Version NewModel releases as v1 and v2
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- NewModel/README.md +9 -52
- NewModel/completion_audit.json +0 -1453
- NewModel/deployment/README.md +0 -61
- NewModel/deployment/deployment_validation.json +0 -613
- NewModel/deployment/piper_dataset_statistics.json +0 -66
- NewModel/deployment/stacking_cups_start_statistics.json +0 -39
- NewModel/dit_b/bspline/checkpoints/checkpoint_manifest.json +0 -0
- NewModel/dit_b/bspline/checkpoints/discrete_joint_base.pt +0 -3
- NewModel/dit_b/bspline/checkpoints/discrete_joint_base.pt.wandb.json +0 -9
- NewModel/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt +0 -3
- NewModel/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt.wandb.json +0 -9
- NewModel/dit_b/bspline/checkpoints/discrete_layerwise_base.pt +0 -3
- NewModel/dit_b/bspline/checkpoints/discrete_layerwise_base.pt.wandb.json +0 -9
- NewModel/dit_b/bspline/checkpoints/discrete_layerwise_ttrtc.pt +0 -3
- NewModel/dit_b/bspline/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json +0 -9
- NewModel/dit_b/bspline/checkpoints/fm_base.pt +0 -3
- NewModel/dit_b/bspline/checkpoints/fm_ttrtc.pt +0 -3
- NewModel/dit_b/raw/checkpoints/checkpoint_manifest.json +0 -1384
- NewModel/dit_b/raw/checkpoints/discrete_joint_base.pt +0 -3
- NewModel/dit_b/raw/checkpoints/discrete_joint_base.pt.wandb.json +0 -9
- NewModel/dit_b/raw/checkpoints/discrete_joint_ttrtc.pt +0 -3
- NewModel/dit_b/raw/checkpoints/discrete_joint_ttrtc.pt.wandb.json +0 -9
- NewModel/dit_b/raw/checkpoints/discrete_layerwise_base.pt +0 -3
- NewModel/dit_b/raw/checkpoints/discrete_layerwise_base.pt.wandb.json +0 -9
- NewModel/dit_b/raw/checkpoints/discrete_layerwise_ttrtc.pt +0 -3
- NewModel/dit_b/raw/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json +0 -9
- NewModel/dit_b/raw/checkpoints/fm_base.pt +0 -3
- NewModel/dit_b/raw/checkpoints/fm_ttrtc.pt +0 -3
- NewModel/dit_l/bspline/checkpoints/checkpoint_manifest.json +0 -0
- NewModel/dit_l/bspline/checkpoints/discrete_joint_base.pt +0 -3
- NewModel/dit_l/bspline/checkpoints/discrete_joint_base.pt.wandb.json +0 -9
- NewModel/dit_l/bspline/checkpoints/discrete_joint_ttrtc.pt +0 -3
- NewModel/dit_l/bspline/checkpoints/discrete_joint_ttrtc.pt.wandb.json +0 -9
- NewModel/dit_l/bspline/checkpoints/discrete_layerwise_base.pt +0 -3
- NewModel/dit_l/bspline/checkpoints/discrete_layerwise_base.pt.wandb.json +0 -9
- NewModel/dit_l/bspline/checkpoints/discrete_layerwise_ttrtc.pt +0 -3
- NewModel/dit_l/bspline/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json +0 -9
- NewModel/dit_l/bspline/checkpoints/fm_base.pt +0 -3
- NewModel/dit_l/bspline/checkpoints/fm_base.pt.wandb.json +0 -9
- NewModel/dit_l/bspline/checkpoints/fm_ttrtc.pt +0 -3
- NewModel/dit_l/bspline/checkpoints/fm_ttrtc.pt.wandb.json +0 -9
- NewModel/dit_l/raw/checkpoints/checkpoint_manifest.json +0 -1384
- NewModel/dit_l/raw/checkpoints/discrete_joint_base.pt +0 -3
- NewModel/dit_l/raw/checkpoints/discrete_joint_base.pt.wandb.json +0 -9
- NewModel/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt +0 -3
- NewModel/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt.wandb.json +0 -9
- NewModel/dit_l/raw/checkpoints/discrete_layerwise_base.pt +0 -3
- NewModel/dit_l/raw/checkpoints/discrete_layerwise_base.pt.wandb.json +0 -9
- NewModel/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt +0 -3
- NewModel/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json +0 -9
NewModel/README.md
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#
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| DiT-S | B-spline | 6 |
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| DiT-B | raw | 6 |
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| DiT-B | B-spline | 6 |
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| DiT-L | raw | 6 |
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| DiT-L | B-spline | 6 |
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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/`.
