diff --git a/NewModel/README.md b/NewModel/README.md index 2c0958b27a86ccba150c610d9985ec66b8bef11f..f94f1ebe4188fb2a33e1602558d9c6fd833e3c21 100644 --- a/NewModel/README.md +++ b/NewModel/README.md @@ -1,55 +1,12 @@ -# Model-Size Sweep Results +# NewModel releases -This is the canonical local result set for the completed DiT-S/B/L capacity sweep. +`NewModel` is versioned so published experiments remain reproducible. -## Contents +- `v1/`: byte-for-byte archive of the previous 36-checkpoint release. It + includes DiT-S/B/L and historical layerwise-DD artifacts. +- `v2/`: current active release with 16 checkpoints: DiT-S/B × raw/B-spline × + FM/joint-DD × base/ttRTC. DiT-L and layerwise DD are intentionally excluded. -| Capacity | Representation | Final checkpoints | -|---|---|---:| -| DiT-S | raw | 6 | -| DiT-S | B-spline | 6 | -| DiT-B | raw | 6 | -| DiT-B | B-spline | 6 | -| DiT-L | raw | 6 | -| DiT-L | B-spline | 6 | - -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/`. - -Top-level evidence: - -- `completion_audit.json`: passed 36/36 with zero errors, 36 unique W&B run IDs, and an exact 18 base / 18 ttRTC project split. -- `sweep_status.json`: final scheduler status and run metadata. -- `summary/`: fresh 36-checkpoint open-loop, delay, latency, B-spline decode, and dd-openvla-aligned cache-acceleration evaluation. -- `summary/deployment/`: Piper-compatible statistics plus the 36-checkpoint - contract audit and real-GPU server runtime matrix. - -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. - -## Integrity - -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. - -`../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. - -## Cleanup - -Removed permanently: - -- 36 completed-run `.pt.resume` snapshots and all six local W&B cache trees; -- stale lock files and the superseded partial audit; -- the previous `action_representation_comparison`, `bspline_reproduction`, `checkpoints`, `evaluation`, `latency`, `longrun_50k_bs32`, `pilot`, `pilot_fast`, `prepared`, `raw_actions`, `replay`, and `visualizations` output trees. - -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). - -## Deployment - -All 36 checkpoints are served by the general interface documented at -`../../deployment/README.md`. The server auto-resolves this directory's shared -raw/B-spline sidecars and reads architecture/model-size/stage directly from -each checkpoint. `summary/deployment/deployment_validation.json` audits all 36 -headers and records finite real-GPU inference for the complete 12-case DiT-S -architecture x representation x stage matrix. - -## Next step - -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. +Use `v2` for new research and deployment. Use `v1` only to reproduce the +previous sweep. Each version contains its own README, manifests, action-codec +sidecars, and validation evidence. diff --git a/NewModel/completion_audit.json b/NewModel/completion_audit.json deleted file mode 100644 index 9f4541ea33b5abbd2d8adf2330541d1bf2e74bd9..0000000000000000000000000000000000000000 --- a/NewModel/completion_audit.json +++ /dev/null @@ -1,1453 +0,0 @@ -{ - "passed": true, - "expected_checkpoints": 36, - "found_checkpoints": 36, - "records": [ - { - "model_size": "DiT-S", - "representation": "raw", - "architecture": "fm", - "stage": "base", - "path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_s/raw/checkpoints/fm_base.pt", - "checks": { - "update": true, - "shape": true, - "batch_32": true, - "parameters": true, - "action_mse_local": true, - "independent_reload": true, - "one_manifest_entry": true, - "manifest_hash": true, - "manifest_update": true, - "manifest_parameters": true, - "no_parent": true, - "wandb_metadata": true, - "wandb_finished": true, - 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"project": "robot-policy-5k-bs32-ttRTC", - "entity": "401910710-university-of-california-berkeley", - "run_id": "ra5ijsh8", - "run_name": "discrete_joint-ttrtc-dit-l-bspline-bs32-50kbase-5kttrtc", - "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/ra5ijsh8", - "mode": "online", - "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/bspline/checkpoints/discrete_joint_ttrtc.pt" - } - } - ], - "unique_wandb_run_ids": 