xpuenabler's picture
Add droid step 2000 test vectors
5a6785a verified
Raw
History Blame Contribute Delete
3.9 kB
{
"created_at_utc": "2026-06-23T02:21:38.065334+00:00",
"generator": "/NHNHOME/gmkim/lerobot/_molmoact2_run/maniskill3/create_step2000_test_vectors.py",
"git_commit": "49755a3d9e7d43ae93092de8324e75348955afab",
"job": "droid",
"source_dataset_repo_id": "xpuenabler/droid-maniskill3-diverse",
"source_model_repo_id": "xpuenabler/molmoact2-droid-maniskill3-diverse",
"source_checkpoint_step": 2000,
"source_local_checkpoint_path": "/NHNHOME/gmkim/lerobot/outputs/molmoact2-droid-maniskill3-diverse/checkpoints/0002000/pretrained_model",
"target_repo_id": "xpuenabler/droid-step2000-test-vector",
"sample_indices": [
0,
1
],
"dataset_revision": "main",
"video_backend": "pyav",
"image_transforms": null,
"seed": 1234,
"device": "cuda",
"torch": {
"version": "2.11.0+cu128",
"cuda": "12.8",
"cuda_device_count": 8
},
"policy": {
"type": "molmoact2",
"chunk_size": 15,
"n_action_steps": 15,
"action_mode": "both",
"inference_action_mode": "continuous",
"setup_type": "single franka robotic arm in droid",
"control_mode": "absolute joint pose",
"image_keys": [
"observation.images.base_camera",
"observation.images.external_cam",
"observation.images.wrist_cam"
],
"model_dtype": "bfloat16",
"num_flow_timesteps": 8,
"normalize_gripper": false,
"normalization_mapping": {
"VISUAL": "NormalizationMode.IDENTITY",
"STATE": "NormalizationMode.QUANTILES",
"ACTION": "NormalizationMode.QUANTILES"
}
},
"sample_summaries": [
{
"sample_index": 0,
"episode_index": 0,
"frame_index": 0,
"dataset_index": 0,
"timestamp": 0.0,
"task": "pick up the red cube and lift it to the target",
"ground_truth_action_chunk": {
"shape": [
15,
7
],
"dtype": "torch.float32",
"min": -0.7764813303947449,
"max": 1.0,
"mean": 0.06567762792110443,
"sum": 6.896151065826416
},
"predicted_action_chunk": {
"shape": [
15,
7
],
"dtype": "torch.float32",
"min": -1.0390625,
"max": 1.03125,
"mean": 0.16902901232242584,
"sum": 17.748046875
},
"postprocessed_first_action": {
"shape": [
7
],
"dtype": "torch.float32",
"min": -0.06923253834247589,
"max": 0.7918884754180908,
"mean": 0.10395936667919159,
"sum": 0.7277155518531799
}
},
{
"sample_index": 1,
"episode_index": 0,
"frame_index": 1,
"dataset_index": 1,
"timestamp": 0.05000000074505806,
"task": "pick up the red cube and lift it to the target",
"ground_truth_action_chunk": {
"shape": [
15,
7
],
"dtype": "torch.float32",
"min": -0.7764813303947449,
"max": 1.0,
"mean": 0.058321017771959305,
"sum": 6.123706817626953
},
"predicted_action_chunk": {
"shape": [
15,
7
],
"dtype": "torch.float32",
"min": -0.98046875,
"max": 1.0078125,
"mean": 0.05151715874671936,
"sum": 5.4093017578125
},
"postprocessed_first_action": {
"shape": [
7
],
"dtype": "torch.float32",
"min": -0.04413984715938568,
"max": 0.7987232208251953,
"mean": 0.10854773968458176,
"sum": 0.7598341703414917
}
}
],
"batch_metrics": {
"discrete_ce_loss": 1.444577693939209,
"discrete_z_loss": 0.00029147835448384285,
"action_flow_loss": 0.138671875,
"loss": 1.5835410356521606
},
"files": {
"test_vectors.pt": {
"sha256": "f8a97cf66fc9ddfdbf1b6d15c377bb6f43d510b1a306ddaa63a2ae68e02ca115",
"size_bytes": 4161249
}
}
}