| { |
| "config": { |
| "cache_dir": "le-wm/models", |
| "dataset": "pusht_expert_train", |
| "checkpoint": "hf_pusht/weights.pt", |
| "output_dir": "models/probes/pusht_lewm_1M_sparse_imagined50_balanced_hn_fpr005", |
| "latent_cache": "models/probes/pusht_lewm_1M/latents.npz", |
| "imagined_cache": "models/probes/pusht_lewm_1M_sparse_imagined50_fpr005/objective_met_imagined_train.npz", |
| "imagined_val_cache": "models/probes/pusht_lewm_1M_sparse_imagined50_fpr005/objective_met_imagined_val.npz", |
| "imagined_test_cache": "models/probes/pusht_lewm_1M_sparse_imagined50_fpr005/objective_met_imagined_test.npz", |
| "max_samples": 1000000, |
| "sample_block_size": 16, |
| "batch_size": 512, |
| "encode_batch_size": 256, |
| "rollout_batch_size": 64, |
| "epochs": 50, |
| "patience": 8, |
| "lr": 0.001, |
| "weight_decay": 0.0001, |
| "ridge": 0.001, |
| "mlp_hidden": 256, |
| "mlp_depth": 2, |
| "device": "cuda", |
| "force_recache": false, |
| "force_imagined_recache": false, |
| "seed": 3072, |
| "probes": [ |
| "objective_met" |
| ], |
| "frameskip": 5, |
| "context_steps": 3, |
| "imagined_rollout_horizon": 20, |
| "include_imagined_rollouts": true, |
| "imagined_fraction": 0.5, |
| "eval_imagined_rollouts": true, |
| "imagined_eval_samples": 100000, |
| "sparse_imagined_sampling": "step_class_balanced", |
| "sparse_negative_sampling": "mixed", |
| "sparse_near_success_margin": 3.0, |
| "sparse_threshold_policy": "target_fpr", |
| "sparse_target_fpr": 0.05, |
| "sparse_threshold_source": "imagined_val", |
| "sparse_condition_on_step": false, |
| "sparse_hard_negative_mining": true, |
| "sparse_hard_negative_fraction": 0.25, |
| "sparse_hard_negative_epochs": 10, |
| "no_normalize_actions": false, |
| "objective_x": 256.0, |
| "objective_y": 256.0, |
| "objective_angle": 0.7853981633974483, |
| "objective_pos_tol": 20.0, |
| "objective_angle_tol": 0.3490658503988659 |
| }, |
| "feature_normalizer": { |
| "mean": [ |
| [ |
| -0.03391525521874428, |
| 0.019303878769278526, |
| -0.0164620541036129, |
| 0.03722295165061951, |
| 0.02091093547642231, |
| 0.00969670433551073, |
| -0.013262114487588406, |
| -0.0005771169089712203, |
| 0.03022521547973156, |
| -0.010804723016917706, |
| 0.03679666295647621, |
| 0.0062456498853862286, |
| 0.0895083025097847, |
| 0.007039526477456093, |
| -0.021761879324913025, |
| -0.05038325861096382, |
| -0.007485213689506054, |
| -0.09354504197835922, |
| 0.04211828485131264, |
| 0.03040301240980625, |
| -0.00042473580106161535, |
| 0.04087348282337189, |
| -0.03649146109819412, |
| 0.07045347988605499, |
| -0.011310693807899952, |
| 0.027283063158392906, |
| 0.05222737789154053, |
| 0.04991189017891884, |
| 0.016643211245536804, |
| -0.006640330888330936, |
| 0.003260034369304776, |
| 0.0672045573592186, |
| -0.06359367817640305, |
| -0.009787686169147491, |
| -0.009507933631539345, |
| 0.03875196352601051, |
| 0.0018135369755327702, |
| -0.05590800940990448, |
| -0.002706798491999507, |
| 0.05259759724140167, |
| 0.020517321303486824, |
| 0.021625978872179985, |
| -0.007564537227153778, |
| 0.06991475075483322, |
| -0.01550955232232809, |
| 0.033487316220998764, |
| -0.012956546619534492, |
| -0.0024987845681607723, |
| -0.03555292263627052, |
| -0.03498265892267227, |
| -0.008246713317930698, |
| 0.05797659233212471, |
| 0.0005199211882427335, |
| -0.08659344911575317, |