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Top-level evidence:
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- `completion_audit.json`: passed 36/36 with zero errors, 36 unique W&B run IDs, and an exact 18 base / 18 ttRTC project split.
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- `sweep_status.json`: final scheduler status and run metadata.
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- `summary/`: fresh 36-checkpoint open-loop, delay, latency, B-spline decode, and dd-openvla-aligned cache-acceleration evaluation.
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- `summary/deployment/`: Piper-compatible statistics plus the 36-checkpoint
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contract audit and real-GPU server runtime matrix.
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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.
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## Integrity
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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.
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`../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.
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## Cleanup
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Removed permanently:
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- 36 completed-run `.pt.resume` snapshots and all six local W&B cache trees;
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- stale lock files and the superseded partial audit;
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- the previous `action_representation_comparison`, `bspline_reproduction`, `checkpoints`, `evaluation`, `latency`, `longrun_50k_bs32`, `pilot`, `pilot_fast`, `prepared`, `raw_actions`, `replay`, and `visualizations` output trees.
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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).
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## Deployment
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All 36 checkpoints are served by the general interface documented at
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`../../deployment/README.md`. The server auto-resolves this directory's shared
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raw/B-spline sidecars and reads architecture/model-size/stage directly from
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each checkpoint. `summary/deployment/deployment_validation.json` audits all 36
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headers and records finite real-GPU inference for the complete 12-case DiT-S
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architecture x representation x stage matrix.
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## Next step
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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.
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# NewModel releases
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`NewModel` is versioned so published experiments remain reproducible.
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- `v1/`: byte-for-byte archive of the previous 36-checkpoint release. It
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includes DiT-S/B/L and historical layerwise-DD artifacts.
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- `v2/`: current active release with 16 checkpoints: DiT-S/B × raw/B-spline ×
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FM/joint-DD × base/ttRTC. DiT-L and layerwise DD are intentionally excluded.
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Use `v2` for new research and deployment. Use `v1` only to reproduce the
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previous sweep. Each version contains its own README, manifests, action-codec
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sidecars, and validation evidence.
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NewModel/completion_audit.json
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{
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"passed": true,
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"expected_checkpoints": 36,
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"found_checkpoints": 36,
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"records": [
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{
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"model_size": "DiT-S",
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"representation": "raw",
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"architecture": "fm",
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"stage": "base",
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"path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_base.pt",
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"checks": {
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"update": true,
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"shape": true,
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"batch_32": true,
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"parameters": true,
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"action_mse_local": true,
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"independent_reload": true,
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"one_manifest_entry": true,
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"manifest_hash": true,
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"manifest_update": true,
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"manifest_parameters": true,
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"no_parent": true,
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"wandb_metadata": true,
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"wandb_finished": true,
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"wandb_update_summary": true,
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"wandb_action_mse": true,
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"wandb_model_artifact": true
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},
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"sha256": "c045b0d086480ff3da1881c87c44a2b67ecf26f96957b922e6aa8bd71d45bd4c",
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"update": 50000,
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"parameters": 15072903,
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"final_train_action_mse": 0.0010298327542841434,
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"final_validation_action_mse": 0.023626778711332008,
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"wandb": {
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"project": "robot-policy-50k-bs32-basic",
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"entity": "401910710-university-of-california-berkeley",
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"run_id": "i9p5hb9y",
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"run_name": "fm-base-dit-s-raw-bs32-50kbase-5kttrtc",
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"url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/i9p5hb9y",
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"mode": "online",
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"output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_base.pt"
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}
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},
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{
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"model_size": "DiT-S",
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"representation": "raw",
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"architecture": "fm",
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"stage": "ttrtc",
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"path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_ttrtc.pt",
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"checks": {
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"update": true,
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"shape": true,
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"batch_32": true,
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"parameters": true,
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"action_mse_local": true,
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"independent_reload": true,
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"one_manifest_entry": true,
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"manifest_hash": true,
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"manifest_update": true,
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"manifest_parameters": true,
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"parent_path": true,
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"manifest_parent_path": true,
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"parent_hash_stable": true,
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"wandb_metadata": true,
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"wandb_finished": true,
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"wandb_update_summary": true,
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"wandb_action_mse": true,
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"wandb_model_artifact": true
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},
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"sha256": "360e5814cf8c0590cc5036e67f02447ed921dcdea044c972e05f9982c49c0483",
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"update": 5000,
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"parameters": 15072903,
