IDTFH commited on
Commit
19dccb6
·
verified ·
1 Parent(s): 02a346c

Flatten seeds: remove adapters/grid_seeds and unsuffixed seed-0 modules (now _s0)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. adapters/grid_seeds/task_disc_large_n300_s1_with_gain025y/adapter.pt +0 -3
  2. adapters/grid_seeds/task_disc_large_n300_s1_with_gain025y/train_log.json +0 -378
  3. adapters/grid_seeds/task_disc_large_n300_s2_with_gain025y/adapter.pt +0 -3
  4. adapters/grid_seeds/task_disc_large_n300_s2_with_gain025y/train_log.json +0 -378
  5. adapters/grid_seeds/task_disc_large_n300_s3_with_gain025y/adapter.pt +0 -3
  6. adapters/grid_seeds/task_disc_large_n300_s3_with_gain025y/train_log.json +0 -378
  7. adapters/grid_seeds/task_disc_large_n300_s4_with_gain025y/adapter.pt +0 -3
  8. adapters/grid_seeds/task_disc_large_n300_s4_with_gain025y/train_log.json +0 -378
  9. adapters/grid_seeds/task_ring_goal_n300_s1_with_rot60/adapter.pt +0 -3
  10. adapters/grid_seeds/task_ring_goal_n300_s1_with_rot60/train_log.json +0 -377
  11. adapters/grid_seeds/task_ring_goal_n300_s2_with_rot60/adapter.pt +0 -3
  12. adapters/grid_seeds/task_ring_goal_n300_s2_with_rot60/train_log.json +0 -377
  13. adapters/grid_seeds/task_ring_goal_n300_s3_with_rot60/adapter.pt +0 -3
  14. adapters/grid_seeds/task_ring_goal_n300_s3_with_rot60/train_log.json +0 -377
  15. adapters/grid_seeds/task_ring_goal_n300_s4_with_rot60/adapter.pt +0 -3
  16. adapters/grid_seeds/task_ring_goal_n300_s4_with_rot60/train_log.json +0 -377
  17. adapters/grid_seeds/task_ring_start_n300_s1_with_curl20/adapter.pt +0 -3
  18. adapters/grid_seeds/task_ring_start_n300_s1_with_curl20/train_log.json +0 -378
  19. adapters/grid_seeds/task_ring_start_n300_s2_with_curl20/adapter.pt +0 -3
  20. adapters/grid_seeds/task_ring_start_n300_s2_with_curl20/train_log.json +0 -378
  21. adapters/grid_seeds/task_ring_start_n300_s3_with_curl20/adapter.pt +0 -3
  22. adapters/grid_seeds/task_ring_start_n300_s3_with_curl20/train_log.json +0 -378
  23. adapters/grid_seeds/task_ring_start_n300_s4_with_curl20/adapter.pt +0 -3
  24. adapters/grid_seeds/task_ring_start_n300_s4_with_curl20/train_log.json +0 -378
  25. adapters/grid_seeds/task_wall_gap_n300_s1_with_gain025x/adapter.pt +0 -3
  26. adapters/grid_seeds/task_wall_gap_n300_s1_with_gain025x/train_log.json +0 -377
  27. adapters/grid_seeds/task_wall_gap_n300_s2_with_gain025x/adapter.pt +0 -3
  28. adapters/grid_seeds/task_wall_gap_n300_s2_with_gain025x/train_log.json +0 -377
  29. adapters/grid_seeds/task_wall_gap_n300_s3_with_gain025x/adapter.pt +0 -3
  30. adapters/grid_seeds/task_wall_gap_n300_s3_with_gain025x/train_log.json +0 -377
  31. adapters/grid_seeds/task_wall_gap_n300_s4_with_gain025x/adapter.pt +0 -3
  32. adapters/grid_seeds/task_wall_gap_n300_s4_with_gain025x/train_log.json +0 -377
  33. adapters/grid_seeds/user_curl20_expert_n100_s1/adapter.pt +0 -3
  34. adapters/grid_seeds/user_curl20_expert_n100_s1/train_log.json +0 -117
  35. adapters/grid_seeds/user_curl20_expert_n100_s1_on_disc_large/adapter.pt +0 -3
  36. adapters/grid_seeds/user_curl20_expert_n100_s1_on_disc_large/train_log.json +0 -117
  37. adapters/grid_seeds/user_curl20_expert_n100_s1_on_ring_goal/adapter.pt +0 -3
  38. adapters/grid_seeds/user_curl20_expert_n100_s1_on_ring_goal/train_log.json +0 -117
  39. adapters/grid_seeds/user_curl20_expert_n100_s1_on_ring_start/adapter.pt +0 -3
  40. adapters/grid_seeds/user_curl20_expert_n100_s1_on_ring_start/train_log.json +0 -117
  41. adapters/grid_seeds/user_curl20_expert_n100_s1_on_wall_gap/adapter.pt +0 -3