| -0.0030259103514254093, |
| -0.02483794279396534, |
| 0.030581284314393997, |
| -0.08070463687181473, |
| -0.005035382695496082, |
| -0.025906288996338844, |
| -0.003722444176673889, |
| 0.01232780423015356, |
| 0.03581054136157036, |
| 0.016551155596971512, |
| 0.03455762565135956, |
| 0.0232564527541399, |
| 0.010521938093006611, |
| 0.028451384976506233, |
| 0.08314843475818634, |
| -0.031917180866003036, |
| 0.06973885744810104, |
| 0.017116885632276535, |
| 0.0486535020172596, |
| 0.028238065540790558, |
| 0.05253681540489197, |
| -0.03212514892220497, |
| -0.008910557255148888, |
| 0.008561389520764351, |
| 0.05128587782382965, |
| 0.009337232448160648, |
| -0.036750562489032745, |
| -0.03447572886943817, |
| 0.011068688705563545, |
| -0.0008096068631857634, |
| 0.04183712974190712, |
| 0.042710136622190475, |
| 0.12208849936723709, |
| -0.05603555217385292, |
| -0.02850712649524212, |
| -0.02957111969590187, |
| -0.03809715434908867, |
| 0.004972326103597879, |
| -0.01603185012936592, |
| -0.018352825194597244, |
| 0.008428851142525673, |
| 0.04260270670056343, |
| -0.021392200142145157, |
| 0.025897447019815445, |
| -0.004322818946093321, |
| 0.04037991911172867, |
| 0.04704087972640991, |
| -0.019779665395617485, |
| 0.02166721224784851, |
| -0.010891584679484367, |
| 0.07379323244094849, |
| 0.017370931804180145, |
| 0.03816729038953781, |
| -0.03272922337055206, |
| 0.02131444588303566, |
| -0.008266504853963852, |
| 0.03152778372168541, |
| 0.03288315236568451, |
| 0.0067713079042732716, |
| 0.04723222181200981, |
| -0.033543363213539124, |
| -0.025321317836642265, |
| 0.059431519359350204, |
| 0.012598431669175625, |
| -0.031756896525621414, |
| -0.007516713347285986, |
| -0.005022983532398939, |
| -0.018501440063118935, |
| 0.02159678377211094, |
| 0.0042152684181928635, |
| -0.027531269937753677, |
| 0.01141191553324461, |
| 0.05188140645623207, |
| 0.04684270918369293, |
| 0.0023072012700140476, |
| -0.026472127065062523, |
| -0.024370897561311722, |
| 0.013914326205849648, |
| 0.04883209615945816, |
| 0.0734897330403328, |
| 0.013325628824532032, |
| 0.0032136233057826757, |
| 0.012516571208834648, |
| 0.03837522119283676, |
| -0.002306437585502863, |
| -0.019875627011060715, |
| 0.06812016665935516, |
| -0.09673334658145905, |
| 0.05006089434027672, |
| -0.0334119014441967, |
| -0.00866574514657259, |
| -0.010518704541027546, |
| -0.06406617164611816, |
| -0.013224405236542225, |
| 0.03852275758981705, |
| -0.05321602523326874, |
| -0.026803482323884964, |
| -0.05369143933057785, |
| -0.008000238798558712, |
| -0.028696438297629356, |
| 0.005369434133172035, |
| 0.033132776618003845, |
| -0.014477824792265892, |
| -0.035954587161540985, |
| -0.02955002523958683, |
| -0.001216321368701756, |
| 0.002995032351464033, |
| 0.06163417920470238, |
| 0.009160122834146023, |
| 0.03310099244117737, |
| -0.08168330788612366, |
| -0.05001722648739815, |
| -0.042233556509017944, |
| 0.03416861221194267, |
| -0.004668304231017828, |
| 0.02179359830915928, |
| -0.01448215451091528, |
| -0.025015246123075485, |
| -0.036915116012096405, |
| -0.008385919965803623, |
| -0.010830557905137539, |
| 0.04772862419486046, |
| 0.04292108863592148, |
| -0.010487840510904789, |
| -0.01799752749502659, |
| -0.05754796043038368, |
| -0.0037053318228572607, |
| 0.023770539090037346, |
| 0.07541859894990921, |
| 0.02685737982392311, |