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"final_train_action_mse": 0.0007300518918782473,
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"final_validation_action_mse": 0.026450319732248317,
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"wandb": {
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"project": "robot-policy-5k-bs32-ttRTC",
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"entity": "401910710-university-of-california-berkeley",
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"run_id": "v9ubgo5v",
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"run_name": "fm-ttrtc-dit-s-raw-bs32-50kbase-5kttrtc",
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"url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/v9ubgo5v",
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"mode": "online",
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"output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_ttrtc.pt"
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}
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},
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{
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"model_size": "DiT-S",
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"representation": "raw",
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"architecture": "discrete_layerwise",
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"stage": "base",
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"path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_base.pt",
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"checks": {
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"update": true,
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"shape": true,
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"batch_32": true,
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"parameters": true,
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"action_mse_local": true,
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"independent_reload": true,
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"one_manifest_entry": true,
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"manifest_hash": true,
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"manifest_update": true,
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"manifest_parameters": true,
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"no_parent": true,
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"wandb_metadata": true,
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"wandb_finished": true,
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"wandb_update_summary": true,
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"wandb_action_mse": true,
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"wandb_model_artifact": true
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},
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"sha256": "eff9e989fe18cf912e789dbd64e8d6068efc1e5bdafc13e9abfce8aa1bb6ac3b",
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"update": 50000,
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"parameters": 15035136,
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"final_train_action_mse": 0.0023149680346250534,
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"final_validation_action_mse": 0.005560047861763451,
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"wandb": {
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"project": "robot-policy-50k-bs32-basic",
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"entity": "401910710-university-of-california-berkeley",
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"run_id": "zh84gs3w",
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"run_name": "discrete_layerwise-base-dit-s-raw-bs32-50kbase-5kttrtc",
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"url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/zh84gs3w",
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"mode": "online",
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"output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_base.pt"
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}
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},
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{
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"model_size": "DiT-S",
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"representation": "raw",
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"architecture": "discrete_layerwise",
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"stage": "ttrtc",
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"path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_ttrtc.pt",
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"checks": {
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"update": true,
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"shape": true,
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"batch_32": true,
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"parameters": true,
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"action_mse_local": true,
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"independent_reload": true,
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"one_manifest_entry": true,
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"manifest_hash": true,
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"manifest_update": true,
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"manifest_parameters": true,
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"parent_path": true,
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"manifest_parent_path": true,
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"parent_hash_stable": true,
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"wandb_metadata": true,
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"wandb_finished": true,
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"wandb_update_summary": true,
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"wandb_action_mse": true,
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"wandb_model_artifact": true
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},
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"sha256": "f5fc888db8ba3fa2efdafc6f9b25410ea9ac28e759427289be508152c05dbfc1",
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"update": 5000,
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"parameters": 15035136,
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"final_train_action_mse": 0.00025027745869010687,
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"final_validation_action_mse": 0.006239814118089271,
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"wandb": {
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"project": "robot-policy-5k-bs32-ttRTC",
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"entity": "401910710-university-of-california-berkeley",
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"run_id": "2o2kthwz",
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"run_name": "discrete_layerwise-ttrtc-dit-s-raw-bs32-50kbase-5kttrtc",
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"url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/2o2kthwz",
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"mode": "online",
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"output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/discrete_layerwise_ttrtc.pt"
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}
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},
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{
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"model_size": "DiT-S",
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"representation": "raw",
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"architecture": "discrete_joint",
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"stage": "base",
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|
NewModel/deployment/README.md
DELETED
|
@@ -1,61 +0,0 @@
|
|
| 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.
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|
NewModel/deployment/deployment_validation.json
DELETED
|
@@ -1,613 +0,0 @@
|
|
| 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 |
-
},
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"passed": true
|
| 613 |
-
}
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|
NewModel/deployment/piper_dataset_statistics.json
DELETED
|
@@ -1,66 +0,0 @@
|
|
| 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 |
-
}
|
|
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|
NewModel/deployment/stacking_cups_start_statistics.json
DELETED
|
@@ -1,39 +0,0 @@
|
|
| 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,
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| 1360 |
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"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 |
-
}
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NewModel/dit_b/raw/checkpoints/discrete_joint_base.pt
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"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 |
-
}
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NewModel/dit_l/raw/checkpoints/discrete_joint_base.pt
DELETED
|
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NewModel/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt
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| 2 |
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| 1 |
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NewModel/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json
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