  42. adapters/grid_seeds/user_curl20_expert_n100_s1_on_wall_gap/train_log.json +0 -117
  43. adapters/grid_seeds/user_curl20_expert_n100_s2/adapter.pt +0 -3
  44. adapters/grid_seeds/user_curl20_expert_n100_s2/train_log.json +0 -117
  45. adapters/grid_seeds/user_curl20_expert_n100_s2_on_disc_large/adapter.pt +0 -3
  46. adapters/grid_seeds/user_curl20_expert_n100_s2_on_disc_large/train_log.json +0 -117
  47. adapters/grid_seeds/user_curl20_expert_n100_s2_on_ring_goal/adapter.pt +0 -3
  48. adapters/grid_seeds/user_curl20_expert_n100_s2_on_ring_goal/train_log.json +0 -117
  49. adapters/grid_seeds/user_curl20_expert_n100_s2_on_ring_start/adapter.pt +0 -3
  50. adapters/grid_seeds/user_curl20_expert_n100_s2_on_ring_start/train_log.json +0 -117
adapters/grid_seeds/task_disc_large_n300_s1_with_gain025y/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:9c33f2838960a9b83c80bf94eceaea1ca2703c8294c5c82ca50fd304935363ad
3
- size 1718901
 
 
 
 
adapters/grid_seeds/task_disc_large_n300_s1_with_gain025y/train_log.json DELETED
@@ -1,378 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_disc_large_n300_s1_with_gain025y",
5
- "model": null,
6
- "corruption": {
7
- "scale": [
8
- 1.0,
9
- 0.25
10
- ]
11
- },
12
- "obstacle": {
13
- "kind": "disc",
14
- "radius": 0.08,
15
- "along": 0.5,
16
- "offset": [
17
- 0.012,
18
- 0.024
19
- ],
20
- "side": "random"
21
- },
22
- "user_module": "grid_seeds/user_gain025y_expert_n100_s1",
23
- "lambda_field": 0.03,
24
- "sigma_min": 1.0,
25
- "sigma_max": 1.0,
26
- "closed_loop": null,
27
- "closed_loop_trials": 2000,
28
- "closed_loop_noise": 1.0,
29
- "closed_loop_depth": 6,
30
- "closed_loop_arm": "condition_grid.yaml",
31
- "closed_loop_time_limit": 5.0,
32
- "closed_loop_mix": 0.5,
33
- "p_free": 0.25,
34
- "goal_dropout": 0.25,
35
- "lambda_id": 0.001,
36
- "d": 128,
37
- "layers": 2,
38
- "targets": [
39
- 4,
40
- 4
41
- ],
42
- "reach": [
43
- 0.35,
44
- 0.5
45
- ],
46
- "n_demos": 300,
47
- "frozen_noise": true,
48
- "val_demos": 2000,
49
- "flow_steps": 10,
50
- "steps": 20000,
51
- "batch": 512,
52
- "lr": 0.001,
53
- "log_every": 1000,
54
- "seed": 1
55
- },
56
- "log": [
57
- {
58
- "step": 1000,
59
- "train": 0.1645632317736745,
60
- "skipped": 0,
61
- "val_fm": 0.09110181033611298,
62
- "chunk_collision_hidden": 0.01750972680747509,
63
- "chunk_collision_given": 0.021621622145175934,
64
- "chunk_collision_policy_hidden": 0.01361867692321539,
65
- "chunk_collision_policy_given": 0.020270271226763725,
66
- "heading_cos_none": 0.3537847399711609,
67
- "collide_none": 0.18652036786079407,
68
- "heading_cos_user": 0.9451556205749512,
69
- "collide_user": 0.03996865078806877,
70
- "heading_cos_composed": 0.9575815796852112,
71
- "collide_composed": 0.04937303811311722
72
- },
73
- {
74
- "step": 2000,
75
- "train": 0.13652921986579894,
76
- "skipped": 0,
77
- "val_fm": 0.0813451036810875,
78
- "chunk_collision_hidden": 0.0038961037062108517,
79
- "chunk_collision_given": 0.014066495932638645,
80
- "chunk_collision_policy_hidden": 0.01103896088898182,
81
- "chunk_collision_policy_given": 0.014705882407724857,
82
- "heading_cos_none": 0.36144283413887024,
83
- "collide_none": 0.2132587879896164,
84
- "heading_cos_user": 0.9351586699485779,
85
- "collide_user": 0.02955271489918232,
86
- "heading_cos_composed": 0.9553479552268982,
87
- "collide_composed": 0.028753992170095444
88
- },
89
- {
90
- "step": 3000,
91
- "train": 0.12411030724644662,
92
- "skipped": 0,
93
- "val_fm": 0.0911809653043747,
94
- "chunk_collision_hidden": 0.01106770895421505,
95
- "chunk_collision_given": 0.005739795975387096,
96
