Upload V7 stacking_cup/State_EE/raw/base.pt

NewModel/V7Full/stacking_cup/State_EE/raw/base.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93d8b071f90e8615aa807b03964d03c0eb72bc7c5f953f69ee0f5c2bb10b790e
+size 349428759

NewModel/V7Full/stacking_cup/State_EE/raw/base.server.json

@@ -0,0 +1,18 @@
+{
+  "schema_version": 1,
+  "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/V7Full/stacking_cup/cache/prepared/State_EE/raw",
+  "task_instruction": "Stack the cups.",
+  "precision": "bf16",
+  "binary_gripper": true,
+  "gripper_threshold": 0.3,
+  "expected": {
+    "architecture": "bsp_unet_fm",
+    "action_representation": "raw",
+    "observation_horizon": 1,
+    "state_dim": 8,
+    "camera_keys": [
+      "observation.images.global",
+      "observation.images.hand"
+    ]
+  }
+}

NewModel/V7Full/stacking_cup/State_EE/raw/base.training.json

@@ -0,0 +1,241 @@
+{
+  "action_representation": "raw",
+  "best_validation_action_mse": 0.056244019188998656,
+  "completed_updates": 58600,
+  "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionEE/State_EE/stacking_cup_30hz_cleanup",
+  "images_per_example": 2,
+  "job": "stacking_cup/State_EE/raw",
+  "maximum_finite_gradient_norm": 7.003610610961914,
+  "observation_horizon": 1,
+  "optimizer_steps_skipped": 0,
+  "parameter_counts": {
+    "action_backbone": 64939655,
+    "embedding_output": 0,
+    "observation_projector_state": 22394176,
+    "total": 87333831,
+    "total_trainable": 87333831
+  },
+  "parent_checkpoint": null,
+  "parent_checkpoint_sha256": null,
+  "published_sha256": "93d8b071f90e8615aa807b03964d03c0eb72bc7c5f953f69ee0f5c2bb10b790e",
+  "selected_epoch": 100.0,
+  "selected_update": 58600,
+  "source_checkpoint_sha256_before_promotion": "01423f723b20d409595b07d7f5a4106a70e8530441f038d21a0507e1eb527921",
+  "stage": "base",
+  "state_dim": 8,
+  "state_layout": "measured_tcp_position[0:3] + measured_tcp_quaternion_xyzw[3:7] + measured_gripper[7:8]",
+  "updates_per_epoch": 586,
+  "validation_history": [
+    {
+      "train": {
+        "action_mse": 0.017288804054260254,
+        "fm_mse": 0.0823805034160614,
+        "grad_norm": 0.22283340990543365,
+        "gradient_scale_fm": 0.0823805034160614,
+        "loss": 0.0823805034160614,
+        "lr": 9.791544209955937e-05,
+        "optimizer_step_skipped": 0.0,
+        "update": 5860
+      },
+      "update": 5860,
+      "validation": {
+        "action_mse": 0.06161935692555771,
+        "generation_action_mse": 0.06161935692555771,
+        "generation_control_mse": 0.06161935692555771,
+        "loss": 0.06161935692555771,
+        "samples": 4212.0
+      }
+    },
+    {
+      "train": {
+        "action_mse": 0.012518983334302902,
+        "fm_mse": 0.07718554139137268,
+        "grad_norm": 0.23768113553524017,
+        "gradient_scale_fm": 0.07718554139137268,
+        "loss": 0.07718554139137268,
+        "lr": 9.107853671722462e-05,
+        "optimizer_step_skipped": 0.0,
+        "update": 11720
+      },
+      "update": 11720,
+      "validation": {
+        "action_mse": 0.05972232246295622,
+        "generation_action_mse": 0.05972232246295622,
+        "generation_control_mse": 0.05972232246295622,
+        "loss": 0.05972232246295622,
+        "samples": 4212.0
+      }
+    },
+    {
+      "train": {
+        "action_mse": 0.01331605575978756,
+        "fm_mse": 0.05673639103770256,
+        "grad_norm": 0.24489232897758484,
+        "gradient_scale_fm": 0.05673639103770256,
+        "loss": 0.05673639103770256,
+        "lr": 8.015165344707659e-05,
+        "optimizer_step_skipped": 0.0,
+        "update": 17580
+      },
+      "update": 17580,
+      "validation": {
+        "action_mse": 0.05817718406058388,
+        "generation_action_mse": 0.05817718406058388,
+        "generation_control_mse": 0.05817718406058388,
+        "loss": 0.05817718406058388,
+        "samples": 4212.0
+      }
+    },
+    {
+      "train": {
+        "action_mse": 0.009533587843179703,
+        "fm_mse": 0.05187762901186943,
+        "grad_norm": 0.22465714812278748,
+        "gradient_scale_fm": 0.05187762901186943,
+        "loss": 0.05187762901186943,
+        "lr": 6.622272566087246e-05,
+        "optimizer_step_skipped": 0.0,
+        "update": 23440
+      },
+      "update": 23440,
+      "validation": {
+        "action_mse": 0.05747542001752772,
+        "generation_action_mse": 0.05747542001752772,
