Hugging Face's logo

Datasets:
DiscreteRTC
/
dRTC

Dataset card Files
xet
 Community
1
outsider86 commited on
Commit
d90fe99
·
verified ·
1 Parent(s): 5107db5

Upload V8 classify_blocks/StateAbsJoint/bspline/base.pt

Browse files
Files changed (3) hide show
  1. NewModel/V8Full/classify_blocks/StateAbsJoint/bspline/base.pt +3 -0
  2. NewModel/V8Full/classify_blocks/StateAbsJoint/bspline/base.server.json +18 -0
  3. NewModel/V8Full/classify_blocks/StateAbsJoint/bspline/base.training.json +243 -0
NewModel/V8Full/classify_blocks/StateAbsJoint/bspline/base.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:522aeb570bd5c674da5be6429d64fae12647c96905da1b65effdfcb06f8a2c00
3
+ size 349371607
NewModel/V8Full/classify_blocks/StateAbsJoint/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/V8Full/classify_blocks/cache/prepared/StateAbsJoint/bspline",
4
+ "task_instruction": "Classify the blocks.",
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": 7,
13
+ "camera_keys": [
14
+ "observation.images.global",
15
+ "observation.images.hand"
16
+ ]
17
+ }
18
+ }
NewModel/V8Full/classify_blocks/StateAbsJoint/bspline/base.training.json ADDED
@@ -0,0 +1,243 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 7,
3
+ "action_layout": "absolute_measured_joint_position[t+1,0:6] + measured_gripper[t+1,6:7]",
4
+ "action_representation": "bspline",
5
+ "best_validation_action_mse": 0.027013989647939232,
6
+ "completed_updates": 260700,
7
+ "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/StateAbsJoint/classify_blocks_30hz_cleanup",
8
+ "images_per_example": 2,
9
+ "job": "classify_blocks/StateAbsJoint/bspline",
10
+ "maximum_finite_gradient_norm": 8.80089282989502,
11
+ "observation_horizon": 1,
12
+ "optimizer_steps_skipped": 0,
13
+ "parameter_counts": {
14
+ "action_backbone": 64925319,
15
+ "embedding_output": 0,
16
+ "observation_projector_state": 22394176,
17
+ "total": 87319495,
18
+ "total_trainable": 87319495
19
+ },
20
+ "parent_checkpoint": null,
21
+ "parent_checkpoint_sha256": null,
22
+ "published_sha256": "522aeb570bd5c674da5be6429d64fae12647c96905da1b65effdfcb06f8a2c00",
23
+ "selected_epoch": 50.0,
24
+ "selected_update": 130350,
25
+ "source_checkpoint_sha256_before_promotion": "2ef449e096d890529b16d83e718c74c03678f9ddd7906ef061b08bf0115aedb4",
26
+ "stage": "base",
27
+ "state_dim": 7,
28
+ "state_layout": "measured_joint_position[0:6] + measured_gripper[6:7]",
29
+ "updates_per_epoch": 2607,
30
+ "validation_history": [
31
+ {
32
+ "train": {
33
+ "action_mse": 0.006163784768432379,
34
+ "fm_mse": 0.021983947604894638,
35
+ "grad_norm": 0.1956685483455658,
36
+ "gradient_scale_fm": 0.021983947604894638,
37
+ "loss": 0.021983947604894638,
38
+ "lr": 9.763625439910508e-05,
39
+ "optimizer_step_skipped": 0.0,
40
+ "update": 26070
41
+ },
42
+ "update": 26070,
43
+ "validation": {
44
+ "action_mse": 0.02883028593219354,
45
+ "generation_action_mse": 0.02883028593219354,
46
+ "generation_control_mse": 0.02906653498924264,
47
+ "loss": 0.02883028593219354,
