100,
987
+ "min_lr_ratio": 0.1,
988
+ "grad_clip": 1.0,
989
+ "eval_every": 100,
990
+ "save_every": 1000,
991
+ "num_workers": 4,
992
+ "precision": "bf16",
993
+ "lambda_l1": 1.0,
994
+ "deterministic": true
995
+ },
996
+ "rtc": {
997
+ "spline_delay_min": 1,
998
+ "spline_delay_max": 5,
999
+ "raw_delay_min": 1,
1000
+ "raw_delay_max": 10,
1001
+ "delay_distribution": "truncated_decreasing_exponential_reference",
1002
+ "zero_delay_eval": true
1003
+ },
1004
+ "wandb": {
1005
+ "enabled": true,
1006
+ "mode": "online",
1007
+ "entity": "401910710-university-of-california-berkeley",
1008
+ "base_project": "robot-policy-50k-bs32-basic",
1009
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
1010
+ "run_suffix": "dit-l-raw-bs32-50kbase-5kttrtc",
1011
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_l/raw/wandb"
1012
+ }
1013
+ },
1014
+ "code_commit": "root repository has no commit",
1015
+ "code_snapshot_sha256": "ab710f4138f8e6533d48385f8c45e0bfdf7d7de9d4fa57da0252ba7f27cc75a6",
1016
+ "data_split": {
1017
+ "train": [
1018
+ 0,
1019
+ 1,
1020
+ 2,
1021
+ 3,
1022
+ 4,
1023
+ 5,
1024
+ 6,
1025
+ 9,
1026
+ 10,
1027
+ 11,
1028
+ 12,
1029
+ 13,
1030
+ 14,
1031
+ 15,
1032
+ 20,
1033
+ 23,
1034
+ 24,
1035
+ 25,
1036
+ 26,
1037
+ 27,
1038
+ 28,
1039
+ 29,
1040
+ 30,
1041
+ 31,
1042
+ 32,
1043
+ 33,
1044
+ 35,
1045
+ 36,
1046
+ 37,
1047
+ 38,
1048
+ 39,
1049
+ 40,
1050
+ 41,
1051
+ 42,
1052
+ 44,
1053
+ 45,
1054
+ 46,
1055
+ 47,
1056
+ 48,
1057
+ 49,
1058
+ 50,
1059
+ 51
1060
+ ],
1061
+ "val": [
1062
+ 7,
1063
+ 16,
1064
+ 17,
1065
+ 21,
1066
+ 43
1067
+ ],
1068
+ "test": [
1069
+ 8,
1070
+ 18,
1071
+ 19,
1072
+ 22,
1073
+ 34
1074
+ ]
1075
+ },
1076
+ "encoder_version": {
1077
+ "type": "RawActionSequenceConfig",
1078
+ "config": {
1079
+ "action_horizon": 30,
1080
+ "action_dim": 7,
1081
+ "vocab_size": 256
1082
+ },
1083
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
1084
+ "calibration": {
1085
+ "low": [
1086
+ -1.0,
1087
+ -1.0,
1088
+ -1.0,
1089
+ -1.0,
1090
+ -1.0,
1091
+ -1.0,
1092
+ -1.0
1093
+ ],
1094
+ "high": [
1095
+ 1.0,
1096
+ 1.0,
1097
+ 1.0,
1098
+ 1.0,
1099
+ 1.0,
1100
+ 1.0,
1101
+ 1.0
1102
+ ]
1103
+ },
1104
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
1105
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
1106
+ "rtc_history_steps": [
1107
+ 1,
1108
+ 2,
1109
+ 3,
1110
+ 4,
1111
+ 5,
1112
+ 6,
1113
+ 7,
1114
+ 8,
1115
+ 9,
1116
+ 10
1117
+ ]
1118
+ },
1119
+ "vision_weight_versions": {
1120
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
1121
+ "siglip": "vit_so400m_patch14_siglip_224"
1122
+ },
1123
+ "training_update_count": 5000,
1124
+ "checkpoint_selection_metric": {
1125
+ "name": "final validation objective",
1126
+ "value": 24.298601418733597,
1127
+ "split": "val",
1128
+ "best_observed_value": 21.438393115997314
1129
+ },
1130
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli finetune_rtc --config configs/default.yaml --architecture discrete_joint --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt --parent /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_base.pt",
1131
+ "parameter_counts": {
1132
+ "observation_projector_state": 4360448,
1133
+ "action_backbone": 352741376,
1134
+ "embedding_output": 740608,
1135
+ "total_trainable": 357842432,
1136
+ "total": 357842432
1137
+ },
1138
+ "wandb": {
1139
+ "project": "robot-policy-5k-bs32-ttRTC",
1140
+ "entity": "401910710-university-of-california-berkeley",
1141
+ "run_id": "0i7ac2b6",
1142
+ "run_name": "discrete_joint-ttrtc-dit-l-raw-bs32-50kbase-5kttrtc",
1143
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/0i7ac2b6",
1144
+ "mode": "online",
1145
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt"
1146
+ },
1147
+ "determinism": {
1148
+ "enabled": true,
1149
+ "seed": 7,
1150
+ "cublas_workspace_config": ":4096:8"
1151
+ }
1152
+ },
1153
+ {
1154
+ "architecture": "discrete_layerwise",
1155
+ "training_type": "ttrtc",
1156
+ "parent_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_base.pt",
1157
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt",
1158
+ "sha256": "92107ac042da050da01a31604d31549d3e039952604bac815a391b9d394effaf",
1159
+ "configuration": {
1160
+ "data": {
1161
+ "dataset_path": "../Data/stacking_cups_action_30hz",
1162
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
1163
+ "action_representation": "raw",
1164
+ "vision_cache_path": "outputs/prepared/vision",
1165
+ "camera_keys": [
1166
+ "observation.images.global",
1167
+ "observation.images.hand"
1168
+ ],
1169
+ "state_key": "observation.state",
1170
+ "action_key": "action",
1171
+ "observation_horizon": 1,
1172
+ "action_horizon": 30,
1173
+ "frequency_hz": 30.0,
1174
+ "split_seed": 20260915,
1175
+ "train_episodes": 42,
1176
+ "val_episodes": 5,
1177
+ "test_episodes": 5
1178
+ },
1179
+ "spline": {
1180
+ "degree": 3,
1181
+ "span_length_steps": 2,
1182
+ "num_basis": 18,
1183
+ "vocab_size": 256,
1184
+ "regularization": 0.0001,
1185
+ "implementation_version": "uniform_left_direct_fit_v1"
1186
+ },
1187
+ "vision": {
1188
+ "image_size": 224,
1189
+ "pooled_grid": 4,
1190
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
1191
+ "siglip_model": "vit_so400m_patch14_siglip_224",
1192
+ "extraction_layer_offset": -2,
1193
+ "pretrained": true,
1194
+ "cache_dtype": "float16"
1195
+ },
1196
+ "policy": {
1197
+ "architecture": "discrete_layerwise",
1198
+ "model_size": "DiT-L",
1199
+ "hidden_dim": 1024,
1200
+ "depth": 24,
1201
+ "heads": 16,
1202
+ "mlp_ratio": 4.0,
1203
+ "dropout": 0.0,
1204
+ "discrete_rounds": 8,
1205
+ "block_size": 21,
1206
+ "fm_steps": 12
1207
+ },
1208
+ "train": {
1209
+ "seed": 7,
1210
+ "updates": 50000,
1211
+ "rtc_updates": 5000,
1212
+ "batch_size": 32,
1213
+ "effective_batch_size": 32,
1214
+ "learning_rate": 0.0003,
1215
+ "weight_decay": 0.0001,
1216
+ "warmup_updates": 100,
1217
+ "min_lr_ratio": 0.1,
1218
+ "grad_clip": 1.0,
1219
+ "eval_every": 100,
1220
+ "save_every": 1000,
1221
+ "num_workers": 4,
1222
+ "precision": "bf16",
1223
+ "lambda_l1": 1.0,
1224
+ "deterministic": true
1225
+ },
1226
+ "rtc": {
1227
+ "spline_delay_min": 1,
1228
+ "spline_delay_max": 5,
1229
+ "raw_delay_min": 1,
1230
+ "raw_delay_max": 10,
1231
+ "delay_distribution": "truncated_decreasing_exponential_reference",
1232
+ "zero_delay_eval": true
1233
+ },
1234
+ "wandb": {
1235
+ "enabled": true,
1236
+ "mode": "online",
1237
+ "entity": "401910710-university-of-california-berkeley",
1238
+ "base_project": "robot-policy-50k-bs32-basic",
1239
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
1240
+ "run_suffix": "dit-l-raw-bs32-50kbase-5kttrtc",
1241
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_l/raw/wandb"
1242
+ }
1243
+ },
1244
+ "code_commit": "root repository has no commit",
1245
+ "code_snapshot_sha256": "ab710f4138f8e6533d48385f8c45e0bfdf7d7de9d4fa57da0252ba7f27cc75a6",
1246
+ "data_split": {
1247
+ "train": [
1248
+ 0,
1249
+ 1,
1250
+ 2,
1251
+ 3,
1252
+ 4,
1253
+ 5,
1254
+ 6,
1255
+ 9,
1256
+ 10,
1257
+ 11,
1258
+ 12,
1259
+ 13,
1260
+ 14,
1261
+ 15,
1262
+ 20,
1263
+ 23,
1264
+ 24,
1265
+ 25,
1266
+ 26,
1267
+ 27,
1268
+ 28,
1269
+ 29,
1270
+ 30,
1271
+ 31,
1272
+ 32,
1273
+ 33,
1274
+ 35,
1275
+ 36,
1276
+ 37,
1277
+ 38,
1278
+ 39,
1279
+ 40,
1280
+ 41,
1281
+ 42,
1282
+ 44,
1283
+ 45,
1284
+ 46,
1285
+ 47,
1286
+ 48,
1287
+ 49,
1288
+ 50,
1289
+ 51
1290
+ ],
1291
+ "val": [
1292
+ 7,
1293
+ 16,
1294
+ 17,
1295
+ 21,
1296
+ 43
1297
+ ],
1298
+ "test": [
1299
+ 8,
1300
+ 18,
1301
+ 19,
1302
+ 22,
1303
+ 34
1304
+ ]
1305
+ },
1306
+ "encoder_version": {
1307
+ "type": "RawActionSequenceConfig",
1308
+ "config": {
1309
+ "action_horizon": 30,
1310
+ "action_dim": 7,
1311
+ "vocab_size": 256
1312
+ },
1313
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
1314
+ "calibration": {
1315
+ "low": [
1316
+ -1.0,
1317
+ -1.0,
1318
+ -1.0,
1319
+ -1.0,
1320
+ -1.0,
1321
+ -1.0,
1322
+ -1.0
1323
+ ],
1324
+ "high": [
1325
+ 1.0,
1326
+ 1.0,
1327
+ 1.0,
1328
+ 1.0,
1329
+ 1.0,
1330
+ 1.0,
1331
+ 1.0
1332
+ ]
1333
+ },
1334
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
1335
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
1336
+ "rtc_history_steps": [
1337
+ 1,
1338
+ 2,
1339
+ 3,
1340
+ 4,
1341
+ 5,
1342
+ 6,
1343
+ 7,
1344
+ 8,
1345
+ 9,
1346
+ 10
1347
+ ]
1348
+ },
1349
+ "vision_weight_versions": {
1350
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
1351
+ "siglip": "vit_so400m_patch14_siglip_224"
1352
+ },
1353
+ "training_update_count": 5000,
1354
+ "checkpoint_selection_metric": {
1355
+ "name": "final validation objective",
1356
+ "value": 18.007880449295044,
1357
+ "split": "val",
1358
+ "best_observed_value": 17.257980465888977
1359
+ },
1360
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli finetune_rtc --config configs/default.yaml --architecture discrete_layerwise --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt --parent /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_base.pt",
1361
+ "parameter_counts": {
1362
+ "observation_projector_state": 4360448,
1363
+ "action_backbone": 361069568,
1364
+ "embedding_output": 740608,
1365
+ "total_trainable": 366170624,
1366
+ "total": 366170624
1367
+ },
1368
+ "wandb": {
1369
+ "project": "robot-policy-5k-bs32-ttRTC",
1370
+ "entity": "401910710-university-of-california-berkeley",
1371
+ "run_id": "7ejattim",
1372
+ "run_name": "discrete_layerwise-ttrtc-dit-l-raw-bs32-50kbase-5kttrtc",
1373
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/7ejattim",
1374
+ "mode": "online",
1375
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt"
1376
+ },
1377
+ "determinism": {
1378
+ "enabled": true,
1379
+ "seed": 7,
1380
+ "cublas_workspace_config": ":4096:8"
1381
+ }
1382
+ }
1383
+ ]
1384
+ }
NewModel/dit_l/raw/checkpoints/discrete_joint_base.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:46ba37da6e38d427aebd36ad5e567595721731bd30983d75a885987c639b152b
3
+ size 4301174687
NewModel/dit_l/raw/checkpoints/discrete_joint_base.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-50k-bs32-basic",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "kvby9apd",
5
+ "run_name": "discrete_joint-base-dit-l-raw-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/kvby9apd",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_base.pt"
9
+ }
NewModel/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-5k-bs32-ttRTC",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "0i7ac2b6",
5