| 0.004286227282136679, |
| 0.05141935870051384, |
| 0.06011693924665451, |
| -0.056893061846494675, |
| 0.07156100124120712, |
| -0.003438927698880434, |
| 0.02360234595835209, |
| -3.9179798477562144e-05 |
| ] |
| ], |
| "std": [ |
| [ |
| 0.9764314889907837, |
| 1.0211230516433716, |
| 0.9537190198898315, |
| 0.9804485440254211, |
| 0.9653822183609009, |
| 0.9893568158149719, |
| 1.0452691316604614, |
| 0.8841189742088318, |
| 0.9992064833641052, |
| 0.9486748576164246, |
| 0.963719367980957, |
| 1.155754566192627, |
| 1.0895198583602905, |
| 0.9194809198379517, |
| 1.0995614528656006, |
| 1.0311801433563232, |
| 1.0202665328979492, |
| 0.9967256188392639, |
| 0.9117249846458435, |
| 0.8812009692192078, |
| 1.031898021697998, |
| 0.9735895395278931, |
| 0.8732784986495972, |
| 0.9987170696258545, |
| 0.9813572764396667, |
| 0.8988218903541565, |
| 0.992881178855896, |
| 0.8459854125976562, |
| 0.999336838722229, |
| 1.0886225700378418, |
| 0.9308749437332153, |
| 0.9938654899597168, |
| 1.1240042448043823, |
| 1.0124523639678955, |
| 1.030287504196167, |
| 1.0460314750671387, |
| 0.9806774258613586, |
| 1.0205169916152954, |
| 1.036083459854126, |
| 1.113065242767334, |
| 0.9208481907844543, |
| 0.7366371750831604, |
| 1.0975638628005981, |
| 1.0625592470169067, |
| 0.9376500248908997, |
| 0.9680666923522949, |
| 1.0336203575134277, |
| 1.0803191661834717, |
| 0.9476468563079834, |
| 1.0788174867630005, |
| 0.8555576801300049, |
| 0.8978824019432068, |
| 0.9674569368362427, |
| 1.0748887062072754, |
| 0.8746950626373291, |
| 1.0838682651519775, |
| 0.9522006511688232, |
| 1.0308846235275269, |
| 0.9887060523033142, |
| 0.7987900972366333, |
| 1.0105385780334473, |
| 0.9565116167068481, |
| 1.061678409576416, |
| 1.0479332208633423, |
| 0.9825246930122375, |
| 1.0140668153762817, |
| 1.0726234912872314, |
| 1.0204355716705322, |
| 1.0739799737930298, |
| 1.0033323764801025, |
| 1.0935736894607544, |
| 1.0205678939819336, |
| 1.0440372228622437, |
| 1.0128377676010132, |
| 1.0341851711273193, |
| 1.0143182277679443, |
| 1.0131605863571167, |
| 1.0955194234848022, |
| 1.1120330095291138, |
| 0.9844388365745544, |
| 1.0389149188995361, |
| 1.0802085399627686, |
| 0.8403464555740356, |
| 1.0851470232009888, |
| 1.005518913269043, |
| 0.9517987370491028, |
| 1.0308743715286255, |
| 1.0642484426498413, |
| 0.9759883284568787, |
| 0.9674128293991089, |
| 0.9534948468208313, |
| 0.977166473865509, |
| 1.005882740020752, |
| 0.9354233145713806, |
| 0.9561018347740173, |
| 1.0553257465362549, |
| 0.9118838310241699, |
| 1.0273126363754272, |
| 1.1243360042572021, |
| 0.9836583733558655, |
| 1.0264487266540527, |
| 1.0053898096084595, |
| 1.0093896389007568, |
| 0.8318060636520386, |
| 1.0413427352905273, |
| 0.9435185790061951, |
| 1.0582057237625122, |
| 0.9668142199516296, |
| 0.9945045113563538, |
| 0.8779057264328003, |
| 1.0486721992492676, |
| 1.059097170829773, |
| 0.9552039504051208, |
| 0.9445965886116028, |
| 1.063852071762085, |
| 0.8942506313323975, |
| 0.9917181134223938, |
| 1.0602153539657593, |
| 1.0200163125991821, |
| 1.0244213342666626, |
| 0.9898468852043152, |
| 0.9715942144393921, |
| 1.079428791999817, |
| 1.024674892425537, |
| 1.0347089767456055, |
| 0.9917073249816895, |
| 1.1281354427337646, |
| 1.0171256065368652, |
| 0.9848858714103699, |
| 0.9594829678535461, |
| 0.8874891996383667, |
