Hugging Face's logo

Datasets:
DiscreteRTC
/
dRTC

Dataset card Files
xet
 Community
1
outsider86 commited on
Commit
ae748c8
·
verified ·
1 Parent(s): 861f26d

Upload V6 stacking_cup/State_Joint/raw/base.pt

Browse files
Files changed (3) hide show
  1. NewModel/V6/stacking_cup/State_Joint/raw/base.pt +3 -0
  2. NewModel/V6/stacking_cup/State_Joint/raw/base.server.json +18 -0
  3. NewModel/V6/stacking_cup/State_Joint/raw/base.training.json +239 -0
NewModel/V6/stacking_cup/State_Joint/raw/base.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:179eca4f7cfd272659df40640a18024d3016e2839916c54f5a690d6187d721b5
3
+ size 349371479
NewModel/V6/stacking_cup/State_Joint/raw/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/stacking_cup/cache/prepared/State_Joint/raw",
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": "raw",
11
+ "observation_horizon": 1,
12
+ "state_dim": 7,
13
+ "camera_keys": [
14
+ "observation.images.global",
15
+ "observation.images.hand"
16
+ ]
17
+ }
18
+ }
NewModel/V6/stacking_cup/State_Joint/raw/base.training.json ADDED
@@ -0,0 +1,239 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_representation": "raw",
3
+ "best_validation_action_mse": 0.018906475575221692,
4
+ "completed_updates": 58600,
5
+ "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionJoint/State_Joint/stacking_cup_30hz_cleanup",
6
+ "images_per_example": 2,
7
+ "job": "stacking_cup/State_Joint/raw",
8
+ "maximum_finite_gradient_norm": 9.30991268157959,
9
+ "observation_horizon": 1,
10
+ "optimizer_steps_skipped": 0,
11
+ "parameter_counts": {
12
+ "action_backbone": 64925319,
13
+ "embedding_output": 0,
14
+ "observation_projector_state": 22394176,
15
+ "total": 87319495,
16
+ "total_trainable": 87319495
17
+ },
18
+ "published_sha256": "179eca4f7cfd272659df40640a18024d3016e2839916c54f5a690d6187d721b5",
19
+ "selected_epoch": 100.0,
20
+ "selected_update": 58600,
21
+ "source_checkpoint_sha256_before_promotion": "0bd121a30ce46500d2d6a637fa741d0e94cae11080f4397492911069e98f049d",
22
+ "stage": "base",
23
+ "state_dim": 7,
24
+ "state_layout": "current_joint_angle[0:7]",
25
+ "updates_per_epoch": 586,
26
+ "validation_history": [
27
+ {
28
+ "train": {
29
+ "action_mse": 0.008204612880945206,
30
+ "fm_mse": 0.02106466144323349,
31
+ "grad_norm": 0.3586868345737457,
32
+ "gradient_scale_fm": 0.02106466144323349,
33
+ "loss": 0.02106466144323349,
34
+ "lr": 9.791544209955937e-05,
35
+ "optimizer_step_skipped": 0.0,
36
+ "update": 5860
37
+ },
38
+ "update": 5860,
39
+ "validation": {
40
+ "action_mse": 0.02401591030610104,
41
+ "generation_action_mse": 0.02401591030610104,
42
+ "generation_control_mse": 0.02401591030610104,
43
+ "loss": 0.02401591030610104,
44
+ "samples": 4211.0
45
+ }
46
+ },
47
+ {
48
+ "train": {
49
+ "action_mse": 0.0031775881070643663,
50
+ "fm_mse": 0.01426653191447258,
51
+ "grad_norm": 0.23920738697052002,
52
+ "gradient_scale_fm": 0.01426653191447258,
53
+ "loss": 0.01426653191447258,
54
+ "lr": 9.107853671722462e-05,
55
+ "optimizer_step_skipped": 0.0,
56
+ "update": 11720
57
+ },
58
+ "update": 11720,
59
+ "validation": {
60
+ "action_mse": 0.022100411848525812,
61
+ "generation_action_mse": 0.022100411848525812,
62
+ "generation_control_mse": 0.022100411848525812,
63
+ "loss": 0.022100411848525812,
64
+ "samples": 4211.0
65
+ }
66
+ },
67
+ {
68
+ "train": {
69
+ "action_mse": 0.002267776057124138,
70
+ "fm_mse": 0.00939529575407505,
71
+ "grad_norm": 0.167162224650383,
72
+ "gradient_scale_fm": 0.00939529575407505,
73
+ "loss": 0.00939529575407505,
74
+ "lr": 8.015165344707659e-05,
75
+ "optimizer_step_skipped": 0.0,
76
+ "update": 17580
77
+ },
78
+ "update": 17580,
79
+ "validation": {
80
+ "action_mse": 0.020615992540256076,
81
+ "generation_action_mse": 0.020615992540256076,
82
+ "generation_control_mse": 0.020615992540256076,
83
+ "loss": 0.020615992540256076,
84
+ "samples": 4211.0
85
+ }
86
+ },
87
+ {
88
+ "train": {
89
+ "action_mse": 0.0016127746785059571,
90
+ "fm_mse": 0.007673153653740883,
91
+ "grad_norm": 0.24814969301223755,
92
+ "gradient_scale_fm": 0.007673153653740883,
93
+ "loss": 0.007673153653740883,
94
+ "lr": 6.622272566087246e-05,
95
+ "optimizer_step_skipped": 0.0,
96
+ "update": 23440
97
+ },
98
+ "update": 23440,
99
+ "validation": {
100
+ "action_mse": 0.01964653279766466,
101