+ "run_name": "discrete_joint-ttrtc-dit-l-raw-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/0i7ac2b6",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt"
9
+ }
NewModel/dit_l/raw/checkpoints/discrete_layerwise_base.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-50k-bs32-basic",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "o0tj6klu",
5
+ "run_name": "discrete_layerwise-base-dit-l-raw-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/o0tj6klu",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_base.pt"
9
+ }
NewModel/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-5k-bs32-ttRTC",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "7ejattim",
5
+ "run_name": "discrete_layerwise-ttrtc-dit-l-raw-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/7ejattim",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt"
9
+ }
NewModel/dit_l/raw/checkpoints/fm_base.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-50k-bs32-basic",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "tziiazri",
5
+ "run_name": "fm-base-dit-l-raw-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/tziiazri",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_base.pt"
9
+ }
NewModel/dit_l/raw/checkpoints/fm_ttrtc.pt.wandb.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "project": "robot-policy-5k-bs32-ttRTC",
3
+ "entity": "401910710-university-of-california-berkeley",
4
+ "run_id": "redv2qv4",
5
+ "run_name": "fm-ttrtc-dit-l-raw-bs32-50kbase-5kttrtc",
6
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/redv2qv4",
7
+ "mode": "online",
8
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/checkpoints/fm_ttrtc.pt"
9
+ }
NewModel/dit_s/bspline/checkpoints/checkpoint_manifest.json ADDED
The diff for this file is too large to render. See raw diff
 
NewModel/dit_s/raw/checkpoints/checkpoint_manifest.json ADDED
@@ -0,0 +1,1384 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "checkpoints": [
3
+ {
4
+ "architecture": "fm",
5
+ "training_type": "base",
6
+ "parent_checkpoint": null,
7
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_base.pt",
8
+ "sha256": "c045b0d086480ff3da1881c87c44a2b67ecf26f96957b922e6aa8bd71d45bd4c",
9
+ "configuration": {
10
+ "data": {
11
+ "dataset_path": "../Data/stacking_cups_action_30hz",
12
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
13
+ "action_representation": "raw",
14
+ "vision_cache_path": "outputs/prepared/vision",
15
+ "camera_keys": [
16
+ "observation.images.global",
17
+ "observation.images.hand"
18
+ ],
19
+ "state_key": "observation.state",
20
+ "action_key": "action",
21
+ "observation_horizon": 1,
22
+ "action_horizon": 30,
23
+ "frequency_hz": 30.0,
24
+ "split_seed": 20260915,
25
+ "train_episodes": 42,
26
+ "val_episodes": 5,
27
+ "test_episodes": 5
28
+ },
29
+ "spline": {
30
+ "degree": 3,
31
+ "span_length_steps": 2,
32
+ "num_basis": 18,
33
+ "vocab_size": 256,
34
+ "regularization": 0.0001,
35
+ "implementation_version": "uniform_left_direct_fit_v1"
36
+ },
37
+ "vision": {
38
+ "image_size": 224,
39
+ "pooled_grid": 4,
40
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
41
+ "siglip_model": "vit_so400m_patch14_siglip_224",
42
+ "extraction_layer_offset": -2,
43
+ "pretrained": true,
44
+ "cache_dtype": "float16"
45
+ },
46
+ "policy": {
47
+ "architecture": "fm",
48
+ "model_size": "DiT-S",
49
+ "hidden_dim": 384,
50
+ "depth": 6,
51
+ "heads": 4,
52
+ "mlp_ratio": 4.0,
53
+ "dropout": 0.0,
54
+ "discrete_rounds": 8,
55
+ "block_size": 21,
56
+ "fm_steps": 12
57
+ },
58
+ "train": {
59
+ "seed": 7,
60
+ "updates": 50000,
61
+ "rtc_updates": 5000,
62
+ "batch_size": 32,
63
+ "effective_batch_size": 32,
64
+ "learning_rate": 0.0003,
65
+ "weight_decay": 0.0001,
66
+ "warmup_updates": 100,
67
+ "min_lr_ratio": 0.1,
68
+ "grad_clip": 1.0,
69
+ "eval_every": 100,
70
+ "save_every": 1000,
71
+ "num_workers": 4,
72
+ "precision": "bf16",
73
+ "lambda_l1": 1.0,
74
+ "deterministic": true
75
+ },
76
+ "rtc": {
77
+ "spline_delay_min": 1,
78
+ "spline_delay_max": 5,
79
+ "raw_delay_min": 1,
80
+ "raw_delay_max": 10,
81
+ "delay_distribution": "truncated_decreasing_exponential_reference",
82
+ "zero_delay_eval": true
83
+ },
84
+ "wandb": {
85
+ "enabled": true,
86
+ "mode": "online",
87
+ "entity": "401910710-university-of-california-berkeley",
88
+ "base_project": "robot-policy-50k-bs32-basic",
89
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
90
+ "run_suffix": "dit-s-raw-bs32-50kbase-5kttrtc",
91
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_s/raw/wandb"
92
+ }
93
+ },
94
+ "code_commit": "root repository has no commit",
95
+ "code_snapshot_sha256": "8bf2e0a7a2dff9ddd6fd4225b99e471925759f44079153d010df3711043e8f5a",
96
+ "data_split": {
97
+ "train": [
98
+ 0,
99
+ 1,
100
+ 2,
101
+ 3,
102
+ 4,
103
+ 5,
104
+ 6,
105
+ 9,
106
+ 10,
107
+ 11,
108
+ 12,
109
+ 13,
110
+ 14,
111
+ 15,
112
+ 20,
113
+ 23,
114
+ 24,
115
+ 25,
116
+ 26,
117
+ 27,
118
+ 28,
119
+ 29,
120
+ 30,
121
+ 31,
122
+ 32,
123
+ 33,
124
+ 35,
125
+ 36,
126
+ 37,
127
+ 38,
128
+ 39,
129
+ 40,
130
+ 41,
131
+ 42,
132
+ 44,
133
+ 45,
134
+ 46,
135
+ 47,
136
+ 48,
137
+ 49,
138
+ 50,
139
+ 51
140
+ ],
141
+ "val": [
142
+ 7,
143
+ 16,
144
+ 17,
145
+ 21,
146
+ 43
147
+ ],
148
+ "test": [
149
+ 8,
150
+ 18,
151
+ 19,
152
+ 22,
153
+ 34
154
+ ]
155
+ },
156
+ "encoder_version": {
157
+ "type": "RawActionSequenceConfig",
158
+ "config": {
159
+ "action_horizon": 30,
160
+ "action_dim": 7,
161
+ "vocab_size": 256
162
+ },
163
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
164
+ "calibration": {
165
+ "low": [
166
+ -1.0,
167
+ -1.0,
168
+ -1.0,
169
+ -1.0,
170
+ -1.0,
171
+ -1.0,
172
+ -1.0
173
+ ],
174
+ "high": [
175
+ 1.0,
176
+ 1.0,
177
+ 1.0,
178
+ 1.0,
179
+ 1.0,
180
+ 1.0,
181
+ 1.0
182
+ ]
183
+ },
184
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
185
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
186
+ "rtc_history_steps": [
187
+ 1,
188
+ 2,
189
+ 3,
190
+ 4,
191
+ 5,
192
+ 6,
193
+ 7,
194
+ 8,
195
+ 9,
196
+ 10
197
+ ]
198
+ },
199
+ "vision_weight_versions": {
200
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
201
+ "siglip": "vit_so400m_patch14_siglip_224"
202
+ },
203
+ "training_update_count": 50000,
204
+ "checkpoint_selection_metric": {
205
+ "name": "final validation objective",
206
+ "value": 0.08892926236148924,
207
+ "split": "val",
208
+ "best_observed_value": 0.04577832855284214
209
+ },
210
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli train_base --config configs/default.yaml --architecture fm --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_base.pt",
211
+ "parameter_counts": {
212
+ "observation_projector_state": 1146368,
213
+ "action_backbone": 13610880,
214
+ "embedding_output": 315655,
215
+ "total_trainable": 15072903,
216
+ "total": 15072903
217
+ },
218
+ "wandb": {
219
+ "project": "robot-policy-50k-bs32-basic",
220
+ "entity": "401910710-university-of-california-berkeley",
221
+ "run_id": "i9p5hb9y",
222
+ "run_name": "fm-base-dit-s-raw-bs32-50kbase-5kttrtc",
223
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/i9p5hb9y",
224
+ "mode": "online",
225
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_base.pt"
226
+ },
227
+ "determinism": {
228
+ "enabled": true,
229
+ "seed": 7,
230
+ "cublas_workspace_config": ":4096:8"
231
+ }
232
+ },
233
+ {
234
+ "architecture": "fm",
235
+ "training_type": "ttrtc",
236
+ "parent_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_base.pt",
237
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_ttrtc.pt",
238
+ "sha256": "360e5814cf8c0590cc5036e67f02447ed921dcdea044c972e05f9982c49c0483",
239
+ "configuration": {
240
+ "data": {
241
+ "dataset_path": "../Data/stacking_cups_action_30hz",
242
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
243
+ "action_representation": "raw",
244
+ "vision_cache_path": "outputs/prepared/vision",
245
+ "camera_keys": [
246
+ "observation.images.global",
247
+ "observation.images.hand"
248
+ ],
249
+ "state_key": "observation.state",
250
+ "action_key": "action",
251
+ "observation_horizon": 1,
252
+ "action_horizon": 30,
253
+ "frequency_hz": 30.0,
254
+ "split_seed": 20260915,
255
+ "train_episodes": 42,
256
+ "val_episodes": 5,
257
+ "test_episodes": 5
258
+ },
259
+ "spline": {
260
+ "degree": 3,
261
+ "span_length_steps": 2,
262
+ "num_basis": 18,
263
+ "vocab_size": 256,
264
+ "regularization": 0.0001,
265
+ "implementation_version": "uniform_left_direct_fit_v1"
266
+ },
267
+ "vision": {
268
+ "image_size": 224,
269
+ "pooled_grid": 4,
270
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
271
+ "siglip_model": "vit_so400m_patch14_siglip_224",
272
+ "extraction_layer_offset": -2,
273
+ "pretrained": true,
274
+ "cache_dtype": "float16"
275
+ },
276
+ "policy": {
277
+ "architecture": "fm",
278
+ "model_size": "DiT-S",
279
+ "hidden_dim": 384,
280
+ "depth": 6,
281
+ "heads": 4,
282
+ "mlp_ratio": 4.0,
283
+ "dropout": 0.0,
284
+ "discrete_rounds": 8,
285
+ "block_size": 21,
286
+ "fm_steps": 12
287
+ },
288
+ "train": {
289
+ "seed": 7,
290
+ "updates": 50000,
291
+ "rtc_updates": 5000,
292
+ "batch_size": 32,
293
+ "effective_batch_size": 32,
294
+ "learning_rate": 0.0003,
295
+ "weight_decay": 0.0001,
296
+ "warmup_updates": 100,
297
+ "min_lr_ratio": 0.1,
298
+ "grad_clip": 1.0,
299
+ "eval_every": 100,
300
+ "save_every": 1000,
301
+ "num_workers": 4,
302
+ "precision": "bf16",
303
+ "lambda_l1": 1.0,
304
+ "deterministic": true
305
+ },
306
+ "rtc": {
307
+ "spline_delay_min": 1,
308
+ "spline_delay_max": 5,
309
+ "raw_delay_min": 1,
310
+ "raw_delay_max": 10,
311
+ "delay_distribution": "truncated_decreasing_exponential_reference",
312
+ "zero_delay_eval": true
313
+ },
314
+ "wandb": {
315
+ "enabled": true,
316
+ "mode": "online",
317
+ "entity": "401910710-university-of-california-berkeley",
318
+ "base_project": "robot-policy-50k-bs32-basic",
319
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
320
+ "run_suffix": "dit-s-raw-bs32-50kbase-5kttrtc",
321
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_s/raw/wandb"
322
+ }
323
+ },
324
+ "code_commit": "root repository has no commit",
325
+ "code_snapshot_sha256": "8bf2e0a7a2dff9ddd6fd4225b99e471925759f44079153d010df3711043e8f5a",
326
+ "data_split": {
327
+ "train": [
328
+ 0,
329
+ 1,
330
+ 2,
331
+ 3,
332
+ 4,
333
+ 5,
334
+ 6,
335
+ 9,
336
+ 10,
337
+ 11,
338
+ 12,
339
+ 13,
340
+ 14,
341
+ 15,
342
+ 20,
343
+ 23,
344
+ 24,
345
+ 25,
346
+ 26,
347
+ 27,
348
+ 28,
349
+ 29,
350
+ 30,
351
+ 31,
352
+ 32,
353
+ 33,
354
+ 35,
355
+ 36,
356
+ 37,
357
+ 38,
358
+ 39,
359
+ 40,
360
+ 41,
