Upload V6 hanging_mug/State_LastCommand_Joint/raw/ttrtc.pt
Browse files
NewModel/V6/hanging_mug/State_LastCommand_Joint/raw/ttrtc.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0a767863670ac3c504b46aa85105992d7903cadae5bb8b23bb03c934b437f9eb
|
| 3 |
+
size 349773143
|
NewModel/V6/hanging_mug/State_LastCommand_Joint/raw/ttrtc.server.json
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/hanging_mug/cache/prepared/State_LastCommand_Joint/raw",
|
| 4 |
+
"task_instruction": "Hang the mug.",
|
| 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": 14,
|
| 13 |
+
"camera_keys": [
|
| 14 |
+
"observation.images.global",
|
| 15 |
+
"observation.images.hand"
|
| 16 |
+
]
|
| 17 |
+
}
|
| 18 |
+
}
|
NewModel/V6/hanging_mug/State_LastCommand_Joint/raw/ttrtc.training.json
ADDED
|
@@ -0,0 +1,139 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_representation": "raw",
|
| 3 |
+
"best_validation_action_mse": 0.011596039181572527,
|
| 4 |
+
"completed_updates": 1870,
|
| 5 |
+
"dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionJoint/State_LastCommand_Joint/hanging_mug_30hz_cleanup",
|
| 6 |
+
"images_per_example": 2,
|
| 7 |
+
"job": "hanging_mug/State_LastCommand_Joint/raw",
|
| 8 |
+
"maximum_finite_gradient_norm": 1.1786041259765625,
|
| 9 |
+
"observation_horizon": 1,
|
| 10 |
+
"optimizer_steps_skipped": 0,
|
| 11 |
+
"parameter_counts": {
|
| 12 |
+
"action_backbone": 65025671,
|
| 13 |
+
"embedding_output": 0,
|
| 14 |
+
"observation_projector_state": 22394176,
|
| 15 |
+
"total": 87419847,
|
| 16 |
+
"total_trainable": 87419847
|
| 17 |
+
},
|
| 18 |
+
"published_sha256": "0a767863670ac3c504b46aa85105992d7903cadae5bb8b23bb03c934b437f9eb",
|
| 19 |
+
"selected_epoch": 5.0,
|
| 20 |
+
"selected_update": 1870,
|
| 21 |
+
"source_checkpoint_sha256_before_promotion": "d8ff081a630405bb9e1b839568a424996d583a281cf076fea63c6faa5ef39482",
|
| 22 |
+
"stage": "ttrtc",
|
| 23 |
+
"state_dim": 14,
|
| 24 |
+
"state_layout": "current_joint_angle[0:7] + last_command[7:14]",
|
| 25 |
+
"updates_per_epoch": 374,
|
| 26 |
+
"validation_history": [
|
| 27 |
+
{
|
| 28 |
+
"train": {
|
| 29 |
+
"action_mse": 0.0011236696736887097,
|
| 30 |
+
"fm_mse": 0.0033604218624532223,
|
| 31 |
+
"grad_norm": 0.14608941972255707,
|
| 32 |
+
"gradient_scale_fm": 0.0033604218624532223,
|
| 33 |
+
"loss": 0.0033604218624532223,
|
| 34 |
+
"lr": 7.48e-05,
|
| 35 |
+
"optimizer_step_skipped": 0.0,
|
| 36 |
+
"update": 374
|
| 37 |
+
},
|
| 38 |
+
"update": 374,
|
| 39 |
+
"validation": {
|
| 40 |
+
"action_mse": 0.011891272847832698,
|
| 41 |
+
"generation_action_mse": 0.011891272847832698,
|
| 42 |
+
"generation_control_mse": 0.011891272847832698,
|
| 43 |
+
"loss": 0.011891272847832698,
|
| 44 |
+
"samples": 2722.0
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
{
|
| 48 |
+
"train": {
|
| 49 |
+
"action_mse": 0.0015711659798398614,
|
| 50 |
+
"fm_mse": 0.006776510272175074,
|
| 51 |
+
"grad_norm": 0.14978449046611786,
|
| 52 |
+
"gradient_scale_fm": 0.006776510272175074,
|
| 53 |
+
"loss": 0.006776510272175074,
|
| 54 |
+
"lr": 9.21918040735011e-05,
|
| 55 |
+
"optimizer_step_skipped": 0.0,
|
| 56 |
+
"update": 748
|
| 57 |