- "chunk_collision_policy_hidden": 0.0201822929084301,
97
- "chunk_collision_policy_given": 0.01403061207383871,
98
- "heading_cos_none": 0.34960541129112244,
99
- "collide_none": 0.196428582072258,
100
- "heading_cos_user": 0.9374927282333374,
101
- "collide_user": 0.032608695328235626,
102
- "heading_cos_composed": 0.9682095646858215,
103
- "collide_composed": 0.02484472095966339
104
- },
105
- {
106
- "step": 4000,
107
- "train": 0.11633607803285122,
108
- "skipped": 0,
109
- "val_fm": 0.07932516187429428,
110
- "chunk_collision_hidden": 0.009829619899392128,
111
- "chunk_collision_given": 0.011658030562102795,
112
- "chunk_collision_policy_hidden": 0.020969856530427933,
113
- "chunk_collision_policy_given": 0.020077720284461975,
114
- "heading_cos_none": 0.3775850236415863,
115
- "collide_none": 0.20294344425201416,
116
- "heading_cos_user": 0.9407115578651428,
117
- "collide_user": 0.03485669940710068,
118
- "heading_cos_composed": 0.9706563949584961,
119
- "collide_composed": 0.020914020016789436
120
- },
121
- {
122
- "step": 5000,
123
- "train": 0.11162617526203394,
124
- "skipped": 0,
125
- "val_fm": 0.0871007889509201,
126
- "chunk_collision_hidden": 0.013944223523139954,
127
- "chunk_collision_given": 0.014612452127039433,
128
- "chunk_collision_policy_hidden": 0.0219123512506485,
129
- "chunk_collision_policy_given": 0.02414231188595295,
130
- "heading_cos_none": 0.34685131907463074,
131
- "collide_none": 0.18817204236984253,
132
- "heading_cos_user": 0.9420826435089111,
133
- "collide_user": 0.02688172087073326,
134
- "heading_cos_composed": 0.9738128781318665,
135
- "collide_composed": 0.016897082328796387
136
- },
137
- {
138
- "step": 6000,
139
- "train": 0.10700389407575131,
140
- "skipped": 0,
141
- "val_fm": 0.08514028787612915,
142
- "chunk_collision_hidden": 0.019016392529010773,
143
- "chunk_collision_given": 0.011590470559895039,
144
- "chunk_collision_policy_hidden": 0.01836065575480461,
145
- "chunk_collision_policy_given": 0.017385706305503845,
146
- "heading_cos_none": 0.37267911434173584,
147
- "collide_none": 0.1923990547657013,
148
- "heading_cos_user": 0.9445121884346008,
149
- "collide_user": 0.02929532900452614,
150
- "heading_cos_composed": 0.975169837474823,
151
- "collide_composed": 0.017418844625353813
152
- },
153
- {
154
- "step": 7000,
155
- "train": 0.10358867856115103,
156
- "skipped": 0,
157
- "val_fm": 0.0868176817893982,
158
- "chunk_collision_hidden": 0.009259259328246117,
159
- "chunk_collision_given": 0.009073233231902122,
160
- "chunk_collision_policy_hidden": 0.0138888880610466,
161
- "chunk_collision_policy_given": 0.015554115176200867,
162
- "heading_cos_none": 0.358940452337265,
163
- "collide_none": 0.2050040364265442,
164
- "heading_cos_user": 0.9416050910949707,
165
- "collide_user": 0.040355123579502106,
166
- "heading_cos_composed": 0.9708528518676758,
167
- "collide_composed": 0.024213073775172234
168
- },
169
- {
170
- "step": 8000,
171
- "train": 0.10043874567747116,
172
- "skipped": 0,
173
- "val_fm": 0.08856283873319626,
174
- "chunk_collision_hidden": 0.007124352268874645,
175
- "chunk_collision_given": 0.008620689623057842,
176
- "chunk_collision_policy_hidden": 0.02137305587530136,
177
- "chunk_collision_policy_given": 0.021883288398385048,
178
- "heading_cos_none": 0.35977569222450256,
179
- "collide_none": 0.19720497727394104,
180
- "heading_cos_user": 0.9423375725746155,
181
- "collide_user": 0.02872670814394951,
182
- "heading_cos_composed": 0.975161612033844,
183
- "collide_composed": 0.009316770359873772
184
- },
185
- {
186
- "step": 9000,
187
