Upload franka_multitask_v1/0020000/metadata.json with huggingface_hub
Browse files
franka_multitask_v1/0020000/metadata.json
ADDED
|
@@ -0,0 +1,105 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "franka_multitask_v1",
|
| 3 |
+
"step": 20000,
|
| 4 |
+
"experiment_dir_origin": "/NHNHOME/WORKSPACE/0226010404_A/CVLAB/CVLAB1/jisang/checkpoints/realrobot/franka_multitask/robot-20260525-061300",
|
| 5 |
+
"uploaded_checkpoint_size_bytes": 3248356823,
|
| 6 |
+
"resume_from": "SeonghuJeon/oxe-mimicgen-all-h1to8-teacherdepth-300k step 300000",
|
| 7 |
+
"tasks_mixed": [
|
| 8 |
+
"franka_pickplace",
|
| 9 |
+
"franka_chocomilk",
|
| 10 |
+
"franka_kitchen",
|
| 11 |
+
"franka_pot"
|
| 12 |
+
],
|
| 13 |
+
"action_stats_key": "franka_realrobot",
|
| 14 |
+
"global_batch_size": 512,
|
| 15 |
+
"micro_batch_size": 64,
|
| 16 |
+
"n_gpu": 8,
|
| 17 |
+
"config_used": "configs/training/realrobot/franka_multitask_v1.yaml",
|
| 18 |
+
"ds_config": "configs/training/realrobot/ds_config_franka_zero2_mb64.json",
|
| 19 |
+
"wandb_project": "GAM_realrobot",
|
| 20 |
+
"wandb_run_name": "franka_multitask_v1",
|
| 21 |
+
"eval_history": [
|
| 22 |
+
{
|
| 23 |
+
"step": 12000,
|
| 24 |
+
"H": 1,
|
| 25 |
+
"l1_norm": 0.3096,
|
| 26 |
+
"mse_norm": 0.38405,
|
| 27 |
+
"l1_raw_meters": 0.002,
|
| 28 |
+
"mse_raw": 1e-05,
|
| 29 |
+
"r2_norm": 0.193,
|
| 30 |
+
"rel_at_5": 0.386,
|
| 31 |
+
"rel_at_10": 0.55,
|
| 32 |
+
"samples": 48,
|
| 33 |
+
"batches": 8
|
| 34 |
+
},
|
| 35 |
+
{
|
| 36 |
+
"step": 14000,
|
| 37 |
+
"H": 1,
|
| 38 |
+
"l1_norm": 0.3176,
|
| 39 |
+
"mse_norm": 0.38799,
|
| 40 |
+
"l1_raw_meters": 0.0022,
|
| 41 |
+
"mse_raw": 1e-05,
|
| 42 |
+
"r2_norm": 0.185,
|
| 43 |
+
"rel_at_5": 0.371,
|
| 44 |
+
"rel_at_10": 0.542,
|
| 45 |
+
"samples": 48,
|
| 46 |
+
"batches": 8
|
| 47 |
+
},
|
| 48 |
+
{
|
| 49 |
+
"step": 16000,
|
| 50 |
+
"H": 1,
|
| 51 |
+
"l1_norm": 0.3158,
|
| 52 |
+
"mse_norm": 0.38781,
|
| 53 |
+
"l1_raw_meters": 0.0023,
|
| 54 |
+
"mse_raw": 1e-05,
|
| 55 |
+
"r2_norm": 0.186,
|
| 56 |
+
"rel_at_5": 0.374,
|
| 57 |
+
"rel_at_10": 0.552,
|
| 58 |
+
"samples": 48,
|
| 59 |
+
"batches": 8
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"step": 18000,
|
| 63 |
+
"H": 1,
|
| 64 |
+
"l1_norm": 0.3129,
|
| 65 |
+
"mse_norm": 0.38742,
|
| 66 |
+
"l1_raw_meters": 0.002,
|
| 67 |
+
"mse_raw": 1e-05,
|
| 68 |
+
"r2_norm": 0.186,
|
| 69 |
+
"rel_at_5": 0.374,
|
| 70 |
+
"rel_at_10": 0.552,
|
| 71 |
+
"samples": 48,
|
| 72 |
+
"batches": 8
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"step": 20000,
|
| 76 |
+
"H": 1,
|
| 77 |
+
"l1_norm": 0.3118,
|
| 78 |
+
"mse_norm": 0.39045,
|
| 79 |
+
"l1_raw_meters": 0.0019,
|
| 80 |
+
"mse_raw": 1e-05,
|
| 81 |
+
"r2_norm": 0.18,
|
| 82 |
+
"rel_at_5": 0.386,
|
| 83 |
+
"rel_at_10": 0.557,
|
| 84 |
+
"samples": 48,
|
| 85 |
+
"batches": 8
|
| 86 |
+
}
|
| 87 |
+
],
|
| 88 |
+
"best_by_l1_raw": {
|
| 89 |
+
"step": 20000,
|
| 90 |
+
"H": 1,
|
| 91 |
+
"l1_norm": 0.3118,
|
| 92 |
+
"mse_norm": 0.39045,
|
| 93 |
+
"l1_raw_meters": 0.0019,
|
| 94 |
+
"mse_raw": 1e-05,
|
| 95 |
+
"r2_norm": 0.18,
|
| 96 |
+
"rel_at_5": 0.386,
|
| 97 |
+
"rel_at_10": 0.557,
|
| 98 |
+
"samples": 48,
|
| 99 |
+
"batches": 8
|
| 100 |
+
},
|
| 101 |
+
"docs": [
|
| 102 |
+
"docs/realrobot-franka-deploy-handoff.md",
|
| 103 |
+
"docs/realrobot-finetune-franka.md"
|
| 104 |
+
]
|
| 105 |
+
}
|