| {"phase": "datasets_ready", "train_samples": 9426, "val_samples": 1037} |
| /workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True |
| self.cross_view_transformer = nn.TransformerEncoder( |
| {"phase": "training_start", "epochs": 4} |
| {"phase": "epoch_complete", "epoch": 0, "train_total": 0.01745892923475259, "val_total": 0.09288312419966767, "best_val_total": 0.09288312419966767, "best_checkpoint_updated": true, "epoch_seconds": 52.788121938705444} |
| {"phase": "epoch_complete", "epoch": 1, "train_total": 0.00313741604292418, "val_total": 0.08913456219968131, "best_val_total": 0.08913456219968131, "best_checkpoint_updated": true, "epoch_seconds": 49.54125690460205} |
| {"phase": "epoch_complete", "epoch": 2, "train_total": 0.002474825539610396, "val_total": 0.08298475654781655, "best_val_total": 0.08298475654781655, "best_checkpoint_updated": true, "epoch_seconds": 50.042465686798096} |
| {"phase": "epoch_complete", "epoch": 3, "train_total": 0.001929562073200941, "val_total": 0.1011313672748987, "best_val_total": 0.08298475654781655, "best_checkpoint_updated": false, "epoch_seconds": 50.351279497146606} |
| { |
| "experiment_name": "rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17", |
| "device": "cuda", |
| "best_checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt", |
| "final_train_total": 0.001929562073200941, |
| "final_val_total": 0.1011313672748987, |
| "train_dataset": { |
| "dataset_root": "/workspace/data/rlbench2_subset3", |
| "tasks": [ |
| "bimanual_dual_push_buttons" |
| ], |
| "episode_indices": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29, |
| 30, |
| 31, |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43, |
| 44, |
| 45, |
| 46, |
| 47, |
| 48, |
| 49, |
| 50, |
| 51, |
| 52, |
| 53, |
| 54, |
| 55, |
| 56, |
| 57, |
| 58, |
| 59, |
| 60, |
| 61, |
| 62, |
| 63, |
| 64, |
| 65, |
| 66, |
| 67, |
| 68, |
| 69, |
| 70, |
| 71, |
| 72, |
| 73, |
| 74, |
| 75, |
| 76, |
| 77, |
| 78, |
| 79, |
| 80, |
| 81, |
| 82, |
| 83, |
| 84, |
| 85, |
| 86, |
| 87, |
| 88, |
| 89 |
| ], |
| "num_episodes": 90, |
| "num_samples": 9426, |
| "resolution": 256, |
| "chunk_size": 8, |
| "proprio_dim": 32, |
| "history_steps": 2, |
| "supervise_action_steps": 8, |
| "action_norm_mean": 0.09223783761262894, |
| "action_norm_p90": 0.048376915976405144 |
| }, |
| "val_dataset": { |
| "dataset_root": "/workspace/data/rlbench2_subset3", |
| "tasks": [ |
| "bimanual_dual_push_buttons" |
| ], |
| "episode_indices": [ |
| 90, |
| 91, |
| 92, |
| 93, |
| 94, |
| 95, |
| 96, |
| 97, |
| 98, |
| 99 |
| ], |
| "num_episodes": 10, |
| "num_samples": 1037, |
| "resolution": 256, |
| "chunk_size": 8, |
| "proprio_dim": 32, |
| "history_steps": 2, |
| "supervise_action_steps": 8, |
| "action_norm_mean": 0.09317709505558014, |
| "action_norm_p90": 0.04960222616791725 |
| }, |
| "init_info": { |
| "path": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_weighted_seed17/checkpoint_best.pt", |
| "loaded_keys": 658, |
| "skipped_shape_mismatch_keys": [], |
| "missing_keys": [], |
| "unexpected_keys": [] |
| }, |
| "planner_mode": "trainable", |
| "plan_enabled_for_train": false, |
| "plan_enabled_for_eval": false, |
| "frozen_modules": [], |
| "trainable_parameter_prefixes": [], |
| "trainable_parameter_names": [], |
| "train_seconds": 206.01950120925903 |
| } |
|
|