| 0.9576436281204224, |
| 1.0805714130401611, |
| 1.0281935930252075, |
| 1.0561119318008423, |
| 1.0014591217041016, |
| 0.9745699763298035, |
| 1.0737097263336182, |
| 1.0942798852920532, |
| 0.945891797542572, |
| 0.9173468947410583, |
| 1.0728681087493896, |
| 1.0073468685150146, |
| 1.077857494354248, |
| 1.07002592086792, |
| 1.0006595849990845, |
| 0.9740257263183594, |
| 1.0437283515930176, |
| 0.9780846238136292, |
| 1.094173789024353, |
| 0.9038551449775696, |
| 1.0628260374069214, |
| 1.1331734657287598, |
| 0.9150418043136597, |
| 1.0270310640335083, |
| 1.1034488677978516, |
| 0.9617258310317993, |
| 1.0133018493652344, |
| 0.9494602084159851, |
| 1.081701636314392, |
| 1.0030829906463623, |
| 0.9401823282241821, |
| 1.0448291301727295, |
| 1.146396279335022, |
| 1.0936627388000488, |
| 0.9121557474136353, |
| 0.9991093873977661, |
| 0.9443554282188416, |
| 0.9845660924911499, |
| 1.05245041847229, |
| 0.9437494277954102, |
| 1.0455018281936646, |
| 0.9653962254524231, |
| 0.9539138078689575, |
| 0.9768818616867065, |
| 1.1123111248016357, |
| 0.9158292412757874, |
| 1.024539589881897, |
| 0.9845446944236755, |
| 0.9192908406257629, |
| 0.8840417861938477, |
| 1.009352445602417, |
| 1.0474157333374023, |
| 1.012848138809204, |
| 0.9426905512809753, |
| 1.0978808403015137, |
| 1.0075842142105103, |
| 1.0328251123428345, |
| 1.0016602277755737, |
| 1.0136278867721558, |
| 0.9837449789047241, |
| 1.0099163055419922 |
| ] |
| ] |
| }, |
| "probes": { |
| "objective_met": { |
| "class_counts": { |
| "train_positive": 234136, |
| "train_negative": 565864, |
| "val_positive": 9575, |
| "val_negative": 90425, |
| "test_positive": 9244, |
| "test_negative": 90756 |
| }, |
| "train_source_counts": { |
| "gt": 400000, |
| "imagined": 400000, |
| "imagined_sampling": "step_class_balanced", |
| "negative_sampling": "mixed" |
| }, |
| "threshold_policy": "target_fpr", |
| "threshold_source": "imagined_val", |
| "condition_on_step": false, |
| "hard_negative_mining": true, |
| "linear": { |
| "threshold": 0.7027591991424558, |
| "positive_rate": 0.09244000166654587, |
| "mean_predicted_probability": 0.10874494910240173, |
| "roc_auc": 0.9988601481008255, |
| "average_precision": 0.9892172807999081, |
| "tp": 8225.0, |
| "tn": 90504.0, |
| "fp": 252.0, |
| "fn": 1019.0, |
| "accuracy": 0.98729, |
| "balanced_accuracy": 0.9434948294988474, |
| "precision": 0.9702725020644096, |
| "recall": 0.889766334919948, |
| "specificity": 0.9972233240777469, |
| "f1": 0.9282771852604255 |
| }, |
| "mlp": { |
| "threshold": 0.22969225093722448, |
| "positive_rate": 0.09244000166654587, |
| "mean_predicted_probability": 0.09291515499353409, |
| "roc_auc": 0.9997839354766374, |
| "average_precision": 0.9979031588181242, |
| "tp": 9125.0, |
| "tn": 90370.0, |
| "fp": 386.0, |
| "fn": 119.0, |
| "accuracy": 0.99495, |
| "balanced_accuracy": 0.9914368113081139, |
| "precision": 0.9594154137314689, |
| "recall": 0.9871267849415837, |
| "specificity": 0.9957468376746441, |
| "f1": 0.9730738469741401 |
| }, |
| "imagined_val": { |
| "linear": { |
| "threshold": 0.7027591991424558, |
| "positive_rate": 0.09217000007629395, |
| "mean_predicted_probability": 0.1610293835401535, |
| "roc_auc": 0.9744638244622095, |
| "average_precision": 0.8262833856980545, |
| "tp": 7992.0, |
| "tn": 86775.0, |
| "fp": 4008.0, |
| "fn": 1225.0, |
| "accuracy": 0.94767, |