48
+ "samples": 19038.0
49
+ }
50
+ },
51
+ {
52
+ "train": {
53
+ "action_mse": 0.004661665763705969,
54
+ "fm_mse": 0.01749289035797119,
55
+ "grad_norm": 0.2020920217037201,
56
+ "gradient_scale_fm": 0.01749289035797119,
57
+ "loss": 0.01749289035797119,
58
+ "lr": 9.059266547593841e-05,
59
+ "optimizer_step_skipped": 0.0,
60
+ "update": 52140
61
+ },
62
+ "update": 52140,
63
+ "validation": {
64
+ "action_mse": 0.027613127531977314,
65
+ "generation_action_mse": 0.027613127531977314,
66
+ "generation_control_mse": 0.02802701018719384,
67
+ "loss": 0.027613127531977314,
68
+ "samples": 19038.0
69
+ }
70
+ },
71
+ {
72
+ "train": {
73
+ "action_mse": 0.0016440257895737886,
74
+ "fm_mse": 0.014474957250058651,
75
+ "grad_norm": 0.16860008239746094,
76
+ "gradient_scale_fm": 0.014474957250058651,
77
+ "loss": 0.014474957250058651,
78
+ "lr": 7.956042444879262e-05,
79
+ "optimizer_step_skipped": 0.0,
80
+ "update": 78210
81
+ },
82
+ "update": 78210,
83
+ "validation": {
84
+ "action_mse": 0.02748804074786675,
85
+ "generation_action_mse": 0.02748804074786675,
86
+ "generation_control_mse": 0.027950302238260415,
87
+ "loss": 0.02748804074786675,
88
+ "samples": 19038.0
89
+ }
90
+ },
91
+ {
92
+ "train": {
93
+ "action_mse": 0.0012430642964318395,
94
+ "fm_mse": 0.008730560541152954,
95
+ "grad_norm": 0.12735465168952942,
96
+ "gradient_scale_fm": 0.008730560541152954,
97
+ "loss": 0.008730560541152954,
98
+ "lr": 6.56235638853396e-05,
99
+ "optimizer_step_skipped": 0.0,
100
+ "update": 104280
101
+ },
102
+ "update": 104280,
103
+ "validation": {
104
+ "action_mse": 0.027115465169863497,
105
+ "generation_action_mse": 0.027115465169863497,
106
+ "generation_control_mse": 0.027615979882562914,
107
+ "loss": 0.027115465169863497,
108
+ "samples": 19038.0
109
+ }
110
+ },
111
+ {
112
+ "train": {
113
+ "action_mse": 0.0016830068780109286,
114
+ "fm_mse": 0.014429871924221516,
115
+ "grad_norm": 0.13369028270244598,
116
+ "gradient_scale_fm": 0.014429871924221516,
117
+ "loss": 0.014429871924221516,
118
+ "lr": 5.01515254706107e-05,
119
+ "optimizer_step_skipped": 0.0,
120
+ "update": 130350
121
+ },
122
+ "update": 130350,
123
+ "validation": {
124
+ "action_mse": 0.027013989647939232,
125
+ "generation_action_mse": 0.027013989647939232,
126
+ "generation_control_mse": 0.027526736218735266,
127
+ "loss": 0.027013989647939232,
128
+ "samples": 19038.0
129
+ }
130
+ },
131
+ {
132
+ "train": {
133
+ "action_mse": 0.0005076331435702741,
134
+ "fm_mse": 0.012902759946882725,
135
+ "grad_norm": 0.16003431379795074,
136
+ "gradient_scale_fm": 0.012902759946882725,
137
+ "loss": 0.012902759946882725,
138
+ "lr": 3.46645981004493e-05,
139
+ "optimizer_step_skipped": 0.0,
140
+ "update": 156420
141
+ },
142
+ "update": 156420,
143
+ "validation": {
144
+ "action_mse": 0.027049199703255235,
145
+ "generation_action_mse": 0.027049199703255235,
146
+ "generation_control_mse": 0.027574441029043384,
147
+ "loss": 0.027049199703255235,
148
+ "samples": 19038.0
149
+ }
150
+ },
