Document task10_coffee_station_29999

README.md

@@ -6,7 +6,7 @@ tags:
 base_model: IliaLarchenko/behavior_50t_checkpoint
 ---
 
-# b1k task-5 checkpoints (`setting_mousetraps`)
+# b1k single-task checkpoints
 
 Params-only checkpoints for offline evaluation. `train_state` is **not** included, so these
 cannot be resumed from — inference/eval only.
@@ -27,6 +27,41 @@ using the **200 human demonstrations** from the 2026 BEHAVIOR-1K challenge set a
 | task space | `B1K_TASK_SPACE=100`; `setting_mousetraps` is index 5 in both the 2025 and 2026 tables, so its task/stage embeddings are **pretrained**, not randomly initialised |
 | final logged | `action_loss = 0.0209` at step 21,775 |
 
+## `task10_coffee_station_29999`
+
+Single-task fine-tune of the 50-task meta checkpoint on **task 10 =
+`set_up_a_coffee_station_in_your_kitchen`**, using the **200 human demonstrations** from the
+2026 BEHAVIOR-1K challenge set and nothing else. Run completed in full.
+
+| | |
+|---|---|
+| init | `IliaLarchenko/behavior_50t_checkpoint` (params) |
+| data | `2026-challenge-demos-224`, activity `set_up_a_coffee_station_in_your_kitchen`, 200 episodes / 1,253,243 frames |
+| step | 29,999 of 30,000 (**completed**, 16 h 54 m on 8× H200) |
+| batch | 256 (32/GPU × 8× H200), FSDP over 8 devices |
+| LR | **flat 5e-6** — `init = peak = decay = 5e-6`, so no warmup ramp and no cosine decay |
+| norm stats | 2025 stats with the robot-frame `base_qvel` correction on state dims 0–2 (same `qvelfix` stats as the task-5 runs) |
+| task space | `B1K_TASK_SPACE=100`; `set_up_a_coffee_station_in_your_kitchen` is index 10 in both the 2025 and 2026 tables, so its task/stage embeddings are **pretrained**, not randomly initialised |
+| final logged | `action_loss = 0.0294`, `total_loss = 0.0565`, `fast_accuracy = 0.8208` at step 29,975 |
+
+Because the LR is flat with no annealing, the final step is **not** necessarily the best
+checkpoint — there is no decay phase to settle into a minimum. Steps 4000/8000/.../28000 were
+retained locally and can be uploaded if you want to sweep across them.
+
+### Video encoding caveat for this checkpoint
+
+Trained on the `2026-challenge-demos-224` build, whose bitstream reports **x264 `crf=20.0`,
+`keyint=250`**. Measured against `b1k-224x224-gop8-fixed` (x265 `crf=28.0`, `keyint=8`) on
+identical frames, this build is slightly softer: **0.886× Laplacian variance, 0.933× HF
+spectral energy**. The downscaling filter is not recorded in the bitstream and is unverified.
+No task-success delta has been measured for this difference — it is an input-statistics
+observation only.
+
+One video file in the source data (`right_realsense .../chunk-010/file-002.mp4`, backing 46 of
+the 200 episodes) had no moov atom and was unreadable; it was re-encoded from the intact
+480×480 HEVC original at x264 CRF 23 / GOP 250 to match its neighbours, verified at 43–50 dB
+PSNR against the source.
+
 ### Reading the loss
 
 `action_loss` here is **training-set** loss. There is no validation split and no rollout