361
+ 42,
362
+ 44,
363
+ 45,
364
+ 46,
365
+ 47,
366
+ 48,
367
+ 49,
368
+ 50,
369
+ 51
370
+ ],
371
+ "val": [
372
+ 7,
373
+ 16,
374
+ 17,
375
+ 21,
376
+ 43
377
+ ],
378
+ "test": [
379
+ 8,
380
+ 18,
381
+ 19,
382
+ 22,
383
+ 34
384
+ ]
385
+ },
386
+ "encoder_version": {
387
+ "type": "RawActionSequenceConfig",
388
+ "config": {
389
+ "action_horizon": 30,
390
+ "action_dim": 7,
391
+ "vocab_size": 256
392
+ },
393
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
394
+ "calibration": {
395
+ "low": [
396
+ -1.0,
397
+ -1.0,
398
+ -1.0,
399
+ -1.0,
400
+ -1.0,
401
+ -1.0,
402
+ -1.0
403
+ ],
404
+ "high": [
405
+ 1.0,
406
+ 1.0,
407
+ 1.0,
408
+ 1.0,
409
+ 1.0,
410
+ 1.0,
411
+ 1.0
412
+ ]
413
+ },
414
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
415
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
416
+ "rtc_history_steps": [
417
+ 1,
418
+ 2,
419
+ 3,
420
+ 4,
421
+ 5,
422
+ 6,
423
+ 7,
424
+ 8,
425
+ 9,
426
+ 10
427
+ ]
428
+ },
429
+ "vision_weight_versions": {
430
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
431
+ "siglip": "vit_so400m_patch14_siglip_224"
432
+ },
433
+ "training_update_count": 5000,
434
+ "checkpoint_selection_metric": {
435
+ "name": "final validation objective",
436
+ "value": 0.09633156761992723,
437
+ "split": "val",
438
+ "best_observed_value": 0.055993140616919845
439
+ },
440
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli finetune_rtc --config configs/default.yaml --architecture fm --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_ttrtc.pt --parent /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_base.pt",
441
+ "parameter_counts": {
442
+ "observation_projector_state": 1146368,
443
+ "action_backbone": 13610880,
444
+ "embedding_output": 315655,
445
+ "total_trainable": 15072903,
446
+ "total": 15072903
447
+ },
448
+ "wandb": {
449
+ "project": "robot-policy-5k-bs32-ttRTC",
450
+ "entity": "401910710-university-of-california-berkeley",
451
+ "run_id": "v9ubgo5v",
452
+ "run_name": "fm-ttrtc-dit-s-raw-bs32-50kbase-5kttrtc",
453
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/v9ubgo5v",
454
+ "mode": "online",
455
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_ttrtc.pt"
456
+ },
457
+ "determinism": {
458
+ "enabled": true,
459
+ "seed": 7,
460
+ "cublas_workspace_config": ":4096:8"
461
+ }
462
+ },
463
+ {
464
+ "architecture": "discrete_layerwise",
465
+ "training_type": "base",
466
+ "parent_checkpoint": null,
467
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_base.pt",
468
+ "sha256": "eff9e989fe18cf912e789dbd64e8d6068efc1e5bdafc13e9abfce8aa1bb6ac3b",
469
+ "configuration": {
470
+ "data": {
471
+ "dataset_path": "../Data/stacking_cups_action_30hz",
472
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
473
+ "action_representation": "raw",
474
+ "vision_cache_path": "outputs/prepared/vision",
475
+ "camera_keys": [
476
+ "observation.images.global",
477
+ "observation.images.hand"
478
+ ],
479
+ "state_key": "observation.state",
480
+ "action_key": "action",
481
+ "observation_horizon": 1,
482
+ "action_horizon": 30,
483
+ "frequency_hz": 30.0,
484
+ "split_seed": 20260915,
485
+ "train_episodes": 42,
486
+ "val_episodes": 5,
487
+ "test_episodes": 5
488
+ },
489
+ "spline": {
490
+ "degree": 3,
491
+ "span_length_steps": 2,
492
+ "num_basis": 18,
493
+ "vocab_size": 256,
494
+ "regularization": 0.0001,
495
+ "implementation_version": "uniform_left_direct_fit_v1"
496
+ },
497
+ "vision": {
498
+ "image_size": 224,
499
+ "pooled_grid": 4,
500
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
501
+ "siglip_model": "vit_so400m_patch14_siglip_224",
502
+ "extraction_layer_offset": -2,
503
+ "pretrained": true,
504
+ "cache_dtype": "float16"
505
+ },
506
+ "policy": {
507
+ "architecture": "discrete_layerwise",
508
+ "model_size": "DiT-S",
509
+ "hidden_dim": 384,
510
+ "depth": 6,
511
+ "heads": 4,
512
+ "mlp_ratio": 4.0,
513
+ "dropout": 0.0,
514
+ "discrete_rounds": 8,
515
+ "block_size": 21,
516
+ "fm_steps": 12
517
+ },
518
+ "train": {
519
+ "seed": 7,
520
+ "updates": 50000,
521
+ "rtc_updates": 5000,
522
+ "batch_size": 32,
523
+ "effective_batch_size": 32,
524
+ "learning_rate": 0.0003,
525
+ "weight_decay": 0.0001,
526
+ "warmup_updates": 100,
527
+ "min_lr_ratio": 0.1,
528
+ "grad_clip": 1.0,
529
+ "eval_every": 100,
530
+ "save_every": 1000,
531
+ "num_workers": 4,
532
+ "precision": "bf16",
533
+ "lambda_l1": 1.0,
534
+ "deterministic": true
535
+ },
536
+ "rtc": {
537
+ "spline_delay_min": 1,
538
+ "spline_delay_max": 5,
539
+ "raw_delay_min": 1,
540
+ "raw_delay_max": 10,
541
+ "delay_distribution": "truncated_decreasing_exponential_reference",
542
+ "zero_delay_eval": true
543
+ },
544
+ "wandb": {
545
+ "enabled": true,
546
+ "mode": "online",
547
+ "entity": "401910710-university-of-california-berkeley",
548
+ "base_project": "robot-policy-50k-bs32-basic",
549
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
550
+ "run_suffix": "dit-s-raw-bs32-50kbase-5kttrtc",
551
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_s/raw/wandb"
552
+ }
553
+ },
554
+ "code_commit": "root repository has no commit",
555
+ "code_snapshot_sha256": "8bf2e0a7a2dff9ddd6fd4225b99e471925759f44079153d010df3711043e8f5a",
556
+ "data_split": {
557
+ "train": [
558
+ 0,
559
+ 1,
560
+ 2,
561
+ 3,
562
+ 4,
563
+ 5,
564
+ 6,
565
+ 9,
566
+ 10,
567
+ 11,
568
+ 12,
569
+ 13,
570
+ 14,
571
+ 15,
572
+ 20,
573
+ 23,
574
+ 24,
575
+ 25,
576
+ 26,
577
+ 27,
578
+ 28,
579
+ 29,
580
+ 30,
581
+ 31,
582
+ 32,
583
+ 33,
584
+ 35,
585
+ 36,
586
+ 37,
587
+ 38,
588
+ 39,
589
+ 40,
590
+ 41,
591
+ 42,
592
+ 44,
593
+ 45,
594
+ 46,
595
+ 47,
596
+ 48,
597
+ 49,
598
+ 50,
599
+ 51
600
+ ],
601
+ "val": [
602
+ 7,
603
+ 16,
604
+ 17,
605
+ 21,
606
+ 43
607
+ ],
608
+ "test": [
609
+ 8,
610
+ 18,
611
+ 19,
612
+ 22,
613
+ 34
614
+ ]
615
+ },
616
+ "encoder_version": {
617
+ "type": "RawActionSequenceConfig",
618
+ "config": {
619
+ "action_horizon": 30,
620
+ "action_dim": 7,
621
+ "vocab_size": 256
622
+ },
623
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
624
+ "calibration": {
625
+ "low": [
626
+ -1.0,
627
+ -1.0,
628
+ -1.0,
629
+ -1.0,
630
+ -1.0,
631
+ -1.0,
632
+ -1.0
633
+ ],
634
+ "high": [
635
+ 1.0,
636
+ 1.0,
637
+ 1.0,
638
+ 1.0,
639
+ 1.0,
640
+ 1.0,
641
+ 1.0
642
+ ]
643
+ },
644
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
645
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
646
+ "rtc_history_steps": [
647
+ 1,
648
+ 2,
649
+ 3,
650
+ 4,
651
+ 5,
652
+ 6,
653
+ 7,
654
+ 8,
655
+ 9,
656
+ 10
657
+ ]
658
+ },
659
+ "vision_weight_versions": {
660
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
661
+ "siglip": "vit_so400m_patch14_siglip_224"
662
+ },
663
+ "training_update_count": 50000,
664
+ "checkpoint_selection_metric": {
665
+ "name": "final validation objective",
666
+ "value": 4.292107500135899,
667
+ "split": "val",
668
+ "best_observed_value": 2.977805584669113
669
+ },
670
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli train_base --config configs/default.yaml --architecture discrete_layerwise --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_base.pt",
671
+ "parameter_counts": {
672
+ "observation_projector_state": 1146368,
673
+ "action_backbone": 13610880,
674
+ "embedding_output": 277888,
675
+ "total_trainable": 15035136,
676
+ "total": 15035136
677
+ },
678
+ "wandb": {
679
+ "project": "robot-policy-50k-bs32-basic",
680
+ "entity": "401910710-university-of-california-berkeley",
681
+ "run_id": "zh84gs3w",
682
+ "run_name": "discrete_layerwise-base-dit-s-raw-bs32-50kbase-5kttrtc",
683
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/zh84gs3w",
684
+ "mode": "online",
685
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_base.pt"
686
+ },
687
+ "determinism": {
688
+ "enabled": true,
689
+ "seed": 7,
690
+ "cublas_workspace_config": ":4096:8"
691
+ }
692
+ },
693
+ {
694
+ "architecture": "discrete_layerwise",
695
+ "training_type": "ttrtc",
696
+ "parent_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_base.pt",
697
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_ttrtc.pt",
698
+ "sha256": "f5fc888db8ba3fa2efdafc6f9b25410ea9ac28e759427289be508152c05dbfc1",
699
+ "configuration": {
700
+ "data": {
701
+ "dataset_path": "../Data/stacking_cups_action_30hz",
702
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
703
+ "action_representation": "raw",
704
+ "vision_cache_path": "outputs/prepared/vision",
705
+ "camera_keys": [
706
+ "observation.images.global",
707
+ "observation.images.hand"
708
+ ],
709
+ "state_key": "observation.state",
710
+ "action_key": "action",
711
+ "observation_horizon": 1,
712
+ "action_horizon": 30,
713
+ "frequency_hz": 30.0,
714
+ "split_seed": 20260915,
715
+ "train_episodes": 42,
716
+ "val_episodes": 5,
717
+ "test_episodes": 5
718
+ },
719
+ "spline": {
720
+ "degree": 3,
721
+ "span_length_steps": 2,
722
+ "num_basis": 18,
723
+ "vocab_size": 256,
724
+ "regularization": 0.0001,
725
+ "implementation_version": "uniform_left_direct_fit_v1"
726
+ },
727
+ "vision": {
728
+ "image_size": 224,
729
+ "pooled_grid": 4,
730
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
731
+ "siglip_model": "vit_so400m_patch14_siglip_224",
732
+ "extraction_layer_offset": -2,
733
+ "pretrained": true,
734
+ "cache_dtype": "float16"
735
+ },
736
+ "policy": {
737
+ "architecture": "discrete_layerwise",
738
+ "model_size": "DiT-S",
739
+ "hidden_dim": 384,
740
+ "depth": 6,
741
+ "heads": 4,
742
+ "mlp_ratio": 4.0,
743
+ "dropout": 0.0,
744
+ "discrete_rounds": 8,
745
+ "block_size": 21,
746
+ "fm_steps": 12
747
+ },
748
+ "train": {
749
+ "seed": 7,
750
+ "updates": 50000,
751
+ "rtc_updates": 5000,
752
+ "batch_size": 32,
753
+ "effective_batch_size": 32,
754
+ "learning_rate": 0.0003,
755
+ "weight_decay": 0.0001,
756
+ "warmup_updates": 100,
757
+ "min_lr_ratio": 0.1,
758
+ "grad_clip": 1.0,
759
+ "eval_every": 100,
760
+ "save_every": 1000,
761
+ "num_workers": 4,
762
+ "precision": "bf16",
763
+ "lambda_l1": 1.0,
764
+ "deterministic": true
765
+ },
766
+ "rtc": {
767
+ "spline_delay_min": 1,
768
+ "spline_delay_max": 5,
769
+ "raw_delay_min": 1,
770
+ "raw_delay_max": 10,
771
+ "delay_distribution": "truncated_decreasing_exponential_reference",
772
+ "zero_delay_eval": true
773
+ },
774
+ "wandb": {
775
+ "enabled": true,
776
+ "mode": "online",
777
+ "entity": "401910710-university-of-california-berkeley",
778
+ "base_project": "robot-policy-50k-bs32-basic",
779
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