| "balanced_accuracy": 0.911472089677066, |
| "precision": 0.666, |
| "recall": 0.8670934143430618, |
| "specificity": 0.9558507650110704, |
| "f1": 0.7533581561955037 |
| }, |
| "mlp": { |
| "threshold": 0.22969225093722448, |
| "positive_rate": 0.09217000007629395, |
| "mean_predicted_probability": 0.11417478322982788, |
| "roc_auc": 0.9802446668368997, |
| "average_precision": 0.8547125660676285, |
| "tp": 8642.0, |
| "tn": 86425.0, |
| "fp": 4358.0, |
| "fn": 575.0, |
| "accuracy": 0.95067, |
| "balanced_accuracy": 0.9448053468822426, |
| "precision": 0.6647692307692308, |
| "recall": 0.9376152761202127, |
| "specificity": 0.9519954176442726, |
| "f1": 0.7779628212629968 |
| } |
| }, |
| "imagined_test": { |
| "linear": { |
| "threshold": 0.7027591991424558, |
| "positive_rate": 0.09167999774217606, |
| "mean_predicted_probability": 0.15385475754737854, |
| "roc_auc": 0.9776629208313851, |
| "average_precision": 0.8375050401750187, |
| "tp": 7814.0, |
| "tn": 87332.0, |
| "fp": 3500.0, |
| "fn": 1354.0, |
| "accuracy": 0.95146, |
| "balanced_accuracy": 0.9068898576079776, |
| "precision": 0.690648753756408, |
| "recall": 0.8523123909249564, |
| "specificity": 0.9614673242909988, |
| "f1": 0.7630114246655602 |
| }, |
| "mlp": { |
| "threshold": 0.22969225093722448, |
| "positive_rate": 0.09167999774217606, |
| "mean_predicted_probability": 0.10984945297241211, |
| "roc_auc": 0.985993707415197, |
| "average_precision": 0.8567641919276587, |
| "tp": 8651.0, |
| "tn": 86988.0, |
| "fp": 3844.0, |
| "fn": 517.0, |
| "accuracy": 0.95639, |
| "balanced_accuracy": 0.9506441575894404, |
| "precision": 0.6923569427771108, |
| "recall": 0.943608202443281, |
| "specificity": 0.9576801127355998, |
| "f1": 0.7986890089092 |
| } |
| } |
| } |
| }, |
| "latent_cache_metadata": { |
| "dataset": "pusht_expert_train", |
| "checkpoint": "hf_pusht/weights.pt", |
| "cache_dir": "le-wm/models", |
| "max_samples": 1000000, |
| "sample_block_size": 16, |
| "split": { |
| "train_fraction": 0.8, |
| "val_fraction": 0.1, |
| "seed": 3072 |
| } |
| }, |
| "imagined_cache": "/home/inigo/data/git/repo/offline-rl-with-le-wm/models/probes/pusht_lewm_1M_sparse_imagined50_fpr005/objective_met_imagined_train.npz", |
| "imagined_val_cache": "/home/inigo/data/git/repo/offline-rl-with-le-wm/models/probes/pusht_lewm_1M_sparse_imagined50_fpr005/objective_met_imagined_val.npz", |
| "imagined_test_cache": "/home/inigo/data/git/repo/offline-rl-with-le-wm/models/probes/pusht_lewm_1M_sparse_imagined50_fpr005/objective_met_imagined_test.npz", |
| "imagined_cache_metadata": { |
| "dataset": "pusht_expert_train", |
| "checkpoint": "hf_pusht/weights.pt", |
| "frameskip": 5, |
| "context_steps": 3, |
| "rollout_horizon": 20, |
| "num_samples": 400000, |
| "split": "train", |
| "normalize_actions": true |
| }, |
| "imagined_val_cache_metadata": { |
| "dataset": "pusht_expert_train", |
| "checkpoint": "hf_pusht/weights.pt", |
| "frameskip": 5, |
| "context_steps": 3, |
| "rollout_horizon": 20, |
| "num_samples": 100000, |
| "split": "val", |
| "normalize_actions": true |
| }, |
| "imagined_test_cache_metadata": { |
| "dataset": "pusht_expert_train", |
| "checkpoint": "hf_pusht/weights.pt", |
| "frameskip": 5, |
| "context_steps": 3, |
| "rollout_horizon": 20, |
| "num_samples": 100000, |
| "split": "test", |
| "normalize_actions": true |
| } |
| } |