- "train": 0.09761478131264448,
188
- "skipped": 0,
189
- "val_fm": 0.09601269662380219,
190
- "chunk_collision_hidden": 0.010659560561180115,
191
- "chunk_collision_given": 0.0071013555862009525,
192
- "chunk_collision_policy_hidden": 0.011325783096253872,
193
- "chunk_collision_policy_given": 0.019367333501577377,
194
- "heading_cos_none": 0.3718172311782837,
195
- "collide_none": 0.19077901542186737,
196
- "heading_cos_user": 0.935309886932373,
197
- "collide_user": 0.031001590192317963,
198
- "heading_cos_composed": 0.9683061838150024,
199
- "collide_composed": 0.023052465170621872
200
- },
201
- {
202
- "step": 10000,
203
- "train": 0.09492117115110159,
204
- "skipped": 0,
205
- "val_fm": 0.10473579168319702,
206
- "chunk_collision_hidden": 0.012337662279605865,
207
- "chunk_collision_given": 0.011132940649986267,
208
- "chunk_collision_policy_hidden": 0.018831169232726097,
209
- "chunk_collision_policy_given": 0.025540275499224663,
210
- "heading_cos_none": 0.3244696259498596,
211
- "collide_none": 0.18884462118148804,
212
- "heading_cos_user": 0.9395429491996765,
213
- "collide_user": 0.0302788857370615,
214
- "heading_cos_composed": 0.9724376201629639,
215
- "collide_composed": 0.01513944286853075
216
- },
217
- {
218
- "step": 11000,
219
- "train": 0.09272871148586273,
220
- "skipped": 0,
221
- "val_fm": 0.1045408546924591,
222
- "chunk_collision_hidden": 0.0066006602719426155,
223
- "chunk_collision_given": 0.011288180947303772,
224
- "chunk_collision_policy_hidden": 0.012541254982352257,
225
- "chunk_collision_policy_given": 0.013280212879180908,
226
- "heading_cos_none": 0.38730213046073914,
227
- "collide_none": 0.1905864179134369,
228
- "heading_cos_user": 0.9449236392974854,
229
- "collide_user": 0.036265432834625244,
230
- "heading_cos_composed": 0.9753591418266296,
231
- "collide_composed": 0.01774691417813301
232
- },
233
- {
234
- "step": 12000,
235
- "train": 0.09038141975551843,
236
- "skipped": 0,
237
- "val_fm": 0.11541932821273804,
238
- "chunk_collision_hidden": 0.007180156651884317,
239
- "chunk_collision_given": 0.013333333656191826,
240
- "chunk_collision_policy_hidden": 0.012402089312672615,
241
- "chunk_collision_policy_given": 0.02266666665673256,
242
- "heading_cos_none": 0.3719210624694824,
243
- "collide_none": 0.18869367241859436,
244
- "heading_cos_user": 0.94289630651474,
245
- "collide_user": 0.03666921332478523,
246
- "heading_cos_composed": 0.9775239825248718,
247
- "collide_composed": 0.016042781993746758
248
- },
249
- {
250
- "step": 13000,
251
- "train": 0.08852314764261246,
252
- "skipped": 0,
253
- "val_fm": 0.1153341606259346,
254
- "chunk_collision_hidden": 0.011757020838558674,
255
- "chunk_collision_given": 0.011169513687491417,
256
- "chunk_collision_policy_hidden": 0.016982363536953926,
257
- "chunk_collision_policy_given": 0.0203679371625185,
258
- "heading_cos_none": 0.35121950507164,
259
- "collide_none": 0.18769967555999756,
260
- "heading_cos_user": 0.9384740591049194,
261
- "collide_user": 0.03753993660211563,
262
- "heading_cos_composed": 0.9721009135246277,
263
- "collide_composed": 0.017571885138750076
264
- },
265
- {
266
- "step": 14000,
267
- "train": 0.087089725792408,
268
- "skipped": 0,
269
- "val_fm": 0.11137071996927261,
270
- "chunk_collision_hidden": 0.009771986864507198,
271
- "chunk_collision_given": 0.009816753678023815,
272
- "chunk_collision_policy_hidden": 0.013029315508902073,
273
- "chunk_collision_policy_given": 0.018324607983231544,
274
- "heading_cos_none": 0.3708861470222473,
275
- "collide_none": 0.18944844603538513,
276
- "heading_cos_user": 0.9458823204040527,