780
+ "run_suffix": "dit-s-raw-bs32-50kbase-5kttrtc",
781
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_s/raw/wandb"
782
+ }
783
+ },
784
+ "code_commit": "root repository has no commit",
785
+ "code_snapshot_sha256": "8bf2e0a7a2dff9ddd6fd4225b99e471925759f44079153d010df3711043e8f5a",
786
+ "data_split": {
787
+ "train": [
788
+ 0,
789
+ 1,
790
+ 2,
791
+ 3,
792
+ 4,
793
+ 5,
794
+ 6,
795
+ 9,
796
+ 10,
797
+ 11,
798
+ 12,
799
+ 13,
800
+ 14,
801
+ 15,
802
+ 20,
803
+ 23,
804
+ 24,
805
+ 25,
806
+ 26,
807
+ 27,
808
+ 28,
809
+ 29,
810
+ 30,
811
+ 31,
812
+ 32,
813
+ 33,
814
+ 35,
815
+ 36,
816
+ 37,
817
+ 38,
818
+ 39,
819
+ 40,
820
+ 41,
821
+ 42,
822
+ 44,
823
+ 45,
824
+ 46,
825
+ 47,
826
+ 48,
827
+ 49,
828
+ 50,
829
+ 51
830
+ ],
831
+ "val": [
832
+ 7,
833
+ 16,
834
+ 17,
835
+ 21,
836
+ 43
837
+ ],
838
+ "test": [
839
+ 8,
840
+ 18,
841
+ 19,
842
+ 22,
843
+ 34
844
+ ]
845
+ },
846
+ "encoder_version": {
847
+ "type": "RawActionSequenceConfig",
848
+ "config": {
849
+ "action_horizon": 30,
850
+ "action_dim": 7,
851
+ "vocab_size": 256
852
+ },
853
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
854
+ "calibration": {
855
+ "low": [
856
+ -1.0,
857
+ -1.0,
858
+ -1.0,
859
+ -1.0,
860
+ -1.0,
861
+ -1.0,
862
+ -1.0
863
+ ],
864
+ "high": [
865
+ 1.0,
866
+ 1.0,
867
+ 1.0,
868
+ 1.0,
869
+ 1.0,
870
+ 1.0,
871
+ 1.0
872
+ ]
873
+ },
874
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
875
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
876
+ "rtc_history_steps": [
877
+ 1,
878
+ 2,
879
+ 3,
880
+ 4,
881
+ 5,
882
+ 6,
883
+ 7,
884
+ 8,
885
+ 9,
886
+ 10
887
+ ]
888
+ },
889
+ "vision_weight_versions": {
890
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
891
+ "siglip": "vit_so400m_patch14_siglip_224"
892
+ },
893
+ "training_update_count": 5000,
894
+ "checkpoint_selection_metric": {
895
+ "name": "final validation objective",
896
+ "value": 4.088620916008949,
897
+ "split": "val",
898
+ "best_observed_value": 3.580092929303646
899
+ },
900
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli finetune_rtc --config configs/default.yaml --architecture discrete_layerwise --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_ttrtc.pt --parent /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_base.pt",
901
+ "parameter_counts": {
902
+ "observation_projector_state": 1146368,
903
+ "action_backbone": 13610880,
904
+ "embedding_output": 277888,
905
+ "total_trainable": 15035136,
906
+ "total": 15035136
907
+ },
908
+ "wandb": {
909
+ "project": "robot-policy-5k-bs32-ttRTC",
910
+ "entity": "401910710-university-of-california-berkeley",
911
+ "run_id": "2o2kthwz",
912
+ "run_name": "discrete_layerwise-ttrtc-dit-s-raw-bs32-50kbase-5kttrtc",
913
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/2o2kthwz",
914
+ "mode": "online",
915
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_ttrtc.pt"
916
+ },
917
+ "determinism": {
918
+ "enabled": true,
919
+ "seed": 7,
920
+ "cublas_workspace_config": ":4096:8"
921
+ }
922
+ },
923
+ {
924
+ "architecture": "discrete_joint",
925
+ "training_type": "base",
926
+ "parent_checkpoint": null,
927
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_joint_base.pt",
928
+ "sha256": "3e561c7fb2af01f0c437259db382bb5afccdf54d15c97baf7519e833e0eef8ce",
929
+ "configuration": {
930
+ "data": {
931
+ "dataset_path": "../Data/stacking_cups_action_30hz",
932
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
933
+ "action_representation": "raw",
934
+ "vision_cache_path": "outputs/prepared/vision",
935
+ "camera_keys": [
936
+ "observation.images.global",
937
+ "observation.images.hand"
938
+ ],
939
+ "state_key": "observation.state",
940
+ "action_key": "action",
941
+ "observation_horizon": 1,
942
+ "action_horizon": 30,
943
+ "frequency_hz": 30.0,
944
+ "split_seed": 20260915,
945
+ "train_episodes": 42,
946
+ "val_episodes": 5,
947
+ "test_episodes": 5
948
+ },
949
+ "spline": {
950
+ "degree": 3,
951
+ "span_length_steps": 2,
952
+ "num_basis": 18,
953
+ "vocab_size": 256,
954
+ "regularization": 0.0001,
955
+ "implementation_version": "uniform_left_direct_fit_v1"
956
+ },
957
+ "vision": {
958
+ "image_size": 224,
959
+ "pooled_grid": 4,
960
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
961
+ "siglip_model": "vit_so400m_patch14_siglip_224",
962
+ "extraction_layer_offset": -2,
963
+ "pretrained": true,
964
+ "cache_dtype": "float16"
965
+ },
966
+ "policy": {
967
+ "architecture": "discrete_joint",
968
+ "model_size": "DiT-S",
969
+ "hidden_dim": 384,
970
+ "depth": 6,
971
+ "heads": 4,
972
+ "mlp_ratio": 4.0,
973
+ "dropout": 0.0,
974
+ "discrete_rounds": 8,
975
+ "block_size": 21,
976
+ "fm_steps": 12
977
+ },
978
+ "train": {
979
+ "seed": 7,
980
+ "updates": 50000,
981
+ "rtc_updates": 5000,
982
+ "batch_size": 32,
983
+ "effective_batch_size": 32,
984
+ "learning_rate": 0.0003,
985
+ "weight_decay": 0.0001,
986
+ "warmup_updates": 100,
987
+ "min_lr_ratio": 0.1,
988
+ "grad_clip": 1.0,
989
+ "eval_every": 100,
990
+ "save_every": 1000,
991
+ "num_workers": 4,
992
+ "precision": "bf16",
993
+ "lambda_l1": 1.0,
994
+ "deterministic": true
995
+ },
996
+ "rtc": {
997
+ "spline_delay_min": 1,
998
+ "spline_delay_max": 5,
999
+ "raw_delay_min": 1,
1000
+ "raw_delay_max": 10,
1001
+ "delay_distribution": "truncated_decreasing_exponential_reference",
1002
+ "zero_delay_eval": true
1003
+ },
1004
+ "wandb": {
1005
+ "enabled": true,
1006
+ "mode": "online",
1007
+ "entity": "401910710-university-of-california-berkeley",
1008
+ "base_project": "robot-policy-50k-bs32-basic",
1009
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
1010
+ "run_suffix": "dit-s-raw-bs32-50kbase-5kttrtc",
1011
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_s/raw/wandb"
1012
+ }
1013
+ },
1014
+ "code_commit": "root repository has no commit",
1015
+ "code_snapshot_sha256": "8bf2e0a7a2dff9ddd6fd4225b99e471925759f44079153d010df3711043e8f5a",
1016
+ "data_split": {
1017
+ "train": [
1018
+ 0,
1019
+ 1,
1020
+ 2,
1021
+ 3,
1022
+ 4,
1023
+ 5,
1024
+ 6,
1025
+ 9,
1026
+ 10,
1027
+ 11,
1028
+ 12,
1029
+ 13,
1030
+ 14,
1031
+ 15,
1032
+ 20,
1033
+ 23,
1034
+ 24,
1035
+ 25,
1036
+ 26,
1037
+ 27,
1038
+ 28,
1039
+ 29,
1040
+ 30,
1041
+ 31,
1042
+ 32,
1043
+ 33,
1044
+ 35,
1045
+ 36,
1046
+ 37,
1047
+ 38,
1048
+ 39,
1049
+ 40,
1050
+ 41,
1051
+ 42,
1052
+ 44,
1053
+ 45,
1054
+ 46,
1055
+ 47,
1056
+ 48,
1057
+ 49,
1058
+ 50,
1059
+ 51
1060
+ ],
1061
+ "val": [
1062
+ 7,
1063
+ 16,
1064
+ 17,
1065
+ 21,
1066
+ 43
1067
+ ],
1068
+ "test": [
1069
+ 8,
1070
+ 18,
1071
+ 19,
1072
+ 22,
1073
+ 34
1074
+ ]
1075
+ },
1076
+ "encoder_version": {
1077
+ "type": "RawActionSequenceConfig",
1078
+ "config": {
1079
+ "action_horizon": 30,
1080
+ "action_dim": 7,
1081
+ "vocab_size": 256
1082
+ },
1083
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
1084
+ "calibration": {
1085
+ "low": [
1086
+ -1.0,
1087
+ -1.0,
1088
+ -1.0,
1089
+ -1.0,
1090
+ -1.0,
1091
+ -1.0,
1092
+ -1.0
1093
+ ],
1094
+ "high": [
1095
+ 1.0,
1096
+ 1.0,
1097
+ 1.0,
1098
+ 1.0,
1099
+ 1.0,
1100
+ 1.0,
1101
+ 1.0
1102
+ ]
1103
+ },
1104
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
1105
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
1106
+ "rtc_history_steps": [
1107
+ 1,
1108
+ 2,
1109
+ 3,
1110
+ 4,
1111
+ 5,
1112
+ 6,
1113
+ 7,
1114
+ 8,
1115
+ 9,
1116
+ 10
1117
+ ]
1118
+ },
1119
+ "vision_weight_versions": {
1120
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
1121
+ "siglip": "vit_so400m_patch14_siglip_224"
1122
+ },
1123
+ "training_update_count": 50000,
1124
+ "checkpoint_selection_metric": {
1125
+ "name": "final validation objective",
1126
+ "value": 11.491708993911743,
1127
+ "split": "val",
1128
+ "best_observed_value": 3.905062187463045
1129
+ },
1130
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli train_base --config configs/default.yaml --architecture discrete_joint --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_joint_base.pt",
1131
+ "parameter_counts": {
1132
+ "observation_projector_state": 1146368,
1133
+ "action_backbone": 12426240,
1134
+ "embedding_output": 277888,
1135
+ "total_trainable": 13850496,
1136
+ "total": 13850496
1137
+ },
1138
+ "wandb": {
1139
+ "project": "robot-policy-50k-bs32-basic",
1140
+ "entity": "401910710-university-of-california-berkeley",
1141
+ "run_id": "ykwmgupy",
1142
+ "run_name": "discrete_joint-base-dit-s-raw-bs32-50kbase-5kttrtc",
1143
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/ykwmgupy",
1144
+ "mode": "online",
1145
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_joint_base.pt"
1146
+ },
1147
+ "determinism": {
1148
+ "enabled": true,
1149
+ "seed": 7,
1150
+ "cublas_workspace_config": ":4096:8"
1151
+ }
1152
+ },
1153
+ {
1154
+ "architecture": "discrete_joint",
1155
+ "training_type": "ttrtc",
1156
+ "parent_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_joint_base.pt",
1157
+ "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt",
1158
+ "sha256": "b49affff04576f229f27d2b2072610f1636765a90c06fa45c2288b95894f21e2",
1159
+ "configuration": {
1160
+ "data": {
1161
+ "dataset_path": "../Data/stacking_cups_action_30hz",
1162
+ "prepared_path": "outputs/longrun_50k_bs32/raw/prepared",
1163
+ "action_representation": "raw",
1164
+ "vision_cache_path": "outputs/prepared/vision",
1165
+ "camera_keys": [
1166
+ "observation.images.global",
1167
+ "observation.images.hand"
1168
+ ],
1169
+ "state_key": "observation.state",
1170
+ "action_key": "action",
1171
+ "observation_horizon": 1,
1172
+ "action_horizon": 30,
1173
+ "frequency_hz": 30.0,
1174
+ "split_seed": 20260915,
1175
+ "train_episodes": 42,
1176
+ "val_episodes": 5,
1177
+ "test_episodes": 5
1178
+ },
1179
+ "spline": {
1180
+ "degree": 3,
1181
+ "span_length_steps": 2,
1182
+ "num_basis": 18,
1183
+ "vocab_size": 256,
1184
+ "regularization": 0.0001,
1185
+ "implementation_version": "uniform_left_direct_fit_v1"
1186
+ },
1187
+ "vision": {
1188
+ "image_size": 224,
1189
+ "pooled_grid": 4,
1190
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
1191
+ "siglip_model": "vit_so400m_patch14_siglip_224",
1192
+ "extraction_layer_offset": -2,
1193
+ "pretrained": true,
1194
+ "cache_dtype": "float16"
1195
+ },
1196
+ "policy": {
1197
+ "architecture": "discrete_joint",
1198
+ "model_size": "DiT-S",
1199
+ "hidden_dim": 384,
1200
+ "depth": 6,
1201
+ "heads": 4,
1202
+ "mlp_ratio": 4.0,
1203
+ "dropout": 0.0,
1204
+ "discrete_rounds": 8,
1205
+ "block_size": 21,
1206
+ "fm_steps": 12
1207
+ },
1208
+ "train": {
1209