36, - "wandb_project_counts": { - "robot-policy-50k-bs32-basic": 18, - "robot-policy-5k-bs32-ttRTC": 18 - }, - "errors": [] -} diff --git a/NewModel/deployment/README.md b/NewModel/deployment/README.md deleted file mode 100644 index c5510ed8d5487a4c4713b687c40acf53e54651ea..0000000000000000000000000000000000000000 --- a/NewModel/deployment/README.md +++ /dev/null @@ -1,61 +0,0 @@ -# Deployment validation - -Status: **passed**, 2026-09-16 UTC. - -## Completion audit - -| Requirement | Evidence | Result | -| --- | --- | --- | -| Same Piper server interface | WebSocket handshake plus NumPy-msgpack `infer` / `infer_realtime` envelopes; real server process connected with `PolicyClient` | Pass | -| 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 | -| 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 | -| Correct action decoding | raw identity temporal decode or authoritative cubic 30x18 B-spline basis, then training q01/q99 physical unnormalization | Pass | -| Raw ttRTC | physical `[B,30,7]` prior chunk; 3-step validation preserved exactly 3 shifted action rows | Pass | -| 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 | -| Transport behavior | ping, metadata/init, reset, inference, structured errors, ndarray round-trip, real localhost handshake | Pass | -| Automated tests | 16 deployment cases; complete repository suite 35/35 passed | Pass | -| Real checkpoint runtime | Complete 12-case DiT-S matrix on CUDA plus actual frozen vision encoder; all outputs finite and `[1,30,7]` | Pass | - -The machine-readable evidence is -[`deployment_validation.json`](deployment_validation.json). It includes all 36 -resolved checkpoint contracts and the complete real DiT-S runtime matrix. The -runtime probe is a correctness check, not a replacement for the 100-trial -latency benchmark in the parent summary. - -## Runtime matrix - -Every row below uses a real final checkpoint. `fixed` is reported only for the -RTC request with a three-raw-step delay. - -| Representation | Architecture | Stage | Vanilla finite | RTC finite | Fixed rows | -| --- | --- | --- | --- | --- | ---: | -| raw | FM | base | yes | n/a | n/a | -| raw | FM | ttRTC | yes | yes | 3 | -| raw | layerwise DD | base | yes | n/a | n/a | -| raw | layerwise DD | ttRTC | yes | yes | 3 | -| raw | joint DD | base | yes | n/a | n/a | -| raw | joint DD | ttRTC | yes | yes | 3 | -| B-spline | FM | base | yes | n/a | n/a | -| B-spline | FM | ttRTC | yes | yes | 5 | -| B-spline | layerwise DD | base | yes | n/a | n/a | -| B-spline | layerwise DD | ttRTC | yes | yes | 5 | -| B-spline | joint DD | base | yes | n/a | n/a | -| B-spline | joint DD | ttRTC | yes | yes | 5 | - -The frozen vision probe returned finite `[2,16,2176]` fused features for the -two camera views. A separate launched-server test loaded the actual DiT-S -B-spline FM checkpoint, completed the real handshake, and returned finite -`actions [1,30,7]` plus `normalized_control_rows [1,18,7]`. - -## Deployment files - -- Operator guide: `robot_policy/deployment/README.md` -- Launcher: `robot_policy/deployment/run_policy_server.sh` -- Server package: `robot_policy/src/robot_policy/deployment/` -- Existing-client stats: [`piper_dataset_statistics.json`](piper_dataset_statistics.json) -- Start-pose stats: [`stacking_cups_start_statistics.json`](stacking_cups_start_statistics.json) -- Reproducible runtime validator: `robot_policy/scripts/validate_deployment.py` - -No physical command was published during validation. The next operational -step is the reference Piper dry-run, followed by explicit camera/state/gripper -and safety checks before any `--execute` authorization. diff --git a/NewModel/deployment/deployment_validation.json b/NewModel/deployment/deployment_validation.json deleted file mode 100644 index cbe2a8b3c7580726657a489c632169056b44cf49..0000000000000000000000000000000000000000 --- a/NewModel/deployment/deployment_validation.json +++ /dev/null @@ -1,613 +0,0 @@ -{ - "scope": "all 36 checkpoint headers plus real GPU runtime matrix for one full model-size family", - "sweep_root": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP", - "checkpoint_inventory_count": 36, - "inventory": [ - { - "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/bspline/checkpoints/discrete_joint_base.pt", - "architecture": "discrete_joint", - "training_type": "base", - "is_rtc": false, - "model_size": "DiT-B", - "representation": "bspline", - "prepared_path": 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https://git-lfs.github.com/spec/v1 -oid sha256:15d59a6a5b7634964c3e8ac409a4a3325732d02a3897c0315c94b82d43fa1155 -size 1238220839 diff --git a/NewModel/dit_b/bspline/checkpoints/discrete_joint_base.pt.wandb.json b/NewModel/dit_b/bspline/checkpoints/discrete_joint_base.pt.wandb.json deleted file mode 100644 index dd01a753fa5e764bd7690d809659c3f832c8f7c1..0000000000000000000000000000000000000000 --- a/NewModel/dit_b/bspline/checkpoints/discrete_joint_base.pt.wandb.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "project": "robot-policy-50k-bs32-basic", - "entity": "401910710-university-of-california-berkeley", - "run_id": "tsg4colk", - "run_name": "discrete_joint-base-dit-b-bspline-bs32-50kbase-5kttrtc", - "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/tsg4colk", - "mode": "online", - "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_joint_base.pt" -} diff --git a/NewModel/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt b/NewModel/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt deleted file mode 100644 index 4cec9197aacd25dfae951c469908837db9d02c95..0000000000000000000000000000000000000000 --- a/NewModel/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8e1e75c73d34cb50340d3b3ecd53a4620b2e76d18f9c956d4f1e3251b0f5e0d0 -size 1232350183 diff --git a/NewModel/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt.wandb.json b/NewModel/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt.wandb.json deleted file mode 100644 index 48e5440056af215d7ddff319804c149e97957c09..0000000000000000000000000000000000000000 --- a/NewModel/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt.wandb.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "project": "robot-policy-5k-bs32-ttRTC", - "entity": "401910710-university-of-california-berkeley", - "run_id": "jjch9idz", - "run_name": 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b/NewModel/dit_b/bspline/checkpoints/discrete_layerwise_base.pt.wandb.json deleted file mode 100644 index a4e22ba8e493a058d87b7f51e311a7949b63d880..0000000000000000000000000000000000000000 --- a/NewModel/dit_b/bspline/checkpoints/discrete_layerwise_base.pt.wandb.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "project": "robot-policy-50k-bs32-basic", - "entity": "401910710-university-of-california-berkeley", - "run_id": "i40wvlpn", - "run_name": "discrete_layerwise-base-dit-b-bspline-bs32-50kbase-5kttrtc", - "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-50k-bs32-basic/runs/i40wvlpn", - "mode": "online", - "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/bspline/checkpoints/discrete_layerwise_base.pt" -} diff --git a/NewModel/dit_b/bspline/checkpoints/discrete_layerwise_ttrtc.pt b/NewModel/dit_b/bspline/checkpoints/discrete_layerwise_ttrtc.pt deleted file mode 100644 index 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"enabled": true, - "seed": 7, - "cublas_workspace_config": ":4096:8" - } - } - ] -} diff --git a/NewModel/dit_l/bspline/checkpoints/discrete_joint_base.pt b/NewModel/dit_l/bspline/checkpoints/discrete_joint_base.pt deleted file mode 100644 index 1e6a89054a29fb48844e089998941c80644d9bab..0000000000000000000000000000000000000000 --- a/NewModel/dit_l/bspline/checkpoints/discrete_joint_base.