outsider86 commited on
Commit
a5dd97a
·
verified ·
1 Parent(s): 197630b

Upload V7 stacking_cup/State_EE/bspline/base.pt

Browse files
NewModel/V7Full/stacking_cup/State_EE/bspline/base.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ce2ed848903d0102705315634bf57f540039dd8bcb1696f87ee682338932a2f
3
+ size 349428823
NewModel/V7Full/stacking_cup/State_EE/bspline/base.server.json ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/V7Full/stacking_cup/cache/prepared/State_EE/bspline",
4
+ "task_instruction": "Stack the cups.",
5
+ "precision": "bf16",
6
+ "binary_gripper": true,
7
+ "gripper_threshold": 0.3,
8
+ "expected": {
9
+ "architecture": "bsp_unet_fm",
10
+ "action_representation": "bspline",
11
+ "observation_horizon": 1,
12
+ "state_dim": 8,
13
+ "camera_keys": [
14
+ "observation.images.global",
15
+ "observation.images.hand"
16
+ ]
17
+ }
18
+ }
NewModel/V7Full/stacking_cup/State_EE/bspline/base.training.json ADDED
@@ -0,0 +1,241 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_representation": "bspline",
3
+ "best_validation_action_mse": 0.05345627090629236,
4
+ "completed_updates": 58600,
5
+ "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionEE/State_EE/stacking_cup_30hz_cleanup",
6
+ "images_per_example": 2,
7
+ "job": "stacking_cup/State_EE/bspline",
8
+ "maximum_finite_gradient_norm": 7.541567325592041,
9
+ "observation_horizon": 1,
10
+ "optimizer_steps_skipped": 0,
11
+ "parameter_counts": {
12
+ "action_backbone": 64939655,
13
+ "embedding_output": 0,
14
+ "observation_projector_state": 22394176,
15
+ "total": 87333831,
16
+ "total_trainable": 87333831
17
+ },
18
+ "parent_checkpoint": null,
19
+ "parent_checkpoint_sha256": null,
20
+ "published_sha256": "6ce2ed848903d0102705315634bf57f540039dd8bcb1696f87ee682338932a2f",
21
+ "selected_epoch": 70.0,
22
+ "selected_update": 41020,
23
+ "source_checkpoint_sha256_before_promotion": "39b4c2f613ed5e6f259c77c2373967e0f028e77badec49acf3c9da718e76b99b",
24
+ "stage": "base",
25
+ "state_dim": 8,
26
+ "state_layout": "measured_tcp_position[0:3] + measured_tcp_quaternion_xyzw[3:7] + measured_gripper[7:8]",
27
+ "updates_per_epoch": 586,
28
+ "validation_history": [
29
+ {
30
+ "train": {
31
+ "action_mse": 0.017257975414395332,
32
+ "fm_mse": 0.12201815098524094,
33
+ "grad_norm": 0.3639407455921173,
34
+ "gradient_scale_fm": 0.12201815098524094,
35
+ "loss": 0.12201815098524094,
36
+ "lr": 9.791544209955937e-05,
37
+ "optimizer_step_skipped": 0.0,
38
+ "update": 5860
39
+ },
40
+ "update": 5860,
41
+ "validation": {
42
+ "action_mse": 0.057172698220848354,
43
+ "generation_action_mse": 0.057172698220848354,
44
+ "generation_control_mse": 0.07565703008108103,
45
+ "loss": 0.057172698220848354,
46
+ "samples": 4212.0
47
+ }
48
+ },
49
+ {
50
+ "train": {
51
+ "action_mse": 0.014749155379831791,
52
+ "fm_mse": 0.11468427628278732,
53
+ "grad_norm": 0.26096785068511963,
54
+ "gradient_scale_fm": 0.11468427628278732,
55
+ "loss": 0.11468427628278732,
56
+ "lr": 9.107853671722462e-05,
57
+ "optimizer_step_skipped": 0.0,
58
+ "update": 11720
59
+ },
60
+ "update": 11720,
61
+ "validation": {
62
+ "action_mse": 0.05539824810420346,
63
+ "generation_action_mse": 0.05539824810420346,
64
+ "generation_control_mse": 0.07425248371003813,
65
+ "loss": 0.05539824810420346,
66
+ "samples": 4212.0
67
+ }
68
+ },
69
+ {
70
+ "train": {
71
+ "action_mse": 0.013390018604695797,
72
+ "fm_mse": 0.08578266203403473,
73
+ "grad_norm": 0.2619727849960327,
74
+ "gradient_scale_fm": 0.08578266203403473,
75
+ "loss": 0.08578266203403473,
76
+ "lr": 8.015165344707659e-05,
77
+ "optimizer_step_skipped": 0.0,
78
+ "update": 17580
79
+ },
80
+ "update": 17580,
81
+ "validation": {
82
+ "action_mse": 0.0545336198705582,
83
+ "generation_action_mse": 0.0545336198705582,
84
+ "generation_control_mse": 0.07366763434929159,
85
+ "loss": 0.0545336198705582,
86
+ "samples": 4212.0
87
+ }
88
+ },
89
+ {
90
+ "train": {
91
+ "action_mse": 0.009866837412118912,
92
+ "fm_mse": 0.08142733573913574,
93
+ "grad_norm": 0.2954852283000946,
94
+ "gradient_scale_fm": 0.08142733573913574,
95
+ "loss": 0.08142733573913574,
96
+ "lr": 6.622272566087246e-05,
97
+ "optimizer_step_skipped": 0.0,
98
+ "update": 23440
99
+ },
100
+ "update": 23440,
101
+ "validation": {
102
+ "action_mse": 0.05431530542374506,
