lsnu's picture
Add files using upload-large-folder tool
4218bbb verified
{"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
}