277
- "collide_user": 0.03756994381546974,
278
- "heading_cos_composed": 0.9757563471794128,
279
- "collide_composed": 0.023181455209851265
280
- },
281
- {
282
- "step": 15000,
283
- "train": 0.085997520044446,
284
- "skipped": 0,
285
- "val_fm": 0.11299918591976166,
286
- "chunk_collision_hidden": 0.008397933095693588,
287
- "chunk_collision_given": 0.00897435937076807,
288
- "chunk_collision_policy_hidden": 0.009043928235769272,
289
- "chunk_collision_policy_given": 0.016025641933083534,
290
- "heading_cos_none": 0.32668784260749817,
291
- "collide_none": 0.17952755093574524,
292
- "heading_cos_user": 0.9360724091529846,
293
- "collide_user": 0.031496062874794006,
294
- "heading_cos_composed": 0.9711329936981201,
295
- "collide_composed": 0.020472440868616104
296
- },
297
- {
298
- "step": 16000,
299
- "train": 0.08433835908770561,
300
- "skipped": 0,
301
- "val_fm": 0.12111511826515198,
302
- "chunk_collision_hidden": 0.015635179355740547,
303
- "chunk_collision_given": 0.013609850779175758,
304
- "chunk_collision_policy_hidden": 0.019543973729014397,
305
- "chunk_collision_policy_given": 0.018794555217027664,
306
- "heading_cos_none": 0.35309427976608276,
307
- "collide_none": 0.19113150238990784,
308
- "heading_cos_user": 0.9418433308601379,
309
- "collide_user": 0.029051989316940308,
310
- "heading_cos_composed": 0.9742572903633118,
311
- "collide_composed": 0.01681957207620144
312
- },
313
- {
314
- "step": 17000,
315
- "train": 0.08332054315507412,
316
- "skipped": 0,
317
- "val_fm": 0.11396518349647522,
318
- "chunk_collision_hidden": 0.005798968952149153,
319
- "chunk_collision_given": 0.009752925485372543,
320
- "chunk_collision_policy_hidden": 0.011597937904298306,
321
- "chunk_collision_policy_given": 0.018855657428503036,
322
- "heading_cos_none": 0.3568919599056244,
323
- "collide_none": 0.21539658308029175,
324
- "heading_cos_user": 0.9392374157905579,
325
- "collide_user": 0.04743390530347824,
326
- "heading_cos_composed": 0.9695135951042175,
327
- "collide_composed": 0.03188180550932884
328
- },
329
- {
330
- "step": 18000,
331
- "train": 0.08321034940332174,
332
- "skipped": 0,
333
- "val_fm": 0.11176865547895432,
334
- "chunk_collision_hidden": 0.008480104617774487,
335
- "chunk_collision_given": 0.01641497015953064,
336
- "chunk_collision_policy_hidden": 0.010437051765620708,
337
- "chunk_collision_policy_given": 0.017071569338440895,
338
- "heading_cos_none": 0.3579663038253784,
339
- "collide_none": 0.19858713448047638,
340
- "heading_cos_user": 0.9407103657722473,
341
- "collide_user": 0.03924646973609924,
342
- "heading_cos_composed": 0.9742735028266907,
343
- "collide_composed": 0.022762952372431755
344
- },
345
- {
346
- "step": 19000,
347
- "train": 0.08279996490478515,
348
- "skipped": 0,
349
- "val_fm": 0.11799313127994537,
350
- "chunk_collision_hidden": 0.012557832524180412,
351
- "chunk_collision_given": 0.01196808461099863,
352
- "chunk_collision_policy_hidden": 0.013879709877073765,
353
- "chunk_collision_policy_given": 0.019281914457678795,
354
- "heading_cos_none": 0.35934194922447205,
355
- "collide_none": 0.1948249638080597,
356
- "heading_cos_user": 0.9482494592666626,
357
- "collide_user": 0.029680365696549416,
358
- "heading_cos_composed": 0.9747947454452515,
359
- "collide_composed": 0.01826484128832817
360
- },
361
- {
362
- "step": 20000,
363
- "train": 0.0821839150711894,
364
- "skipped": 0,
365
- "val_fm": 0.11668090522289276,
366
- "chunk_collision_hidden": 0.012377849780023098,
367
- "chunk_collision_given": 0.012109624221920967,
368