103
+ "generation_action_mse": 0.05431530542374506,
104
+ "generation_control_mse": 0.07352895115600352,
105
+ "loss": 0.05431530542374506,
106
+ "samples": 4212.0
107
+ }
108
+ },
109
+ {
110
+ "train": {
111
+ "action_mse": 0.008558389730751514,
112
+ "fm_mse": 0.06390327960252762,
113
+ "grad_norm": 0.21309733390808105,
114
+ "gradient_scale_fm": 0.06390327960252762,
115
+ "loss": 0.06390327960252762,
116
+ "lr": 5.0678584808785014e-05,
117
+ "optimizer_step_skipped": 0.0,
118
+ "update": 29300
119
+ },
120
+ "update": 29300,
121
+ "validation": {
122
+ "action_mse": 0.05387158603438398,
123
+ "generation_action_mse": 0.05387158603438398,
124
+ "generation_control_mse": 0.07312670632390215,
125
+ "loss": 0.05387158603438398,
126
+ "samples": 4212.0
127
+ }
128
+ },
129
+ {
130
+ "train": {
131
+ "action_mse": 0.0072260391898453236,
132
+ "fm_mse": 0.058345090597867966,
133
+ "grad_norm": 0.2704605460166931,
134
+ "gradient_scale_fm": 0.058345090597867966,
135
+ "loss": 0.058345090597867966,
136
+ "lr": 3.506688076957526e-05,
137
+ "optimizer_step_skipped": 0.0,
138
+ "update": 35160
139
+ },
140
+ "update": 35160,
141
+ "validation": {
142
+ "action_mse": 0.05360039355762211,
143
+ "generation_action_mse": 0.05360039355762211,
144
+ "generation_control_mse": 0.0728302510333197,
145
+ "loss": 0.05360039355762211,
146
+ "samples": 4212.0
147
+ }
148
+ },
149
+ {
150
+ "train": {
151
+ "action_mse": 0.006128507666289806,
152
+ "fm_mse": 0.07316014915704727,
153
+ "grad_norm": 0.37631574273109436,
154
+ "gradient_scale_fm": 0.07316014915704727,
155
+ "loss": 0.07316014915704727,
156
+ "lr": 2.09419903398412e-05,
157
+ "optimizer_step_skipped": 0.0,
158
+ "update": 41020
159
+ },
160
+ "update": 41020,
161
+ "validation": {
162
+ "action_mse": 0.05345627090629236,
163
+ "generation_action_mse": 0.05345627090629236,
164
+ "generation_control_mse": 0.07266422311606457,
165
+ "loss": 0.05345627090629236,
166
+ "samples": 4212.0
167
+ }
168
+ },
169
+ {
170
+ "train": {
171
+ "action_mse": 0.006678440608084202,
172
+ "fm_mse": 0.053690504282712936,
173
+ "grad_norm": 0.29437464475631714,
174
+ "gradient_scale_fm": 0.053690504282712936,
175
+ "loss": 0.053690504282712936,
176
+ "lr": 9.710255958776232e-06,
177
+ "optimizer_step_skipped": 0.0,
178
+ "update": 46880
179
+ },
180
+ "update": 46880,
181
+ "validation": {
182
+ "action_mse": 0.05358663325154657,
183
+ "generation_action_mse": 0.05358663325154657,
184
+ "generation_control_mse": 0.07274483533439927,
185
+ "loss": 0.05358663325154657,
186
+ "samples": 4212.0
187
+ }
188
+ },
189
+ {
190
+ "train": {
191
+ "action_mse": 0.006551351398229599,
192
+ "fm_mse": 0.06706833094358444,
193
+ "grad_norm": 0.29928895831108093,
194
+ "gradient_scale_fm": 0.06706833094358444,
195
+ "loss": 0.06706833094358444,
196
+ "lr": 2.489963449864574e-06,
197
+ "optimizer_step_skipped": 0.0,
198
+ "update": 52740
199
+ },
200
+ "update": 52740,
201
+ "validation": {
202
+ "action_mse": 0.05365273853496835,
203
+ "generation_action_mse": 0.05365273853496835,
204
+ "generation_control_mse": 0.07277700836006959,
205
+ "loss": 0.05365273853496835,
206
+ "samples": 4212.0
207
+ }
208
+ },
209
+ {
210
+ "train": {
211
+ "action_mse": 0.005992894992232323,
212
+ "fm_mse": 0.04488625004887581,
213
+ "grad_norm": 0.16441874206066132,
214
+ "gradient_scale_fm": 0.04488625004887581,
215
+ "loss": 0.04488625004887581,
216
+ "lr": 7.30949689664584e-14,
217
+ "optimizer_step_skipped": 0.0,
218
+ "update": 58600
219
+ },
220
+ "update": 58600,
221
+ "validation": {
222
+ "action_mse": 0.05360359250296328,
223
+ "generation_action_mse": 0.05360359250296328,
224
+ "generation_control_mse": 0.07272943072834699,
225
+ "loss": 0.05360359250296328,
226
+ "samples": 4212.0
227
+ }
228
+ }
229
+ ],
230
+ "validation_points": 10,
231
+ "wall_seconds": 2269.3361461162567,
232
+ "wandb": {
233
+ "entity": "401910710-university-of-california-berkeley",
234
+ "mode": "online",
235
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/V7Full/stacking_cup/State_EE/bspline/base.pt",
236
+ "project": "robot-policy-bsp-unet-v7-ee",
237
+ "run_id": "a6wbwnij",
238
+ "run_name": "bsp_unet_fm-base-v7-stacking_cup-state_ee-bspline-h1-base",
239
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v7-ee/runs/a6wbwnij"
240
+ }
241
+ }