+ "seed": 7,
1210
+ "updates": 50000,
1211
+ "rtc_updates": 5000,
1212
+ "batch_size": 32,
1213
+ "effective_batch_size": 32,
1214
+ "learning_rate": 0.0003,
1215
+ "weight_decay": 0.0001,
1216
+ "warmup_updates": 100,
1217
+ "min_lr_ratio": 0.1,
1218
+ "grad_clip": 1.0,
1219
+ "eval_every": 100,
1220
+ "save_every": 1000,
1221
+ "num_workers": 4,
1222
+ "precision": "bf16",
1223
+ "lambda_l1": 1.0,
1224
+ "deterministic": true
1225
+ },
1226
+ "rtc": {
1227
+ "spline_delay_min": 1,
1228
+ "spline_delay_max": 5,
1229
+ "raw_delay_min": 1,
1230
+ "raw_delay_max": 10,
1231
+ "delay_distribution": "truncated_decreasing_exponential_reference",
1232
+ "zero_delay_eval": true
1233
+ },
1234
+ "wandb": {
1235
+ "enabled": true,
1236
+ "mode": "online",
1237
+ "entity": "401910710-university-of-california-berkeley",
1238
+ "base_project": "robot-policy-50k-bs32-basic",
1239
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
1240
+ "run_suffix": "dit-s-raw-bs32-50kbase-5kttrtc",
1241
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_s/raw/wandb"
1242
+ }
1243
+ },
1244
+ "code_commit": "root repository has no commit",
1245
+ "code_snapshot_sha256": "8bf2e0a7a2dff9ddd6fd4225b99e471925759f44079153d010df3711043e8f5a",
1246
+ "data_split": {
1247
+ "train": [
1248
+ 0,
1249
+ 1,
1250
+ 2,
1251
+ 3,
1252
+ 4,
1253
+ 5,
1254
+ 6,
1255
+ 9,
1256
+ 10,
1257
+ 11,
1258
+ 12,
1259
+ 13,
1260
+ 14,
1261
+ 15,
1262
+ 20,
1263
+ 23,
1264
+ 24,
1265
+ 25,
1266
+ 26,
1267
+ 27,
1268
+ 28,
1269
+ 29,
1270
+ 30,
1271
+ 31,
1272
+ 32,
1273
+ 33,
1274
+ 35,
1275
+ 36,
1276
+ 37,
1277
+ 38,
1278
+ 39,
1279
+ 40,
1280
+ 41,
1281
+ 42,
1282
+ 44,
1283
+ 45,
1284
+ 46,
1285
+ 47,
1286
+ 48,
1287
+ 49,
1288
+ 50,
1289
+ 51
1290
+ ],
1291
+ "val": [
1292
+ 7,
1293
+ 16,
1294
+ 17,
1295
+ 21,
1296
+ 43
1297
+ ],
1298
+ "test": [
1299
+ 8,
1300
+ 18,
1301
+ 19,
1302
+ 22,
1303
+ 34
1304
+ ]
1305
+ },
1306
+ "encoder_version": {
1307
+ "type": "RawActionSequenceConfig",
1308
+ "config": {
1309
+ "action_horizon": 30,
1310
+ "action_dim": 7,
1311
+ "vocab_size": 256
1312
+ },
1313
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
1314
+ "calibration": {
1315
+ "low": [
1316
+ -1.0,
1317
+ -1.0,
1318
+ -1.0,
1319
+ -1.0,
1320
+ -1.0,
1321
+ -1.0,
1322
+ -1.0
1323
+ ],
1324
+ "high": [
1325
+ 1.0,
1326
+ 1.0,
1327
+ 1.0,
1328
+ 1.0,
1329
+ 1.0,
1330
+ 1.0,
1331
+ 1.0
1332
+ ]
1333
+ },
1334
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
1335
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
1336
+ "rtc_history_steps": [
1337
+ 1,
1338
+ 2,
1339
+ 3,
1340
+ 4,
1341
+ 5,
1342
+ 6,
1343
+ 7,
1344
+ 8,
1345
+ 9,
1346
+ 10
1347
+ ]
1348
+ },
1349
+ "vision_weight_versions": {
1350
+ "dino": "vit_large_patch14_reg4_dinov2.lvd142m",
1351
+ "siglip": "vit_so400m_patch14_siglip_224"
1352
+ },
1353
+ "training_update_count": 5000,
1354
+ "checkpoint_selection_metric": {
1355
+ "name": "final validation objective",
1356
+ "value": 9.858319506049156,
1357
+ "split": "val",
1358
+ "best_observed_value": 7.2359075248241425
1359
+ },
1360
+ "resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli finetune_rtc --config configs/default.yaml --architecture discrete_joint --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt --parent /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_joint_base.pt",
1361
+ "parameter_counts": {
1362
+ "observation_projector_state": 1146368,
1363
+ "action_backbone": 12426240,
1364
+ "embedding_output": 277888,
1365
+ "total_trainable": 13850496,
1366
+ "total": 13850496
1367
+ },
1368
+ "wandb": {
1369
+ "project": "robot-policy-5k-bs32-ttRTC",
1370
+ "entity": "401910710-university-of-california-berkeley",
1371
+ "run_id": "dgxz1ipu",
1372
+ "run_name": "discrete_joint-ttrtc-dit-s-raw-bs32-50kbase-5kttrtc",
1373
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/dgxz1ipu",
1374
+ "mode": "online",
1375
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt"
1376
+ },
1377
+ "determinism": {
1378
+ "enabled": true,
1379
+ "seed": 7,
1380
+ "cublas_workspace_config": ":4096:8"
1381
+ }
1382
+ }
1383
+ ]
1384
+ }
NewModel/dit_s/raw/checkpoints/fm_ttrtc.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:360e5814cf8c0590cc5036e67f02447ed921dcdea044c972e05f9982c49c0483
3
+ size 181509945
NewModel/sidecars/bspline/action_manifest.json ADDED
@@ -0,0 +1,491 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "config": {
3
+ "data": {
4
+ "dataset_path": "../Data/stacking_cups_action_30hz",
5
+ "prepared_path": "outputs/SWEEP/summary/cache/bspline",
6
+ "action_representation": "bspline",
7
+ "vision_cache_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/vision",
8
+ "camera_keys": [
9
+ "observation.images.global",
10
+ "observation.images.hand"
11
+ ],
12
+ "state_key": "observation.state",
13
+ "action_key": "action",
14
+ "observation_horizon": 1,
15
+ "action_horizon": 30,
16
+ "frequency_hz": 30.0,
17
+ "split_seed": 20260915,
18
+ "train_episodes": 42,
19
+ "val_episodes": 5,
20
+ "test_episodes": 5
21
+ },
22
+ "spline": {
23
+ "degree": 3,
24
+ "span_length_steps": 2,
25
+ "num_basis": 18,
26
+ "vocab_size": 256,
27
+ "regularization": 0.0001,
28
+ "implementation_version": "uniform_left_direct_fit_v1"
29
+ },
30
+ "vision": {
31
+ "image_size": 224,
32
+ "pooled_grid": 4,
33
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
34
+ "siglip_model": "vit_so400m_patch14_siglip_224",
35
+ "extraction_layer_offset": -2,
36
+ "pretrained": true,
37
+ "cache_dtype": "float16"
38
+ },
39
+ "policy": {
40
+ "architecture": "fm",
41
+ "model_size": "DiT-S",
42
+ "hidden_dim": 384,
43
+ "depth": 6,
44
+ "heads": 4,
45
+ "mlp_ratio": 4.0,
46
+ "dropout": 0.0,
47
+ "discrete_rounds": 8,
48
+ "block_size": 21,
49
+ "fm_steps": 12
50
+ },
51
+ "train": {
52
+ "seed": 7,
53
+ "updates": 50000,
54
+ "rtc_updates": 5000,
55
+ "batch_size": 32,
56
+ "effective_batch_size": 32,
57
+ "learning_rate": 0.0003,
58
+ "weight_decay": 0.0001,
59
+ "warmup_updates": 100,
60
+ "min_lr_ratio": 0.1,
61
+ "grad_clip": 1.0,
62
+ "eval_every": 100,
63
+ "save_every": 1000,
64
+ "num_workers": 4,
65
+ "precision": "bf16",
66
+ "lambda_l1": 1.0,
67
+ "deterministic": true
68
+ },
69
+ "rtc": {
70
+ "spline_delay_min": 1,
71
+ "spline_delay_max": 5,
72
+ "raw_delay_min": 1,
73
+ "raw_delay_max": 10,
74
+ "delay_distribution": "truncated_decreasing_exponential_reference",
75
+ "zero_delay_eval": true
76
+ },
77
+ "wandb": {
78
+ "enabled": true,
79
+ "mode": "online",
80
+ "entity": "401910710-university-of-california-berkeley",
81
+ "base_project": "robot-policy-50k-bs32-basic",
82
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
83
+ "run_suffix": "dit-s-bspline-bs32-50kbase-5kttrtc",
84
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_s/bspline/wandb"
85
+ }
86
+ },
87
+ "dataset_audit": {
88
+ "dataset": "/scratch/wangpc/B-Spline-Inpainting/Data/stacking_cups_action_30hz",
89
+ "codebase_version": "v2.1",
90
+ "robot_type": "piper",
91
+ "episodes": 52,
92
+ "frames": 31706,
93
+ "episode_length_min": 500,
94
+ "episode_length_max": 786,
95
+ "fps": 30.0,
96
+ "dt_min": 0.03333282470703125,
97
+ "dt_median": 0.03333330154418945,
98
+ "dt_max": 0.03333473205566406,
99
+ "dt_anomalies_over_1ms": 0,
100
+ "nonconsecutive_frame_episodes": [],
101
+ "camera_keys": [
102
+ "observation.images.global",
103
+ "observation.images.hand"
104
+ ],
105
+ "state_key": "observation.state",
106
+ "action_key": "action",
107
+ "state_modality": {
108
+ "joints": {
109
+ "original_key": "observation.state",
110
+ "start": 0,
111
+ "end": 6,
112
+ "absolute": true,
113
+ "dtype": "float32"
114
+ },
115
+ "gripper": {
116
+ "original_key": "observation.state",
117
+ "start": 6,
118
+ "end": 7,
119
+ "absolute": true,
120
+ "dtype": "float32",
121
+ "range": [
122
+ 0.0,
123
+ 1.0
124
+ ]
125
+ }
126
+ },
127
+ "action_modality": {
128
+ "joints": {
129
+ "original_key": "action",
130
+ "start": 0,
131
+ "end": 6,
132
+ "absolute": true,
133
+ "dtype": "float32"
134
+ },
135
+ "gripper": {
136
+ "original_key": "action",
137
+ "start": 6,
138
+ "end": 7,
139
+ "absolute": true,
140
+ "dtype": "float32",
141
+ "range": [
142
+ 0.0,
143
+ 1.0
144
+ ]
145
+ }
146
+ },
147
+ "action_alignment": "action[t] paired with observation[t] per LeRobot row; collection semantics not independently encoded in metadata"
148
+ },
149
+ "splits": {
150
+ "train": [
151
+ 0,
152
+ 1,
153
+ 2,
154
+ 3,
155
+ 4,
156
+ 5,
157
+ 6,
158
+ 9,
159
+ 10,
160
+ 11,
161
+ 12,
162
+ 13,
163
+ 14,
164
+ 15,
165
+ 20,
166
+ 23,
167
+ 24,
168
+ 25,
169
+ 26,
170
+ 27,
171
+ 28,
172
+ 29,
173
+ 30,
174
+ 31,
175
+ 32,
176
+ 33,
177
+ 35,
178
+ 36,
179
+ 37,
180
+ 38,
181
+ 39,
182
+ 40,
183
+ 41,
184
+ 42,
185
+ 44,
186
+ 45,
187
+ 46,
188
+ 47,
189
+ 48,
190
+ 49,
191
+ 50,
192
+ 51
193
+ ],
194
+ "val": [
195
+ 7,
196
+ 16,
197
+ 17,
198
+ 21,
199
+ 43
200
+ ],
201
+ "test": [
202
+ 8,
203
+ 18,
204
+ 19,
205
+ 22,
206
+ 34
207
+ ]
208
+ },
209
+ "episodes": [
210
+ {
211
+ "episode_id": 0,
212
+ "frames": 718,
213
+ "split": "train"
214
+ },
215
+ {
216
+ "episode_id": 1,
217
+ "frames": 576,
218
+ "split": "train"
219
+ },
220
+ {
221
+ "episode_id": 2,
222
+ "frames": 618,
223
+ "split": "train"
224
+ },
225
+ {
226
+ "episode_id": 3,
227
+ "frames": 616,
228
+ "split": "train"
229
+ },
230
+ {
231
+ "episode_id": 4,
232
+ "frames": 586,
233
+ "split": "train"
234
+ },
235
+ {
236
+ "episode_id": 5,
237
+ "frames": 653,
238
+ "split": "train"
239
+ },
240
+ {
241
+ "episode_id": 6,
242
+ "frames": 654,
243
+ "split": "train"
244
+ },
245
+ {
246
+ "episode_id": 7,
247
+ "frames": 666,
248
+ "split": "val"
249
+ },
250
+ {
251
+ "episode_id": 8,
252
+ "frames": 616,
253
+ "split": "test"
254
+ },
255
+ {
256
+ "episode_id": 9,
257
+ "frames": 563,
258
+ "split": "train"
259
+ },
260
+ {
261
+ "episode_id": 10,
262
+ "frames": 654,
263
+ "split": "train"
264
+ },
265
+ {
266
+ "episode_id": 11,
267
+ "frames": 585,
268
+ "split": "train"
269
+ },
270
+ {
271
+ "episode_id": 12,
272
+ "frames": 613,
273
+ "split": "train"
274
+ },
275
+ {
276
+ "episode_id": 13,
277
+ "frames": 593,
278
+ "split": "train"
279
+ },
280
+ {
281
+ "episode_id": 14,
282
+ "frames": 706,
283
+ "split": "train"
284
+ },
285
+ {
286
+ "episode_id": 15,
287
+ "frames": 661,
288
+ "split": "train"
289
+ },
290
+ {
291
+ "episode_id": 16,
292
+ "frames": 548,
293
+ "split": "val"
294
+ },
295
+ {
296
+ "episode_id": 17,
297
+ "frames": 631,
298
+ "split": "val"
299
+ },
300
+ {
301
+ "episode_id": 18,