- "chunk_collision_policy_hidden": 0.013029315508902073,
369
- "chunk_collision_policy_given": 0.016571063548326492,
370
- "heading_cos_none": 0.34595292806625366,
371
- "collide_none": 0.18799999356269836,
372
- "heading_cos_user": 0.9432688355445862,
373
- "collide_user": 0.024000000208616257,
374
- "heading_cos_composed": 0.9730089902877808,
375
- "collide_composed": 0.01679999940097332
376
- }
377
- ]
378
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_disc_large_n300_s2_with_gain025y/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:0301a3c4d2e6fc96e0e225f2598a2b2d077bf222e8df2ae0e2188e315d2809f0
3
- size 1718901
 
 
 
 
adapters/grid_seeds/task_disc_large_n300_s2_with_gain025y/train_log.json DELETED
@@ -1,378 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_disc_large_n300_s2_with_gain025y",
5
- "model": null,
6
- "corruption": {
7
- "scale": [
8
- 1.0,
9
- 0.25
10
- ]
11
- },
12
- "obstacle": {
13
- "kind": "disc",
14
- "radius": 0.08,
15
- "along": 0.5,
16
- "offset": [
17
- 0.012,
18
- 0.024
19
- ],
20
- "side": "random"
21
- },
22
- "user_module": "grid_seeds/user_gain025y_expert_n100_s2",
23
- "lambda_field": 0.03,
24
- "sigma_min": 1.0,
25
- "sigma_max": 1.0,
26
- "closed_loop": null,
27
- "closed_loop_trials": 2000,
28
- "closed_loop_noise": 1.0,
29
- "closed_loop_depth": 6,
30
- "closed_loop_arm": "condition_grid.yaml",
31
- "closed_loop_time_limit": 5.0,
32
- "closed_loop_mix": 0.5,
33
- "p_free": 0.25,
34
- "goal_dropout": 0.25,
35
- "lambda_id": 0.001,
36
- "d": 128,
37
- "layers": 2,
38
- "targets": [
39
- 4,
40
- 4
41
- ],
42
- "reach": [
43
- 0.35,
44
- 0.5
45
- ],
46
- "n_demos": 300,
47
- "frozen_noise": true,
48
- "val_demos": 2000,
49
- "flow_steps": 10,
50
- "steps": 20000,
51
- "batch": 512,
52
- "lr": 0.001,
53
- "log_every": 1000,
54
- "seed": 2
55
- },
56
- "log": [
57
- {
58
- "step": 1000,
59
- "train": 0.1654224570542574,
60
- "skipped": 0,
61
- "val_fm": 0.09539098292589188,
62
- "chunk_collision_hidden": 0.011103853583335876,
63
- "chunk_collision_given": 0.01701570674777031,
64
- "chunk_collision_policy_hidden": 0.011757020838558674,
65
- "chunk_collision_policy_given": 0.020942408591508865,
66
- "heading_cos_none": 0.34180712699890137,
67
- "collide_none": 0.19421173632144928,
68
- "heading_cos_user": 0.9510700702667236,
69
- "collide_user": 0.03960396349430084,
70
- "heading_cos_composed": 0.9695355892181396,
71
- "collide_composed": 0.029702970758080482
72
- },
73
- {
74
- "step": 2000,
75
- "train": 0.1354667376950383,
76
- "skipped": 0,
77
- "val_fm": 0.09748010337352753,
78
- "chunk_collision_hidden": 0.015022859908640385,
79
- "chunk_collision_given": 0.026814911514520645,
80
- "chunk_collision_policy_hidden": 0.013716524466872215,
81
- "chunk_collision_policy_given": 0.02223675511777401,
82
- "heading_cos_none": 0.32051920890808105,
83
- "collide_none": 0.18324197828769684,
84
- "heading_cos_user": 0.9536043405532837,
85
- "collide_user": 0.03602192550897598,
86
- "heading_cos_composed": 0.9754571318626404,
87
- "collide_composed": 0.03445575386285782
88
- },
89
- {
90
- "step": 3000,
91
- "train": 0.12267431111633778,
92
- "skipped": 0,
93
- "val_fm": 0.09151634573936462,
94
- "chunk_collision_hidden": 0.016960209235548973,
95
- "chunk_collision_given": 0.011620400473475456,
96
- "chunk_collision_policy_hidden": 0.01304631493985653,
97
- "chunk_collision_policy_given": 0.011620400473475456,
98
- "heading_cos_none": 0.3653549253940582,
99
- "collide_none": 0.20879998803138733,
100
- "heading_cos_user": 0.942294716835022,
101
- "collide_user": 0.04479999840259552,
102