+
},
|
| 58 |
+
"update": 748,
|
| 59 |
+
"validation": {
|
| 60 |
+
"action_mse": 0.011937853841211227,
|
| 61 |
+
"generation_action_mse": 0.011937853841211227,
|
| 62 |
+
"generation_control_mse": 0.011937853841211227,
|
| 63 |
+
"loss": 0.011937853841211227,
|
| 64 |
+
"samples": 2722.0
|
| 65 |
+
}
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"train": {
|
| 69 |
+
"action_mse": 0.0010950301075354218,
|
| 70 |
+
"fm_mse": 0.005298385862261057,
|
| 71 |
+
"grad_norm": 0.14778545498847961,
|
| 72 |
+
"gradient_scale_fm": 0.005298385862261057,
|
| 73 |
+
"loss": 0.005298385862261057,
|
| 74 |
+
"lr": 5.73117131205821e-05,
|
| 75 |
+
"optimizer_step_skipped": 0.0,
|
| 76 |
+
"update": 1122
|
| 77 |
+
},
|
| 78 |
+
"update": 1122,
|
| 79 |
+
"validation": {
|
| 80 |
+
"action_mse": 0.011832609236880886,
|
| 81 |
+
"generation_action_mse": 0.011832609236880886,
|
| 82 |
+
"generation_control_mse": 0.011832609236880886,
|
| 83 |
+
"loss": 0.011832609236880886,
|
| 84 |
+
"samples": 2722.0
|
| 85 |
+
}
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"train": {
|
| 89 |
+
"action_mse": 0.00040121201891452074,
|
| 90 |
+
"fm_mse": 0.0033258928451687098,
|
| 91 |
+
"grad_norm": 0.13092093169689178,
|
| 92 |
+
"gradient_scale_fm": 0.0033258928451687098,
|
| 93 |
+
"loss": 0.0033258928451687098,
|
| 94 |
+
"lr": 1.7375284638314558e-05,
|
| 95 |
+
"optimizer_step_skipped": 0.0,
|
| 96 |
+
"update": 1496
|
| 97 |
+
},
|
| 98 |
+
"update": 1496,
|
| 99 |
+
"validation": {
|
| 100 |
+
"action_mse": 0.011701165292768559,
|
| 101 |
+
"generation_action_mse": 0.011701165292768559,
|
| 102 |
+
"generation_control_mse": 0.011701165292768559,
|
| 103 |
+
"loss": 0.011701165292768559,
|
| 104 |
+
"samples": 2722.0
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"train": {
|
| 109 |
+
"action_mse": 0.00020587573817465454,
|
| 110 |
+
"fm_mse": 0.0033503323793411255,
|
| 111 |
+
"grad_norm": 0.08542012423276901,
|
| 112 |
+
"gradient_scale_fm": 0.0033503323793411255,
|
| 113 |
+
"loss": 0.0033503323793411255,
|
| 114 |
+
"lr": 1.3146145341202953e-10,
|
| 115 |
+
"optimizer_step_skipped": 0.0,
|
| 116 |
+
"update": 1870
|
| 117 |
+
},
|
| 118 |
+
"update": 1870,
|
| 119 |
+
"validation": {
|
| 120 |
+
"action_mse": 0.011596039181572527,
|
| 121 |
+
"generation_action_mse": 0.011596039181572527,
|
| 122 |
+
"generation_control_mse": 0.011596039181572527,
|
| 123 |
+
"loss": 0.011596039181572527,
|
| 124 |
+
"samples": 2722.0
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
],
|
| 128 |
+
"validation_points": 5,
|
| 129 |
+
"wall_seconds": 95.54422116279602,
|
| 130 |
+
"wandb": {
|
| 131 |
+
"entity": "401910710-university-of-california-berkeley",
|
| 132 |
+
"mode": "online",
|
| 133 |
+
"output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/hanging_mug/State_LastCommand_Joint/raw/ttrtc.pt",
|
| 134 |
+
"project": "robot-policy-bsp-unet-v6-hanging-mug",
|
| 135 |
+
"run_id": "y3lobvz1",
|
| 136 |
+
"run_name": "bsp_unet_fm-ttrtc-v6-hanging_mug-state_lastcommand_joint-raw-h1-ttrtc",
|
| 137 |
+
"url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v6-hanging-mug/runs/y3lobvz1"
|
| 138 |
+
}
|
| 139 |
+
}
|