302
+ "frames": 786,
303
+ "split": "test"
304
+ },
305
+ {
306
+ "episode_id": 19,
307
+ "frames": 623,
308
+ "split": "test"
309
+ },
310
+ {
311
+ "episode_id": 20,
312
+ "frames": 625,
313
+ "split": "train"
314
+ },
315
+ {
316
+ "episode_id": 21,
317
+ "frames": 601,
318
+ "split": "val"
319
+ },
320
+ {
321
+ "episode_id": 22,
322
+ "frames": 548,
323
+ "split": "test"
324
+ },
325
+ {
326
+ "episode_id": 23,
327
+ "frames": 578,
328
+ "split": "train"
329
+ },
330
+ {
331
+ "episode_id": 24,
332
+ "frames": 500,
333
+ "split": "train"
334
+ },
335
+ {
336
+ "episode_id": 25,
337
+ "frames": 608,
338
+ "split": "train"
339
+ },
340
+ {
341
+ "episode_id": 26,
342
+ "frames": 571,
343
+ "split": "train"
344
+ },
345
+ {
346
+ "episode_id": 27,
347
+ "frames": 703,
348
+ "split": "train"
349
+ },
350
+ {
351
+ "episode_id": 28,
352
+ "frames": 593,
353
+ "split": "train"
354
+ },
355
+ {
356
+ "episode_id": 29,
357
+ "frames": 538,
358
+ "split": "train"
359
+ },
360
+ {
361
+ "episode_id": 30,
362
+ "frames": 600,
363
+ "split": "train"
364
+ },
365
+ {
366
+ "episode_id": 31,
367
+ "frames": 661,
368
+ "split": "train"
369
+ },
370
+ {
371
+ "episode_id": 32,
372
+ "frames": 603,
373
+ "split": "train"
374
+ },
375
+ {
376
+ "episode_id": 33,
377
+ "frames": 602,
378
+ "split": "train"
379
+ },
380
+ {
381
+ "episode_id": 34,
382
+ "frames": 576,
383
+ "split": "test"
384
+ },
385
+ {
386
+ "episode_id": 35,
387
+ "frames": 631,
388
+ "split": "train"
389
+ },
390
+ {
391
+ "episode_id": 36,
392
+ "frames": 541,
393
+ "split": "train"
394
+ },
395
+ {
396
+ "episode_id": 37,
397
+ "frames": 575,
398
+ "split": "train"
399
+ },
400
+ {
401
+ "episode_id": 38,
402
+ "frames": 651,
403
+ "split": "train"
404
+ },
405
+ {
406
+ "episode_id": 39,
407
+ "frames": 644,
408
+ "split": "train"
409
+ },
410
+ {
411
+ "episode_id": 40,
412
+ "frames": 586,
413
+ "split": "train"
414
+ },
415
+ {
416
+ "episode_id": 41,
417
+ "frames": 599,
418
+ "split": "train"
419
+ },
420
+ {
421
+ "episode_id": 42,
422
+ "frames": 613,
423
+ "split": "train"
424
+ },
425
+ {
426
+ "episode_id": 43,
427
+ "frames": 631,
428
+ "split": "val"
429
+ },
430
+ {
431
+ "episode_id": 44,
432
+ "frames": 549,
433
+ "split": "train"
434
+ },
435
+ {
436
+ "episode_id": 45,
437
+ "frames": 616,
438
+ "split": "train"
439
+ },
440
+ {
441
+ "episode_id": 46,
442
+ "frames": 617,
443
+ "split": "train"
444
+ },
445
+ {
446
+ "episode_id": 47,
447
+ "frames": 611,
448
+ "split": "train"
449
+ },
450
+ {
451
+ "episode_id": 48,
452
+ "frames": 572,
453
+ "split": "train"
454
+ },
455
+ {
456
+ "episode_id": 49,
457
+ "frames": 549,
458
+ "split": "train"
459
+ },
460
+ {
461
+ "episode_id": 50,
462
+ "frames": 541,
463
+ "split": "train"
464
+ },
465
+ {
466
+ "episode_id": 51,
467
+ "frames": 607,
468
+ "split": "train"
469
+ }
470
+ ],
471
+ "metrics": {
472
+ "fit_mae": 0.0013841022737324238,
473
+ "fit_rmse": 0.008135504089295864,
474
+ "fit_max": 0.4769362211227417,
475
+ "fit_quantiles": {
476
+ "0.5": 0.0002894103527069092,
477
+ "0.9": 0.0019991397857666016,
478
+ "0.95": 0.004333794116973877,
479
+ "0.99": 0.017542792260646783
480
+ },
481
+ "additional_quantization_mae": 0.0017159109702333808,
482
+ "additional_quantization_rmse": 0.0022472527343779802,
483
+ "additional_quantization_max": 0.08291345834732056,
484
+ "additional_quantization_quantiles": {
485
+ "0.5": 0.001398865133523941,
486
+ "0.9": 0.0033626556396484375,
487
+ "0.95": 0.005205273628234863,
488
+ "0.99": 0.006708025932312012
489
+ }
490
+ }
491
+ }
NewModel/sidecars/bspline/encoder.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"calibration": {"high": [[1.0001320534784777, 1.000217947271147, 1.0002142140316466, 0.9999175344058577, 1.0006166558016827, 1.0005731626541896, 1.0130456311011466], [1.0208009495890162, 1.0274161399255217, 1.0194711680283959, 1.0075017576037013, 1.0118204490360658, 1.0374689295951525, 2.162911458255035], [1.0376679859975206, 1.0280438173315658, 1.023985418950964, 1.0154216847959237, 1.0352696001165098, 1.0366522005973113, 2.356066019859466], [1.030319821827192, 1.0213329401830724, 1.0161943653416716, 1.0203930283582656, 1.0267691991913117, 1.0253725581585993, 1.9594421110548952], [1.027938444963934, 1.0196375682264016, 1.0142375906505892, 1.022253151504063, 1.0243579872697957, 1.022507234753274, 1.854860910351454], [1.0272354644789985, 1.019127506942393, 1.0136801762597412, 1.0238229047843093, 1.023720878551779, 1.0217030559095621, 1.8259731876219534], [1.0270375153544067, 1.0189980975436848, 1.013526150619664, 1.0243355237895369, 1.0234902727275066, 1.0215080058166919, 1.8221738758056796], [1.0269861327784047, 1.0189467895870716, 1.0134867980926279, 1.0244507576510578, 1.0234551900975006, 1.0214858043865251, 1.822112768776103], [1.026951689041513, 1.0189166007359576, 1.013457616346234, 1.0245213894998122, 1.0233776432464667, 1.0216476423287524, 1.8221671274793796], [1.0269734086789177, 1.0188192051945262, 1.0134839275380096, 1.0244796967022274, 1.0234150488030411, 1.0220398183399404, 1.8222629401173436], [1.0267836184788552, 1.0186942883997294, 1.0133282719595413, 1.0245874418960155, 1.0229628697253843, 1.0218555180853492, 1.8229387442747695], [1.0268273862243118, 1.0200089365071314, 1.0132227545861394, 1.0244335473770902, 1.022389020322874, 1.0244102728815105, 1.8247541578102908], [1.0262356150336347, 1.0220064032462572, 1.0117246148724655, 1.0250268921774885, 1.0180577869621508, 1.024720476753586, 1.8323713420344763], [1.0274960949073972, 1.0232584520680894, 1.0131874015442441, 1.02500111241026, 1.0152628168118416, 1.0308537345937319, 1.8574149457120028], [1.025452423781644, 1.0274644803476, 1.0127868871471553, 1.0289837512095945, 1.0109052309353128, 1.023406226354991, 1.9511719356450699], [1.0257034341942142, 1.015918690725538, 1.0113897051819511, 1.0348919354908628, 1.0165881565758177, 1.026838506252514, 2.2800053921465175], [1.03145447486012, 1.020378229818615, 1.048541398030097, 1.0899464078653627, 1.043599209061983, 1.0579658321594547, 3.4856369595517074], [1.34831085397199, 1.2219488798770697, 1.236015315162152, 1.1055887996252238, 1.3220778638938135, 1.3127962065102405, 8.250013000370497]], "low": [[-1.0002340182390266, -0.9999818768996518, -1.000478780177217, -1.0003908793490544, -1.000013743595106, -1.0000479536606244, -1.0126581242209305], [-1.0275965018138207, -1.01337570697127, -1.0138423471786622, -1.02863430855813, -1.0172577245003684, -1.0113210610435808, -2.1623490147124644], [-1.035782298526612, -1.022907547396848, -1.0417375320377973, -1.0651832670350643, -1.0195099278874593, -1.0293915019034514, -2.3551900340810157], [-1.0254513035936106, -1.0154128301425116, -1.03105111640651, -1.0478302911098047, -1.0139817666158177, -1.0216228358063983, -1.95880731070039], [-1.0227428178058962, -1.0151511959361739, -1.0280678393103524, -1.0430708705129448, -1.0158333821661407, -1.0224040372992034, -1.854291727121015], [-1.0245349163709632, -1.0121749308712216, -1.02721877103465, -1.041723381124409, -1.0146043286969388, -1.018424368749451, -1.8254222418778019], [-1.0224583753858043, -1.0117781571782183, -1.0269779875817913, -1.0413448635684401, -1.01456964596173, -1.0173777745286163, -1.8227530716813962], [-1.023260056444291, -1.0114929174638416, -1.0269296321182577, -1.0412266098839413, -1.0124523638185319, -1.0170575727599918, -1.8226953064419784], [-1.0235020979067266, -1.0114315025201608, -1.0268910006144285, -1.0412009727550682, -1.0123845646883871, -1.017006272466882, -1.8227506408273564], [-1.0235299401500508, -1.0113831053735158, -1.026923252060028, -1.041142962357374, -1.0123610068240925, -1.016926710797052, -1.8228468719121336], [-1.0236496493338827, -1.0115196149505798, -1.0268442771461104, -1.0410499571840637, -1.0124625381515167, -1.017043347336941, -1.8235233109210003], [-1.0235155630430663, -1.0113635969236945, -1.0270129730186879, -1.0410487676410447, -1.012283420499973, -1.016877553068441, -1.8253407497645975], [-1.0241388805305038, -1.0119222512234813, -1.0284500361433442, -1.0400684177309891, -1.0125940303979009, -1.0174290009774865, -1.8329651071705204], [-1.0242005507698455, -1.0117338610340083, -1.024679818643979, -1.034564273868854, -1.012169934877014, -1.0172437316153826, -1.8580345208298064], [-1.0286215213451089, -1.0145568583244224, -1.02251700607295, -1.0248664294097185, -1.0145883600428094, -1.020714717582269, -1.9518873141490176], [-1.0370520373441692, -1.023151206370058, -1.016330080077421, -1.0114253185527333, -1.0174253806404998, -1.0254306084399005, -2.3211370137401817], [-1.094399241492188, -1.0685716151903066, -1.0430317675643386, -1.0367243687632137, -1.069064531812812, -1.0611562219176982, -3.9582359696212883], [-1.472977752498755, -1.2626640330861374, -1.3129642728900919, -1.5302996490571252, -1.3164364189302702, -1.1370098223376572, -8.1963036044303]]}, "config": {"action_dim": 7, "chunk_size": 30, "degree": 3, "end_padding": true, "frequency_hz": 30.0, "implementation_version": "uniform_left_direct_fit_v1", "mode": "uniform_left", "num_basis": 18, "regularization": 0.0001, "span_length_steps": 2, "vocab_size": 256}, "fixed_fields": "knots, span length, degree, sample period, phase", "predicted_fields": "18x7 control points or ordered bins", "rtc_history_steps": [2, 4, 6, 8, 10], "tokenizer_id": "3282a6009a52b9a0", "type": "UniformLeftBSplineConfig"}
NewModel/sidecars/bspline/normalization.json ADDED
@@ -0,0 +1,395 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state_mean": [
3
+ -0.06821590662002563,
4
+ 1.3402678966522217,
5
+ -1.029311180114746,
6
+ -0.026913858950138092,
7
+ 0.482304185628891,
8
+ 0.12792791426181793,
9
+ 0.19733327627182007
10
+ ],
11
+ "state_std": [
12
+ 0.24829290807247162,
13
+ 0.6473751068115234,
14
+ 0.5541877150535583,
15
+ 0.14618821442127228,
16
+ 0.38715362548828125,
17
+ 0.1823183298110962,
18
+ 0.2029987871646881
19
+ ],
20
+ "action_q01": [
21
+ -0.5571745413541794,
22
+ -0.015232279896736145,
23
+ -2.0112431049346924,
24
+ -0.39771774411201477,
25
+ -0.18397162854671478,
26
+ -0.3426015079021454,
27
+ 0.0
28
+ ],
29
+ "action_q99": [
30
+ 0.41843727231025696,
31
+ 2.1062631607055664,
32
+ 0.0013397021684795618,
33
+ 0.36006876826286316,
34
+ 1.3638149499893188,
35
+ 0.4811461567878723,
36
+ 1.0
37
+ ],
38
+ "encoder": {
39
+ "type": "UniformLeftBSplineConfig",
40
+ "config": {
41
+ "action_dim": 7,
42
+ "chunk_size": 30,
43
+ "frequency_hz": 30.0,
44
+ "degree": 3,
45
+ "num_basis": 18,
46
+ "span_length_steps": 2,
47
+ "vocab_size": 256,
48