- "heading_cos_composed": 0.9703373312950134,
103
- "collide_composed": 0.024000000208616257
104
- },
105
- {
106
- "step": 4000,
107
- "train": 0.11534328672289848,
108
- "skipped": 0,
109
- "val_fm": 0.0878075361251831,
110
- "chunk_collision_hidden": 0.01718440279364586,
111
- "chunk_collision_given": 0.020221788436174393,
112
- "chunk_collision_policy_hidden": 0.016523463651537895,
113
- "chunk_collision_policy_given": 0.017612524330615997,
114
- "heading_cos_none": 0.3552905023097992,
115
- "collide_none": 0.18247012794017792,
116
- "heading_cos_user": 0.9508224725723267,
117
- "collide_user": 0.03505976125597954,
118
- "heading_cos_composed": 0.9780811071395874,
119
- "collide_composed": 0.032669324427843094
120
- },
121
- {
122
- "step": 5000,
123
- "train": 0.10982302843779325,
124
- "skipped": 0,
125
- "val_fm": 0.09257171303033829,
126
- "chunk_collision_hidden": 0.008381688967347145,
127
- "chunk_collision_given": 0.009003215469419956,
128
- "chunk_collision_policy_hidden": 0.013539651408791542,
129
- "chunk_collision_policy_given": 0.018649516627192497,
130
- "heading_cos_none": 0.3553570508956909,
131
- "collide_none": 0.1853010207414627,
132
- "heading_cos_user": 0.9508411884307861,
133
- "collide_user": 0.03440187871456146,
134
- "heading_cos_composed": 0.9773223400115967,
135
- "collide_composed": 0.014855355955660343
136
- },
137
- {
138
- "step": 6000,
139
- "train": 0.1054820207580924,
140
- "skipped": 0,
141
- "val_fm": 0.09440919756889343,
142
- "chunk_collision_hidden": 0.009609225206077099,
143
- "chunk_collision_given": 0.014483212493360043,
144
- "chunk_collision_policy_hidden": 0.014093530364334583,
145
- "chunk_collision_policy_given": 0.01909150741994381,
146
- "heading_cos_none": 0.3419637680053711,
147
- "collide_none": 0.18259519338607788,
148
- "heading_cos_user": 0.9418157339096069,
149
- "collide_user": 0.03651903569698334,
150
- "heading_cos_composed": 0.9710882306098938,
151
- "collide_composed": 0.022533023729920387
152
- },
153
- {
154
- "step": 7000,
155
- "train": 0.10190882876515389,
156
- "skipped": 0,
157
- "val_fm": 0.09585873782634735,
158
- "chunk_collision_hidden": 0.00837628822773695,
159
- "chunk_collision_given": 0.014294996857643127,
160
- "chunk_collision_policy_hidden": 0.01610824652016163,
161
- "chunk_collision_policy_given": 0.022092267870903015,
162
- "heading_cos_none": 0.3512496054172516,
163
- "collide_none": 0.19405320286750793,
164
- "heading_cos_user": 0.9429935216903687,
165
- "collide_user": 0.035211268812417984,
166
- "heading_cos_composed": 0.9724812507629395,
167
- "collide_composed": 0.025039123371243477
168
- },
169
- {
170
- "step": 8000,
171
- "train": 0.0981816543713212,
172
- "skipped": 0,
173
- "val_fm": 0.10483811795711517,
174
- "chunk_collision_hidden": 0.009696186520159245,
175
- "chunk_collision_given": 0.01764705963432789,
176
- "chunk_collision_policy_hidden": 0.017453135922551155,
177
- "chunk_collision_policy_given": 0.019607843831181526,
178
- "heading_cos_none": 0.37346795201301575,
179
- "collide_none": 0.18700475990772247,
180
- "heading_cos_user": 0.9460083246231079,
181
- "collide_user": 0.03248811513185501,
182
- "heading_cos_composed": 0.9761213660240173,
183
- "collide_composed": 0.02139461226761341
184
- },
185
- {
186
- "step": 9000,
187
- "train": 0.09613651040196419,
188
- "skipped": 0,
189
- "val_fm": 0.12335127592086792,
190
- "chunk_collision_hidden": 0.010645375587046146,
191
- "chunk_collision_given": 0.01304631493985653,
192
- "chunk_collision_policy_hidden": 0.01330671925097704,
193
- "chunk_collision_policy_given": 0.020221788436174393,