151
+ {
152
+ "train": {
153
+ "action_mse": 0.002196663524955511,
154
+ "fm_mse": 0.015348614193499088,
155
+ "grad_norm": 0.24100202322006226,
156
+ "gradient_scale_fm": 0.015348614193499088,
157
+ "loss": 0.015348614193499088,
158
+ "lr": 2.0684533665619542e-05,
159
+ "optimizer_step_skipped": 0.0,
160
+ "update": 182490
161
+ },
162
+ "update": 182490,
163
+ "validation": {
164
+ "action_mse": 0.027029203001314818,
165
+ "generation_action_mse": 0.027029203001314818,
166
+ "generation_control_mse": 0.027567918506364097,
167
+ "loss": 0.027029203001314818,
168
+ "samples": 19038.0
169
+ }
170
+ },
171
+ {
172
+ "train": {
173
+ "action_mse": 0.0003828053595498204,
174
+ "fm_mse": 0.0016217526281252503,
175
+ "grad_norm": 0.07982177287340164,
176
+ "gradient_scale_fm": 0.0016217526281252503,
177
+ "loss": 0.0016217526281252503,
178
+ "lr": 9.585019081428886e-06,
179
+ "optimizer_step_skipped": 0.0,
180
+ "update": 208560
181
+ },
182
+ "update": 208560,
183
+ "validation": {
184
+ "action_mse": 0.02707624403565298,
185
+ "generation_action_mse": 0.02707624403565298,
186
+ "generation_control_mse": 0.027616665304152875,
187
+ "loss": 0.02707624403565298,
188
+ "samples": 19038.0
189
+ }
190
+ },
191
+ {
192
+ "train": {
193
+ "action_mse": 0.00031407905044034123,
194
+ "fm_mse": 0.0029085283167660236,
195
+ "grad_norm": 0.16924402117729187,
196
+ "gradient_scale_fm": 0.0029085283167660236,
197
+ "loss": 0.0029085283167660236,
198
+ "lr": 2.4566972430974223e-06,
199
+ "optimizer_step_skipped": 0.0,
200
+ "update": 234630
201
+ },
202
+ "update": 234630,
203
+ "validation": {
204
+ "action_mse": 0.027118151371661597,
205
+ "generation_action_mse": 0.027118151371661597,
206
+ "generation_control_mse": 0.027667625770375834,
207
+ "loss": 0.027118151371661597,
208
+ "samples": 19038.0
209
+ }
210
+ },
211
+ {
212
+ "train": {
213
+ "action_mse": 0.0002298333856742829,
214
+ "fm_mse": 0.001421243418008089,
215
+ "grad_norm": 0.1092635840177536,
216
+ "gradient_scale_fm": 0.001421243418008089,
217
+ "loss": 0.001421243418008089,
218
+ "lr": 3.644390345058923e-15,
219
+ "optimizer_step_skipped": 0.0,
220
+ "update": 260700
221
+ },
222
+ "update": 260700,
223
+ "validation": {
224
+ "action_mse": 0.02715270335850453,
225
+ "generation_action_mse": 0.02715270335850453,
226
+ "generation_control_mse": 0.027701367419256655,
227
+ "loss": 0.02715270335850453,
228
+ "samples": 19038.0
229
+ }
230
+ }
231
+ ],
232
+ "validation_points": 10,
233
+ "wall_seconds": 9685.074315547943,
234
+ "wandb": {
235
+ "entity": "401910710-university-of-california-berkeley",
236
+ "mode": "online",
237
+ "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/V8Full/classify_blocks/StateAbsJoint/bspline/base.pt",
238
+ "project": "robot-policy-bsp-unet-v8-classify-blocks",
239
+ "run_id": "izqjgjfb",
240
+ "run_name": "bsp_unet_fm-base-v8-classify_blocks-stateabsjoint-bspline-h1-base",
241
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v8-classify-blocks/runs/izqjgjfb"
242
+ }
243
+ }