+        "generation_control_mse": 0.05747542001752772,
+        "loss": 0.05747542001752772,
+        "samples": 4212.0
+      }
+    },
+    {
+      "train": {
+        "action_mse": 0.00828959047794342,
+        "fm_mse": 0.04736170545220375,
+        "grad_norm": 0.22186201810836792,
+        "gradient_scale_fm": 0.04736170545220375,
+        "loss": 0.04736170545220375,
+        "lr": 5.0678584808785014e-05,
+        "optimizer_step_skipped": 0.0,
+        "update": 29300
+      },
+      "update": 29300,
+      "validation": {
+        "action_mse": 0.056928094923991535,
+        "generation_action_mse": 0.056928094923991535,
+        "generation_control_mse": 0.056928094923991535,
+        "loss": 0.056928094923991535,
+        "samples": 4212.0
+      }
+    },
+    {
+      "train": {
+        "action_mse": 0.006979086901992559,
+        "fm_mse": 0.032221995294094086,
+        "grad_norm": 0.2059480845928192,
+        "gradient_scale_fm": 0.032221995294094086,
+        "loss": 0.032221995294094086,
+        "lr": 3.506688076957526e-05,
+        "optimizer_step_skipped": 0.0,
+        "update": 35160
+      },
+      "update": 35160,
+      "validation": {
+        "action_mse": 0.05662113283597223,
+        "generation_action_mse": 0.05662113283597223,
+        "generation_control_mse": 0.05662113283597223,
+        "loss": 0.05662113283597223,
+        "samples": 4212.0
+      }
+    },
+    {
+      "train": {
+        "action_mse": 0.005386219825595617,
+        "fm_mse": 0.04431193321943283,
+        "grad_norm": 0.19579210877418518,
+        "gradient_scale_fm": 0.04431193321943283,
+        "loss": 0.04431193321943283,
+        "lr": 2.09419903398412e-05,
+        "optimizer_step_skipped": 0.0,
+        "update": 41020
+      },
+      "update": 41020,
+      "validation": {
+        "action_mse": 0.05656636181550148,
+        "generation_action_mse": 0.05656636181550148,
+        "generation_control_mse": 0.05656636181550148,
+        "loss": 0.05656636181550148,
+        "samples": 4212.0
+      }
+    },
+    {
+      "train": {
+        "action_mse": 0.005876443814486265,
+        "fm_mse": 0.02889104187488556,
+        "grad_norm": 0.13648422062397003,
+        "gradient_scale_fm": 0.02889104187488556,
+        "loss": 0.02889104187488556,
+        "lr": 9.710255958776232e-06,
+        "optimizer_step_skipped": 0.0,
+        "update": 46880
+      },
+      "update": 46880,
+      "validation": {
+        "action_mse": 0.05634549859971346,
+        "generation_action_mse": 0.05634549859971346,
+        "generation_control_mse": 0.05634549859971346,
+        "loss": 0.05634549859971346,
+        "samples": 4212.0
+      }
+    },
+    {
+      "train": {
+        "action_mse": 0.005557738710194826,
+        "fm_mse": 0.041420843452215195,
+        "grad_norm": 0.19529178738594055,
+        "gradient_scale_fm": 0.041420843452215195,
+        "loss": 0.041420843452215195,
+        "lr": 2.489963449864574e-06,
+        "optimizer_step_skipped": 0.0,
+        "update": 52740
+      },
+      "update": 52740,
+      "validation": {
+        "action_mse": 0.05627682498512048,
+        "generation_action_mse": 0.05627682498512048,
+        "generation_control_mse": 0.05627682498512048,
+        "loss": 0.05627682498512048,
+        "samples": 4212.0
+      }
+    },
+    {
+      "train": {
+        "action_mse": 0.005306721199303865,
+        "fm_mse": 0.0233854278922081,
+        "grad_norm": 0.10778633505105972,
+        "gradient_scale_fm": 0.0233854278922081,
+        "loss": 0.0233854278922081,
+        "lr": 7.30949689664584e-14,
+        "optimizer_step_skipped": 0.0,
+        "update": 58600
+      },
+      "update": 58600,
+      "validation": {
+        "action_mse": 0.056244019188998656,
+        "generation_action_mse": 0.056244019188998656,
+        "generation_control_mse": 0.056244019188998656,
+        "loss": 0.056244019188998656,
+        "samples": 4212.0
+      }
+    }
+  ],
+  "validation_points": 10,
+  "wall_seconds": 2269.339346885681,
+  "wandb": {
+    "entity": "401910710-university-of-california-berkeley",
+    "mode": "online",
+    "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/V7Full/stacking_cup/State_EE/raw/base.pt",
+    "project": "robot-policy-bsp-unet-v7-ee",
+    "run_id": "8gqr77ky",
+    "run_name": "bsp_unet_fm-base-v7-stacking_cup-state_ee-raw-h1-base",
+    "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v7-ee/runs/8gqr77ky"
+  }
+}