Upload V6 stacking_cup/LastCommand_Joint/bspline/ttrtc.pt

NewModel/V6/stacking_cup/LastCommand_Joint/bspline/ttrtc.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9be9764122e69195e6c90e23496f1468bbca99128a1527c6b01d843f36f34294
+size 349371735

NewModel/V6/stacking_cup/LastCommand_Joint/bspline/ttrtc.server.json

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

NewModel/V6/stacking_cup/LastCommand_Joint/bspline/ttrtc.training.json

@@ -0,0 +1,139 @@
+{
+  "action_representation": "bspline",
+  "best_validation_action_mse": 0.01754993699353681,
+  "completed_updates": 2930,
+  "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionJoint/LastCommand_Joint/stacking_cup_30hz_cleanup",
+  "images_per_example": 2,
+  "job": "stacking_cup/LastCommand_Joint/bspline",
+  "maximum_finite_gradient_norm": 1.039699912071228,
+  "observation_horizon": 1,
+  "optimizer_steps_skipped": 0,
+  "parameter_counts": {
+    "action_backbone": 64925319,
+    "embedding_output": 0,
+    "observation_projector_state": 22394176,
+    "total": 87319495,
+    "total_trainable": 87319495
+  },
+  "published_sha256": "9be9764122e69195e6c90e23496f1468bbca99128a1527c6b01d843f36f34294",
+  "selected_epoch": 5.0,
+  "selected_update": 2930,
+  "source_checkpoint_sha256_before_promotion": "03079cee1fc80f9553f15b472a31d1e4195686ab6f3287a88854e72301cff7fc",
+  "stage": "ttrtc",
+  "state_dim": 7,
+  "state_layout": "last_command[0:7]",
+  "updates_per_epoch": 586,
+  "validation_history": [
+    {
+      "train": {
+        "action_mse": 0.0025267302989959717,
+        "fm_mse": 0.014022773131728172,
+        "grad_norm": 0.278518408536911,
+        "gradient_scale_fm": 0.014022773131728172,
+        "loss": 0.014022773131728172,
+        "lr": 9.969840234022749e-05,
+        "optimizer_step_skipped": 0.0,
+        "update": 586
+      },
+      "update": 586,
+      "validation": {
+        "action_mse": 0.017832643687733914,
+        "generation_action_mse": 0.017832643687733914,
+        "generation_control_mse": 0.017190397289465264,
+        "loss": 0.017832643687733914,
+        "samples": 4211.0
+      }
+    },
+    {
+      "train": {
+        "action_mse": 0.0011568900663405657,
+        "fm_mse": 0.013878632336854935,
+        "grad_norm": 0.23599711060523987,
+        "gradient_scale_fm": 0.013878632336854935,
+        "loss": 0.013878632336854935,
+        "lr": 8.233702389435581e-05,
+        "optimizer_step_skipped": 0.0,
+        "update": 1172
+      },
+      "update": 1172,
+      "validation": {
+        "action_mse": 0.018074537731290866,
+        "generation_action_mse": 0.018074537731290866,
+        "generation_control_mse": 0.01739564266572683,
+        "loss": 0.018074537731290866,
+        "samples": 4211.0
+      }
+    },
+    {
+      "train": {
+        "action_mse": 0.0005778062622994184,
+        "fm_mse": 0.004036827478557825,
+        "grad_norm": 0.10143346339464188,
+        "gradient_scale_fm": 0.004036827478557825,
+        "loss": 0.004036827478557825,
+        "lr": 4.728637731688832e-05,
+        "optimizer_step_skipped": 0.0,
+        "update": 1758
+      },
+      "update": 1758,
+      "validation": {
+        "action_mse": 0.017686064100073003,
+        "generation_action_mse": 0.017686064100073003,
+        "generation_control_mse": 0.017045415566123472,
+        "loss": 0.017686064100073003,
+        "samples": 4211.0
+      }
+    },
+    {
+      "train": {
+        "action_mse": 0.0003142687492072582,
+        "fm_mse": 0.0037102610804140568,
+        "grad_norm": 0.16701850295066833,
+        "gradient_scale_fm": 0.0037102610804140568,
+        "loss": 0.0037102610804140568,
+        "lr": 1.372015922011109e-05,
+        "optimizer_step_skipped": 0.0,
+        "update": 2344
+      },
+      "update": 2344,
+      "validation": {
+        "action_mse": 0.017639434443188714,
+        "generation_action_mse": 0.017639434443188714,
+        "generation_control_mse": 0.017018827504609545,
+        "loss": 0.017639434443188714,
+        "samples": 4211.0
+      }
+    },
+    {
+      "train": {
+        "action_mse": 0.00020947179291397333,
+        "fm_mse": 0.0024959600996226072,
+        "grad_norm": 0.09204176813364029,
+        "gradient_scale_fm": 0.0024959600996226072,
+        "loss": 0.0024959600996226072,
+        "lr": 4.178564846912814e-11,
+        "optimizer_step_skipped": 0.0,
+        "update": 2930
+      },
+      "update": 2930,
+      "validation": {
+        "action_mse": 0.01754993699353681,
+        "generation_action_mse": 0.01754993699353681,
+        "generation_control_mse": 0.01694272237344851,
+        "loss": 0.01754993699353681,
+        "samples": 4211.0
+      }
+    }
+  ],
+  "validation_points": 5,
+  "wall_seconds": 146.44345879554749,
+  "wandb": {
+    "entity": "401910710-university-of-california-berkeley",
+    "mode": "online",
+    "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/stacking_cup/LastCommand_Joint/bspline/ttrtc.pt",
+    "project": "robot-policy-bsp-unet-v6-stacking-cup",
+    "run_id": "gtd5cdtv",
+    "run_name": "bsp_unet_fm-ttrtc-v6-stacking_cup-lastcommand_joint-bspline-h1-ttrtc",
+    "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v6-stacking-cup/runs/gtd5cdtv"
+  }
+}