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5c011eb80529ada7f02eb07d1b8101bbc320eb19e92f2791d2ea60ba9e8fbb5b -size 4300142367 diff --git a/NewModel/dit_l/bspline/checkpoints/discrete_joint_base.pt.wandb.json b/NewModel/dit_l/bspline/checkpoints/discrete_joint_base.pt.wandb.json deleted file mode 100644 index 36dac60ded0d54a4f758d1d63c046e1142c63704..0000000000000000000000000000000000000000 --- a/NewModel/dit_l/bspline/checkpoints/discrete_joint_base.pt.wandb.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "project": "robot-policy-50k-bs32-basic", - "entity": 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mode 100644 index 30a2d8ace161823b52d5356afbcf5243729f279c..0000000000000000000000000000000000000000 --- a/NewModel/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:be4af0aee1f27807ba8b0cd0cfab5d5cc9132081742d4499675774ef7a2fe178 -size 4295303887 diff --git a/NewModel/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt.wandb.json b/NewModel/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt.wandb.json deleted file mode 100644 index 4451bc993df3f649bbd7b83a44ff354e2e5b06b5..0000000000000000000000000000000000000000 --- a/NewModel/dit_l/raw/checkpoints/discrete_joint_ttrtc.pt.wandb.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "project": "robot-policy-5k-bs32-ttRTC", - "entity": "401910710-university-of-california-berkeley", - "run_id": "0i7ac2b6", - "run_name": "discrete_joint-ttrtc-dit-l-raw-bs32-50kbase-5kttrtc", - "url": 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/dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:92107ac042da050da01a31604d31549d3e039952604bac815a391b9d394effaf -size 4395086775 diff --git a/NewModel/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json b/NewModel/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json deleted file mode 100644 index 55d05efdc81cfcb7d8836f022d0c2fca4d037c24..0000000000000000000000000000000000000000 --- a/NewModel/dit_l/raw/checkpoints/discrete_layerwise_ttrtc.pt.wandb.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "project": "robot-policy-5k-bs32-ttRTC", - "entity": "401910710-university-of-california-berkeley", - "run_id": "7ejattim", - "run_name": "discrete_layerwise-ttrtc-dit-l-raw-bs32-50kbase-5kttrtc", - "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-5k-bs32-ttRTC/runs/7ejattim", - "mode": "online", - "output_checkpoint": 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"2026-09-16T07:34:23.061602+00:00", - "state": "parallel_task_failed", - "gpu": "3", - "task": [ - "dit_l", - "raw", - "fm" - ], - "error": "RuntimeError: DiT-L/raw/fm/base failed with exit code 1; see /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/logs/fm_base.log" - }, - { - "time": "2026-09-16T07:34:23.151438+00:00", - "state": "failed", - "gpu": "5", - "task": "DiT-L/raw/discrete_layerwise/base", - "return_code": 1 - }, - { - "time": "2026-09-16T07:34:23.153701+00:00", - "state": "parallel_task_failed", - "gpu": "5", - "task": [ - "dit_l", - "raw", - "discrete_layerwise" - ], - "error": "RuntimeError: DiT-L/raw/discrete_layerwise/base failed with exit code 1; see /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_l/raw/logs/discrete_layerwise_base.log" - }, - { - "time": "2026-09-16T07:34:23.158257+00:00", - "state": "starting", - "gpu": "5", - "task": "DiT-B/raw/discrete_layerwise/base", - "command": [ - "/home/wangpc/miniconda3/envs/starVLA/bin/python", - "-m", - "robot_policy.cli", - "train_base", - "--config", - "/scratch/wangpc/B-Spline-Inpainting/robot_policy/configs/model_size_sweep/dit_b_raw.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" - ], - "log": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/model_size_sweep_50k_bs32/dit_b/raw/logs/discrete_layerwise_base.log" - }, - { - "time": "2026-09-16T07:34:23.209865+00:00", - "state": "failed", - "gpu": "1", - "task": "DiT-L/bspline/discrete_layerwise/base", - "return_code": 1 - }, - { - "time": "2026-09-16T07:34:23.211993+00:00", - "state": "parallel_task_failed", - "gpu": "1", - "task": [ - "dit_l", - "bspline", - "discrete_layerwise" - ], - "error": "RuntimeError: DiT-L/bspline/discrete_layerwise/base failed with exit code 1; see 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