+ "generation_action_mse": 0.01964653279766466,
102
+ "generation_control_mse": 0.01964653279766466,
103
+ "loss": 0.01964653279766466,
104
+ "samples": 4211.0
105
+ }
106
+ },
107
+ {
108
+ "train": {
109
+ "action_mse": 0.001507530570961535,
110
+ "fm_mse": 0.005190697498619556,
111
+ "grad_norm": 0.12856264412403107,
112
+ "gradient_scale_fm": 0.005190697498619556,
113
+ "loss": 0.005190697498619556,
114
+ "lr": 5.0678584808785014e-05,
115
+ "optimizer_step_skipped": 0.0,
116
+ "update": 29300
117
+ },
118
+ "update": 29300,
119
+ "validation": {
120
+ "action_mse": 0.019408977637996327,
121
+ "generation_action_mse": 0.019408977637996327,
122
+ "generation_control_mse": 0.019408977637996327,
123
+ "loss": 0.019408977637996327,
124
+ "samples": 4211.0
125
+ }
126
+ },
127
+ {
128
+ "train": {
129
+ "action_mse": 0.0009459058637730777,
130
+ "fm_mse": 0.003956313244998455,
131
+ "grad_norm": 0.09603792428970337,
132
+ "gradient_scale_fm": 0.003956313244998455,
133
+ "loss": 0.003956313244998455,
134
+ "lr": 3.506688076957526e-05,
135
+ "optimizer_step_skipped": 0.0,
136
+ "update": 35160
137
+ },
138
+ "update": 35160,
139
+ "validation": {
140
+ "action_mse": 0.019249931664868034,
141
+ "generation_action_mse": 0.019249931664868034,
142
+ "generation_control_mse": 0.019249931664868034,
143
+ "loss": 0.019249931664868034,
144
+ "samples": 4211.0
145
+ }
146
+ },
147
+ {
148
+ "train": {
149
+ "action_mse": 0.0005558124976232648,
150
+ "fm_mse": 0.004063423722982407,
151
+ "grad_norm": 0.2345539927482605,
152
+ "gradient_scale_fm": 0.004063423722982407,
153
+ "loss": 0.004063423722982407,
154
+ "lr": 2.09419903398412e-05,
155
+ "optimizer_step_skipped": 0.0,
156
+ "update": 41020
157
+ },
158
+ "update": 41020,
159
+ "validation": {
160
+ "action_mse": 0.018909737077521523,
161
+ "generation_action_mse": 0.018909737077521523,
162
+ "generation_control_mse": 0.018909737077521523,
163
+ "loss": 0.018909737077521523,
164
+ "samples": 4211.0
165
+ }
166
+ },
167
+ {
168
+ "train": {
169
+ "action_mse": 0.0003685810952447355,
170
+ "fm_mse": 0.0015112276887521148,
171
+ "grad_norm": 0.06856374442577362,
172
+ "gradient_scale_fm": 0.0015112276887521148,
173
+ "loss": 0.0015112276887521148,
174
+ "lr": 9.710255958776232e-06,
175
+ "optimizer_step_skipped": 0.0,
176
+ "update": 46880
177
+ },
178
+ "update": 46880,
179
+ "validation": {
180
+ "action_mse": 0.01901062878566533,
181
+ "generation_action_mse": 0.01901062878566533,
182
+ "generation_control_mse": 0.01901062878566533,
183
+ "loss": 0.01901062878566533,
184
+ "samples": 4211.0
185
+ }
186
+ },
187
+ {
188
+ "train": {
189
+ "action_mse": 0.00020379250054247677,
190
+ "fm_mse": 0.001676815445534885,
191
+ "grad_norm": 0.08967243134975433,
192
+ "gradient_scale_fm": 0.001676815445534885,
193
+ "loss": 0.001676815445534885,
194
+ "lr": 2.489963449864574e-06,
195
+ "optimizer_step_skipped": 0.0,
196
+ "update": 52740
197
+ },
198
+ "update": 52740,
199
+ "validation": {
200
+ "action_mse": 0.018960177754650233,
201
+ "generation_action_mse": 0.018960177754650233,
202
+ "generation_control_mse": 0.018960177754650233,
203
+ "loss": 0.018960177754650233,
204
+ "samples": 4211.0
205
+ }
206
+ },
207
+ {
208
+ "train": {
209
+ "action_mse": 0.0002441794495098293,
210
+ "fm_mse": 0.0008065346046350896,
211
+ "grad_norm": 0.05575362220406532,
212
+ "gradient_scale_fm": 0.0008065346046350896,
213
+ "loss": 0.0008065346046350896,
214
+ "lr": 7.30949689664584e-14,
215
+ "optimizer_step_skipped": 0.0,
216
+ "update": 58600
217
+ },
218
+ "update": 58600,
219
+ "validation": {
220
+ "action_mse": 0.018906475575221692,
221
+ "generation_action_mse": 0.018906475575221692,
222
+ "generation_control_mse": 0.018906475575221692,
223
+ "loss": 0.018906475575221692,
224
+ "samples": 4211.0
225
+ }
226
+ }
227
+ ],
228
+ "validation_points": 10,
229
+ "wall_seconds": 2156.3173077106476,
230
+ "wandb": {
231
+ "entity": "401910710-university-of-california-berkeley",
232
+ "mode": "online",
233
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/stacking_cup/State_Joint/raw/base.pt",
234
+ "project": "robot-policy-bsp-unet-v6-stacking-cup",
235
+ "run_id": "4ntnyp0u",
236
+ "run_name": "bsp_unet_fm-base-v6-stacking_cup-state_joint-raw-h1-base",
237
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v6-stacking-cup/runs/4ntnyp0u"
238
+ }
239
+ }