+ "regularization": 0.0001,
49
+ "end_padding": true,
50
+ "mode": "uniform_left",
51
+ "implementation_version": "uniform_left_direct_fit_v1"
52
+ },
53
+ "tokenizer_id": "3282a6009a52b9a0",
54
+ "calibration": {
55
+ "low": [
56
+ [
57
+ -1.0002340182390266,
58
+ -0.9999818768996518,
59
+ -1.000478780177217,
60
+ -1.0003908793490544,
61
+ -1.000013743595106,
62
+ -1.0000479536606244,
63
+ -1.0126581242209305
64
+ ],
65
+ [
66
+ -1.0275965018138207,
67
+ -1.01337570697127,
68
+ -1.0138423471786622,
69
+ -1.02863430855813,
70
+ -1.0172577245003684,
71
+ -1.0113210610435808,
72
+ -2.1623490147124644
73
+ ],
74
+ [
75
+ -1.035782298526612,
76
+ -1.022907547396848,
77
+ -1.0417375320377973,
78
+ -1.0651832670350643,
79
+ -1.0195099278874593,
80
+ -1.0293915019034514,
81
+ -2.3551900340810157
82
+ ],
83
+ [
84
+ -1.0254513035936106,
85
+ -1.0154128301425116,
86
+ -1.03105111640651,
87
+ -1.0478302911098047,
88
+ -1.0139817666158177,
89
+ -1.0216228358063983,
90
+ -1.95880731070039
91
+ ],
92
+ [
93
+ -1.0227428178058962,
94
+ -1.0151511959361739,
95
+ -1.0280678393103524,
96
+ -1.0430708705129448,
97
+ -1.0158333821661407,
98
+ -1.0224040372992034,
99
+ -1.854291727121015
100
+ ],
101
+ [
102
+ -1.0245349163709632,
103
+ -1.0121749308712216,
104
+ -1.02721877103465,
105
+ -1.041723381124409,
106
+ -1.0146043286969388,
107
+ -1.018424368749451,
108
+ -1.8254222418778019
109
+ ],
110
+ [
111
+ -1.0224583753858043,
112
+ -1.0117781571782183,
113
+ -1.0269779875817913,
114
+ -1.0413448635684401,
115
+ -1.01456964596173,
116
+ -1.0173777745286163,
117
+ -1.8227530716813962
118
+ ],
119
+ [
120
+ -1.023260056444291,
121
+ -1.0114929174638416,
122
+ -1.0269296321182577,
123
+ -1.0412266098839413,
124
+ -1.0124523638185319,
125
+ -1.0170575727599918,
126
+ -1.8226953064419784
127
+ ],
128
+ [
129
+ -1.0235020979067266,
130
+ -1.0114315025201608,
131
+ -1.0268910006144285,
132
+ -1.0412009727550682,
133
+ -1.0123845646883871,
134
+ -1.017006272466882,
135
+ -1.8227506408273564
136
+ ],
137
+ [
138
+ -1.0235299401500508,
139
+ -1.0113831053735158,
140
+ -1.026923252060028,
141
+ -1.041142962357374,
142
+ -1.0123610068240925,
143
+ -1.016926710797052,
144
+ -1.8228468719121336
145
+ ],
146
+ [
147
+ -1.0236496493338827,
148
+ -1.0115196149505798,
149
+ -1.0268442771461104,
150
+ -1.0410499571840637,
151
+ -1.0124625381515167,
152
+ -1.017043347336941,
153
+ -1.8235233109210003
154
+ ],
155
+ [
156
+ -1.0235155630430663,
157
+ -1.0113635969236945,
158
+ -1.0270129730186879,
159
+ -1.0410487676410447,
160
+ -1.012283420499973,
161
+ -1.016877553068441,
162
+ -1.8253407497645975
163
+ ],
164
+ [
165
+ -1.0241388805305038,
166
+ -1.0119222512234813,
167
+ -1.0284500361433442,
168
+ -1.0400684177309891,
169
+ -1.0125940303979009,
170
+ -1.0174290009774865,
171
+ -1.8329651071705204
172
+ ],
173
+ [
174
+ -1.0242005507698455,
175
+ -1.0117338610340083,
176
+ -1.024679818643979,
177
+ -1.034564273868854,
178
+ -1.012169934877014,
179
+ -1.0172437316153826,
180
+ -1.8580345208298064
181
+ ],
182
+ [
183
+ -1.0286215213451089,
184
+ -1.0145568583244224,
185
+ -1.02251700607295,
186
+ -1.0248664294097185,
187
+ -1.0145883600428094,
188
+ -1.020714717582269,
189
+ -1.9518873141490176
190
+ ],
191
+ [
192
+ -1.0370520373441692,
193
+ -1.023151206370058,
194
+ -1.016330080077421,
195
+ -1.0114253185527333,
196
+ -1.0174253806404998,
197
+ -1.0254306084399005,
198
+ -2.3211370137401817
199
+ ],
200
+ [
201
+ -1.094399241492188,
202
+ -1.0685716151903066,
203
+ -1.0430317675643386,
204
+ -1.0367243687632137,
205
+ -1.069064531812812,
206
+ -1.0611562219176982,
207
+ -3.9582359696212883
208
+ ],
209
+ [
210
+ -1.472977752498755,
211
+ -1.2626640330861374,
212
+ -1.3129642728900919,
213
+ -1.5302996490571252,
214
+ -1.3164364189302702,
215
+ -1.1370098223376572,
216
+ -8.1963036044303
217
+ ]
218
+ ],
219
+ "high": [
220
+ [
221
+ 1.0001320534784777,
222
+ 1.000217947271147,
223
+ 1.0002142140316466,
224
+ 0.9999175344058577,
225
+ 1.0006166558016827,
226
+ 1.0005731626541896,
227
+ 1.0130456311011466
228
+ ],
229
+ [
230
+ 1.0208009495890162,
231
+ 1.0274161399255217,
232
+ 1.0194711680283959,
233
+ 1.0075017576037013,
234
+ 1.0118204490360658,
235
+ 1.0374689295951525,
236
+ 2.162911458255035
237
+ ],
238
+ [
239
+ 1.0376679859975206,
240
+ 1.0280438173315658,
241
+ 1.023985418950964,
242
+ 1.0154216847959237,
243
+ 1.0352696001165098,
244
+ 1.0366522005973113,
245
+ 2.356066019859466
246
+ ],
247
+ [
248
+ 1.030319821827192,
249
+ 1.0213329401830724,
250
+ 1.0161943653416716,
251
+ 1.0203930283582656,
252
+ 1.0267691991913117,
253
+ 1.0253725581585993,
254
+ 1.9594421110548952
255
+ ],
256
+ [
257
+ 1.027938444963934,
258
+ 1.0196375682264016,
259
+ 1.0142375906505892,
260
+ 1.022253151504063,
261
+ 1.0243579872697957,
262
+ 1.022507234753274,
263
+ 1.854860910351454
264
+ ],
265
+ [
266
+ 1.0272354644789985,
267
+ 1.019127506942393,
268
+ 1.0136801762597412,
269
+ 1.0238229047843093,
270
+ 1.023720878551779,
271
+ 1.0217030559095621,
272
+ 1.8259731876219534
273
+ ],
274
+ [
275
+ 1.0270375153544067,
276
+ 1.0189980975436848,
277
+ 1.013526150619664,
278
+ 1.0243355237895369,
279
+ 1.0234902727275066,
280
+ 1.0215080058166919,
281
+ 1.8221738758056796
282
+ ],
283
+ [
284
+ 1.0269861327784047,
285
+ 1.0189467895870716,
286
+ 1.0134867980926279,
287
+ 1.0244507576510578,
288
+ 1.0234551900975006,
289
+ 1.0214858043865251,
290
+ 1.822112768776103
291
+ ],
292
+ [
293
+ 1.026951689041513,
294
+ 1.0189166007359576,
295
+ 1.013457616346234,
296
+ 1.0245213894998122,
297
+ 1.0233776432464667,
298
+ 1.0216476423287524,
299
+ 1.8221671274793796
300
+ ],
301
+ [
302
+ 1.0269734086789177,
303
+ 1.0188192051945262,
304
+ 1.0134839275380096,
305
+ 1.0244796967022274,
306
+ 1.0234150488030411,
307
+ 1.0220398183399404,
308
+ 1.8222629401173436
309
+ ],
310
+ [
311
+ 1.0267836184788552,
312
+ 1.0186942883997294,
313
+ 1.0133282719595413,
314
+ 1.0245874418960155,
315
+ 1.0229628697253843,
316
+ 1.0218555180853492,
317
+ 1.8229387442747695
318
+ ],
319
+ [
320
+ 1.0268273862243118,
321
+ 1.0200089365071314,
322
+ 1.0132227545861394,
323
+ 1.0244335473770902,
324
+ 1.022389020322874,
325
+ 1.0244102728815105,
326
+ 1.8247541578102908
327
+ ],
328
+ [
329
+ 1.0262356150336347,
330
+ 1.0220064032462572,
331
+ 1.0117246148724655,
332
+ 1.0250268921774885,
333
+ 1.0180577869621508,
334
+ 1.024720476753586,
335
+ 1.8323713420344763
336
+ ],
337
+ [
338
+ 1.0274960949073972,
339
+ 1.0232584520680894,
340
+ 1.0131874015442441,
341
+ 1.02500111241026,
342
+ 1.0152628168118416,
343
+ 1.0308537345937319,
344
+ 1.8574149457120028
345
+ ],
346
+ [
347
+ 1.025452423781644,
348
+ 1.0274644803476,
349
+ 1.0127868871471553,
350
+ 1.0289837512095945,
351
+ 1.0109052309353128,
352
+ 1.023406226354991,
353
+ 1.9511719356450699
354
+ ],
355
+ [
356
+ 1.0257034341942142,
357
+ 1.015918690725538,
358
+ 1.0113897051819511,
359
+ 1.0348919354908628,
360
+ 1.0165881565758177,
361
+ 1.026838506252514,
362
+ 2.2800053921465175
363
+ ],
364
+ [
365
+ 1.03145447486012,
366
+ 1.020378229818615,
367
+ 1.048541398030097,
368
+ 1.0899464078653627,
369
+ 1.043599209061983,
370
+ 1.0579658321594547,
371
+ 3.4856369595517074
372
+ ],
373
+ [
374
+ 1.34831085397199,
375
+ 1.2219488798770697,
376
+ 1.236015315162152,
377
+ 1.1055887996252238,
378
+ 1.3220778638938135,
379
+ 1.3127962065102405,
380
+ 8.250013000370497
381
+ ]
382
+ ]
383
+ },
384
+ "predicted_fields": "18x7 control points or ordered bins",
385
+ "fixed_fields": "knots, span length, degree, sample period, phase",
386
+ "rtc_history_steps": [
387
+ 2,
388
+ 4,
389
+ 6,
390
+ 8,
391
+ 10
392
+ ]
393
+ },
394
+ "encoder_sha256": "1b94d97057957cc60e4b9020aaea6f618c557ece5d2337b27d6e6fdd2d89363f"
395
+ }
NewModel/sidecars/bspline/splits.json ADDED
@@ -0,0 +1,60 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "train": [
3
+ 0,
4
+ 1,
5
+ 2,
6
+ 3,
7
+ 4,
8
+ 5,
9
+ 6,
10
+ 9,
11
+ 10,
12
+ 11,
13
+ 12,
14
+ 13,
15
+ 14,
16
+ 15,
17
+ 20,
18
+ 23,
19
+ 24,
20
+ 25,
21
+ 26,
22
+ 27,
23
+ 28,
24
+ 29,
25
+ 30,
26
+ 31,
27
+ 32,
28
+ 33,
29
+ 35,
30
+ 36,
31
+ 37,
32
+ 38,
33
+ 39,
34
+ 40,
35
+ 41,
36
+ 42,
37
+ 44,
38
+ 45,
39
+ 46,
40
+ 47,
41
+ 48,
42
+ 49,
43
+ 50,
44
+ 51
45
+ ],
46
+ "val": [
47
+ 7,
48
+ 16,
49
+ 17,
50
+ 21,
51
+ 43
52
+ ],
53
+ "test": [
54
+ 8,
55
+ 18,
56
+ 19,
57
+ 22,
58
+ 34
59
+ ]
60
+ }
NewModel/sidecars/raw/action_manifest.json ADDED
@@ -0,0 +1,491 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "config": {
3
+ "data": {
4
+ "dataset_path": "../Data/stacking_cups_action_30hz",
5
+ "prepared_path": "outputs/SWEEP/summary/cache/raw",
6
+ "action_representation": "raw",
7
+ "vision_cache_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/summary/cache/vision",
8
+ "camera_keys": [
9
+ "observation.images.global",
10
+ "observation.images.hand"
11
+ ],
12
+ "state_key": "observation.state",
13
+ "action_key": "action",
14
+ "observation_horizon": 1,
15
+ "action_horizon": 30,
16
+ "frequency_hz": 30.0,
17
+ "split_seed": 20260915,
18
+ "train_episodes": 42,
19
+ "val_episodes": 5,
20
+ "test_episodes": 5
21
+ },
22
+ "spline": {
23
+ "degree": 3,
24
+ "span_length_steps": 2,
25
+ "num_basis": 18,
26
+ "vocab_size": 256,
27
+ "regularization": 0.0001,
28
+ "implementation_version": "uniform_left_direct_fit_v1"
29
+ },
30
+ "vision": {
31
+ "image_size": 224,
32
+ "pooled_grid": 4,
33
+ "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
34
+ "siglip_model": "vit_so400m_patch14_siglip_224",
35
+ "extraction_layer_offset": -2,
36
+ "pretrained": true,
37
+ "cache_dtype": "float16"
38
+ },
39
+ "policy": {
40
+ "architecture": "fm",
41
+ "model_size": "DiT-S",
42
+ "hidden_dim": 384,
43
+ "depth": 6,
44
+ "heads": 4,
45
+ "mlp_ratio": 4.0,
46
+ "dropout": 0.0,
47
+ "discrete_rounds": 8,
48
+ "block_size": 21,
49
+ "fm_steps": 12
50
+ },
51
+ "train": {
52
+ "seed": 7,
53
+ "updates": 50000,
54
+ "rtc_updates": 5000,
55
+ "batch_size": 32,
56
+ "effective_batch_size": 32,
57
+ "learning_rate": 0.0003,
58
+ "weight_decay": 0.0001,
59
+ "warmup_updates": 100,
60
+ "min_lr_ratio": 0.1,
61
+ "grad_clip": 1.0,
62
+ "eval_every": 100,
63
+ "save_every": 1000,
64
+ "num_workers": 4,
65
+ "precision": "bf16",
66
+ "lambda_l1": 1.0,
67
+ "deterministic": true
68
+ },
69
+ "rtc": {
70
+ "spline_delay_min": 1,
71
+ "spline_delay_max": 5,
72
+ "raw_delay_min": 1,
73
+ "raw_delay_max": 10,
74
+ "delay_distribution": "truncated_decreasing_exponential_reference",
75
+ "zero_delay_eval": true
76
+ },
77
+ "wandb": {
78
+ "enabled": true,
79
+ "mode": "online",
80
+ "entity": "401910710-university-of-california-berkeley",
81
+ "base_project": "robot-policy-50k-bs32-basic",
82
+ "rtc_project": "robot-policy-5k-bs32-ttRTC",
83
+ "run_suffix": "dit-s-raw-bs32-50kbase-5kttrtc",
84
+ "output_dir": "outputs/model_size_sweep_50k_bs32/dit_s/raw/wandb"
85
+ }
86
+ },
87
+ "dataset_audit": {
88
+ "dataset": "/scratch/wangpc/B-Spline-Inpainting/Data/stacking_cups_action_30hz",
89
+ "codebase_version": "v2.1",
90
+ "robot_type": "piper",
91
+ "episodes": 52,
92
+ "frames": 31706,
93
+ "episode_length_min": 500,
94
+ "episode_length_max": 786,
95
+ "fps": 30.0,
96
+ "dt_min": 0.03333282470703125,
97
+ "dt_median": 0.03333330154418945,
98
+ "dt_max": 0.03333473205566406,
99
+ "dt_anomalies_over_1ms": 0,
100
+ "nonconsecutive_frame_episodes": [],
101
+ "camera_keys": [
102
+ "observation.images.global",
103
+ "observation.images.hand"
104
+ ],
105
+ "state_key": "observation.state",
106
+ "action_key": "action",
107
+ "state_modality": {
108
+ "joints": {
109
+ "original_key": "observation.state",
110
+ "start": 0,
111
+ "end": 6,
112
+ "absolute": true,
113
+ "dtype": "float32"
114
+ },
115
+ "gripper": {
116
+ "original_key": "observation.state",
117
+ "start": 6,
118
+ "end": 7,
119
+ "absolute": true,
120
+ "dtype": "float32",
121
+ "range": [
122
+ 0.0,
123
+ 1.0
124
+ ]
125
+ }
126
+ },
127
+ "action_modality": {
128
+ "joints": {
129
+ "original_key": "action",
130
+ "start": 0,
131
+ "end": 6,
132
+ "absolute": true,
133
+ "dtype": "float32"
134
+ },
135
+ "gripper": {
136
+ "original_key": "action",
137
+ "start": 6,
138
+ "end": 7,
139
+ "absolute": true,
140
+ "dtype": "float32",
141
+ "range": [
142
+ 0.0,
143
+ 1.0
144
+ ]
145
+ }
146
+ },
147
+ "action_alignment": "action[t] paired with observation[t] per LeRobot row; collection semantics not independently encoded in metadata"
148
+ },
149
+ "splits": {
150
+ "train": [
151
+ 0,
152
+ 1,
153
+ 2,
154
+ 3,
155
+ 4,
156
+ 5,
157
+ 6,
158
+ 9,
159
+ 10,
160
+ 11,
161
+ 12,
162
+ 13,
163
+ 14,
164
+ 15,
165
+ 20,
166
+ 23,
167
+ 24,
168
+ 25,
169
+ 26,
170
+ 27,
171
+ 28,
172
+ 29,
173
+ 30,
174
+ 31,
175
+ 32,
176
+ 33,
177
+ 35,
178
+ 36,
179
+ 37,
180
+ 38,
181
+ 39,
182
+ 40,
183
+ 41,
184
+ 42,
185
+ 44,
186
+ 45,
187
+ 46,
188
+ 47,
189
+ 48,
190
+ 49,
191
+ 50,
192
+ 51
193
+ ],
194
+ "val": [
195
+ 7,
196
+ 16,
197
+ 17,
198
+ 21,
199
+ 43
200
+ ],
201
+ "test": [
202
+ 8,
203
+ 18,
204
+ 19,
205
+ 22,
206
+ 34
207
+ ]
208
+ },
209
+ "episodes": [
210
+ {
211
+ "episode_id": 0,
212
+ "frames": 718,
213
+ "split": "train"
214
+ },
215
+ {
216
+ "episode_id": 1,
217
+ "frames": 576,
218
+ "split": "train"
219
+ },
220
+ {
221
+ "episode_id": 2,
222
+ "frames": 618,
223
+ "split": "train"
224
+ },
225
+ {
226
+ "episode_id": 3,
227
+ "frames": 616,
228
+ "split": "train"
229
+ },
230
+ {
231
+ "episode_id": 4,
232
+ "frames": 586,
233
+ "split": "train"
234
+ },
235
+ {
236
+ "episode_id": 5,
237
+ "frames": 653,
238
+ "split": "train"
239
+ },
240
+ {
241
+ "episode_id": 6,
242
+ "frames": 654,
243
+ "split": "train"
244
+ },
245
+ {
246
+ "episode_id": 7,
247
+ "frames": 666,
248
+ "split": "val"
249
+ },
250
+ {
251
+ "episode_id": 8,
252
+ "frames": 616,
253
+ "split": "test"
254
+ },
255
+ {
256
+ "episode_id": 9,
257
+ "frames": 563,
258
+ "split": "train"
259
+ },
260
+ {
261
+ "episode_id": 10,
262
+ "frames": 654,
263
+ "split": "train"
264
+ },
265
+ {
266
+ "episode_id": 11,
267
+ "frames": 585,
268
+ "split": "train"
269
+ },
270
+ {
271
+ "episode_id": 12,
272
+ "frames": 613,
273
+ "split": "train"
274
+ },
275
+ {
276
+ "episode_id": 13,
277
+ "frames": 593,
278
+ "split": "train"
279
+ },
280
+ {
281
+ "episode_id": 14,
282
+ "frames": 706,
283
+ "split": "train"
284
+ },
285
+ {
286
+ "episode_id": 15,
287
+ "frames": 661,
288
+ "split": "train"
289
+ },
290
+ {
291
+ "episode_id": 16,
292
+ "frames": 548,
293
+ "split": "val"
294
+ },
295
+ {
296
+ "episode_id": 17,
297
+ "frames": 631,
298
+ "split": "val"
299
+ },
300
+ {
301
+ "episode_id": 18,
302
+ "frames": 786,
303
+ "split": "test"
304
+ },
305
+ {
306
+ "episode_id": 19,
307
+ "frames": 623,
308
+ "split": "test"
309
+ },
310
+ {
311
+ "episode_id": 20,
312
+ "frames": 625,
313
+ "split": "train"
314
+ },
315
+ {
316
+ "episode_id": 21,
317
+ "frames": 601,
318
+ "split": "val"
319
+ },
320
+ {
321
+ "episode_id": 22,
322
+ "frames": 548,
323
+ "split": "test"
324
+ },
325
+ {
326
+ "episode_id": 23,
327
+ "frames": 578,
328
+ "split": "train"
329
+ },
330
+ {
331
+ "episode_id": 24,
332
+ "frames": 500,
333
+ "split": "train"
334
+ },
335
+ {
336
+ "episode_id": 25,
337
+ "frames": 608,
338
+ "split": "train"
339
+ },
340
+ {
341
+ "episode_id": 26,
342
+ "frames": 571,
343
+ "split": "train"
344
+ },
345
+ {
346
+ "episode_id": 27,
347
+ "frames": 703,
348
+ "split": "train"
349
+ },
350
+ {
351
+ "episode_id": 28,
352
+ "frames": 593,
353
+ "split": "train"
354
+ },
355
+ {
356
+ "episode_id": 29,
357
+ "frames": 538,
358
+ "split": "train"
359
+ },
360
+ {
361
+ "episode_id": 30,
362
+ "frames": 600,
363
+ "split": "train"
364
+ },
365
+ {
366
+ "episode_id": 31,
367
+ "frames": 661,
368
+ "split": "train"
369
+ },
370
+ {
371
+ "episode_id": 32,
372
+ "frames": 603,
373
+ "split": "train"
374
+ },
375
+ {
376
+ "episode_id": 33,
377
+ "frames": 602,
378
+ "split": "train"
379
+ },
380
+ {
381
+ "episode_id": 34,
382
+ "frames": 576,
383
+ "split": "test"
384
+ },
385
+ {
386
+ "episode_id": 35,
387
+ "frames": 631,
388
+ "split": "train"
389
+ },
390
+ {
391
+ "episode_id": 36,
392
+ "frames": 541,
393
+ "split": "train"
394
+ },
395
+ {
396
+ "episode_id": 37,
397
+ "frames": 575,
398
+ "split": "train"
399
+ },
400
+ {
401
+ "episode_id": 38,
402
+ "frames": 651,
403
+ "split": "train"
404
+ },
405
+ {
406
+ "episode_id": 39,
407
+ "frames": 644,
408
+ "split": "train"
409
+ },
410
+ {
411
+ "episode_id": 40,
412
+ "frames": 586,
413
+ "split": "train"
414
+ },
415
+ {
416
+ "episode_id": 41,
417
+ "frames": 599,
418
+ "split": "train"
419
+ },
420
+ {
421
+ "episode_id": 42,
422
+ "frames": 613,
423
+ "split": "train"
424
+ },
425
+ {
426
+ "episode_id": 43,
427
+ "frames": 631,
428
+ "split": "val"
429
+ },
430
+ {
431
+ "episode_id": 44,
432
+ "frames": 549,
433
+ "split": "train"
434
+ },
435
+ {
436
+ "episode_id": 45,
437
+ "frames": 616,
438
+ "split": "train"
439
+ },
440
+ {
441
+ "episode_id": 46,
442
+ "frames": 617,
443
+ "split": "train"
444
+ },
445
+ {
446
+ "episode_id": 47,
447
+ "frames": 611,
448
+ "split": "train"
449
+ },
450
+ {
451
+ "episode_id": 48,
452
+ "frames": 572,
453
+ "split": "train"
454
+ },
455
+ {
456
+ "episode_id": 49,
457
+ "frames": 549,
458
+ "split": "train"
459
+ },
460
+ {
461
+ "episode_id": 50,
462
+ "frames": 541,
463
+ "split": "train"
464
+ },
465
+ {
466
+ "episode_id": 51,
467
+ "frames": 607,
468
+ "split": "train"
469
+ }
470
+ ],
471
+ "metrics": {
472
+ "fit_mae": 0.0,
473
+ "fit_rmse": 0.0,
474
+ "fit_max": 0.0,
475
+ "fit_quantiles": {
476
+ "0.5": 0.0,
477
+ "0.9": 0.0,
478
+ "0.95": 0.0,
479
+ "0.99": 0.0
480
+ },
481
+ "additional_quantization_mae": 0.0016609944868832827,
482
+ "additional_quantization_rmse": 0.0020821390207856894,
483
+ "additional_quantization_max": 0.003921657335013151,
484
+ "additional_quantization_quantiles": {
485
+ "0.5": 0.0016143321990966797,
486
+ "0.9": 0.0034426748752593994,
487
+ "0.95": 0.003694087266921997,
488
+ "0.99": 0.003884613513946533
489
+ }
490
+ }
491
+ }
NewModel/sidecars/raw/encoder.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"calibration": {"high": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "low": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]}, "config": {"action_dim": 7, "action_horizon": 30, "vocab_size": 256}, "fixed_fields": "action horizon, sample period, normalization quantiles", "predicted_fields": "30x7 normalized raw actions or ordered bins", "rtc_history_steps": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "tokenizer_id": "raw_action_q01_q99_uniform_256_v1", "type": "RawActionSequenceConfig"}
NewModel/sidecars/raw/normalization.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state_mean": [
3
+ -0.06821590662002563,
4
+ 1.3402678966522217,
5
+ -1.029311180114746,
6
+ -0.026913858950138092,
7
+ 0.482304185628891,
8
+ 0.12792791426181793,
9
+ 0.19733327627182007
10
+ ],
11
+ "state_std": [
12
+ 0.24829290807247162,
13
+ 0.6473751068115234,
14
+ 0.5541877150535583,
15
+ 0.14618821442127228,
16
+ 0.38715362548828125,
17
+ 0.1823183298110962,
18
+ 0.2029987871646881
19
+ ],
20
+ "action_q01": [
21
+ -0.5571745413541794,
22
+ -0.015232279896736145,
23
+ -2.0112431049346924,
24
+ -0.39771774411201477,
25
+ -0.18397162854671478,
26
+ -0.3426015079021454,
27
+ 0.0
28
+ ],
29
+ "action_q99": [
30
+ 0.41843727231025696,
31
+ 2.1062631607055664,
32
+ 0.0013397021684795618,
33
+ 0.36006876826286316,
34
+ 1.3638149499893188,
35
+ 0.4811461567878723,
36
+ 1.0
37
+ ],
38
+ "encoder": {
39
+ "type": "RawActionSequenceConfig",
40
+ "config": {
41
+ "action_horizon": 30,
42
+ "action_dim": 7,
43
+ "vocab_size": 256
44
+ },
45
+ "tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
46
+ "calibration": {
47
+ "low": [
48
+ -1.0,
49
+ -1.0,
50
+ -1.0,
51
+ -1.0,
52
+ -1.0,
53
+ -1.0,
54
+ -1.0
55
+ ],
56
+ "high": [
57
+ 1.0,
58
+ 1.0,
59
+ 1.0,
60
+ 1.0,
61
+ 1.0,
62
+ 1.0,
63
+ 1.0
64
+ ]
65
+ },
66
+ "predicted_fields": "30x7 normalized raw actions or ordered bins",
67
+ "fixed_fields": "action horizon, sample period, normalization quantiles",
68
+ "rtc_history_steps": [
69
+ 1,
70
+ 2,
71
+ 3,
72
+ 4,
73
+ 5,
74
+ 6,
75
+ 7,
76
+ 8,
77
+ 9,
78
+ 10
79
+ ]
80
+ },
81
+ "encoder_sha256": "001303ea9a02dbe0b36d787f2d1dbce87bb275ba4c1cff51eb06cdecf62b200e"
82
+ }
NewModel/sidecars/raw/splits.json ADDED
@@ -0,0 +1,60 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "train": [
3
+ 0,
4
+ 1,
5
+ 2,
6
+ 3,
7
+ 4,
8
+ 5,
9
+ 6,
10
+ 9,
11
+ 10,
12
+ 11,
13
+ 12,
14
+ 13,
15
+ 14,
16
+ 15,
17
+ 20,
18
+ 23,
19
+ 24,
20
+ 25,
21
+ 26,
22
+ 27,
23
+ 28,
24
+ 29,
25
+ 30,
26
+ 31,
27
+ 32,
28
+ 33,
29
+ 35,
30
+ 36,
31
+ 37,
32
+ 38,
33
+ 39,
34
+ 40,
35
+ 41,
36
+ 42,
37
+ 44,
38
+ 45,
39
+ 46,
40
+ 47,
41
+ 48,
42
+ 49,
43
+ 50,
44
+ 51
45
+ ],
46
+ "val": [
47
+ 7,
48
+ 16,
49
+ 17,
50
+ 21,
51
+ 43
52
+ ],
53
+ "test": [
54
+ 8,
55
+ 18,
56
+ 19,
57
+ 22,
58
+ 34
59
+ ]
60
+ }
NewModel/sweep_status.json ADDED
The diff for this file is too large to render. See raw diff