194
- "heading_cos_none": 0.34269171953201294,
195
- "collide_none": 0.18074190616607666,
196
- "heading_cos_user": 0.9445263743400574,
197
- "collide_user": 0.026045776903629303,
198
- "heading_cos_composed": 0.9742394089698792,
199
- "collide_composed": 0.01736385188996792
200
- },
201
- {
202
- "step": 10000,
203
- "train": 0.09320296216756105,
204
- "skipped": 0,
205
- "val_fm": 0.1153065636754036,
206
- "chunk_collision_hidden": 0.008838383480906487,
207
- "chunk_collision_given": 0.009216589853167534,
208
- "chunk_collision_policy_hidden": 0.014520201832056046,
209
- "chunk_collision_policy_given": 0.013166556134819984,
210
- "heading_cos_none": 0.34278056025505066,
211
- "collide_none": 0.16457679867744446,
212
- "heading_cos_user": 0.9508715271949768,
213
- "collide_user": 0.031347960233688354,
214
- "heading_cos_composed": 0.978822648525238,
215
- "collide_composed": 0.018808776512742043
216
- },
217
- {
218
- "step": 11000,
219
- "train": 0.09077479765564203,
220
- "skipped": 0,
221
- "val_fm": 0.10533484816551208,
222
- "chunk_collision_hidden": 0.015262110158801079,
223
- "chunk_collision_given": 0.010498687624931335,
224
- "chunk_collision_policy_hidden": 0.015925679355859756,
225
- "chunk_collision_policy_given": 0.022309711202979088,
226
- "heading_cos_none": 0.360431432723999,
227
- "collide_none": 0.18691587448120117,
228
- "heading_cos_user": 0.9535186290740967,
229
- "collide_user": 0.03193146362900734,
230
- "heading_cos_composed": 0.9793505072593689,
231
- "collide_composed": 0.017912771552801132
232
- },
233
- {
234
- "step": 12000,
235
- "train": 0.0889223605543375,
236
- "skipped": 0,
237
- "val_fm": 0.11214015632867813,
238
- "chunk_collision_hidden": 0.014003818854689598,
239
- "chunk_collision_given": 0.013080444186925888,
240
- "chunk_collision_policy_hidden": 0.018459578976035118,
241
- "chunk_collision_policy_given": 0.017004577443003654,
242
- "heading_cos_none": 0.3583875894546509,
243
- "collide_none": 0.1886066198348999,
244
- "heading_cos_user": 0.9492802023887634,
245
- "collide_user": 0.03541185334324837,
246
- "heading_cos_composed": 0.9754260778427124,
247
- "collide_composed": 0.021555041894316673
248
- },
249
- {
250
- "step": 13000,
251
- "train": 0.08687455429881812,
252
- "skipped": 0,
253
- "val_fm": 0.1181236058473587,
254
- "chunk_collision_hidden": 0.020698577165603638,
255
- "chunk_collision_given": 0.015717092901468277,
256
- "chunk_collision_policy_hidden": 0.02393272891640663,
257
- "chunk_collision_policy_given": 0.02161100134253502,
258
- "heading_cos_none": 0.35147401690483093,
259
- "collide_none": 0.20218579471111298,
260
- "heading_cos_user": 0.941340446472168,
261
- "collide_user": 0.03512880578637123,
262
- "heading_cos_composed": 0.9744815230369568,
263
- "collide_composed": 0.027322404086589813
264
- },
265
- {
266
- "step": 14000,
267
- "train": 0.08568478957563638,
268
- "skipped": 0,
269
- "val_fm": 0.1357450783252716,
270
- "chunk_collision_hidden": 0.01497395895421505,
271
- "chunk_collision_given": 0.013981357216835022,
272
- "chunk_collision_policy_hidden": 0.0162760429084301,
273
- "chunk_collision_policy_given": 0.015978693962097168,
274
- "heading_cos_none": 0.340780645608902,
275
- "collide_none": 0.18780095875263214,
276
- "heading_cos_user": 0.9508373141288757,
277
- "collide_user": 0.03691813722252846,
278
- "heading_cos_composed": 0.9830527305603027,
279
- "collide_composed": 0.025682182982563972
280
- },
281
- {
282
- "step": 15000,
283
- "train": 0.08398430906236172,
284
- "skipped": 0,
285
- "val_fm": 0.1280289590358734,
286
- "chunk_collision_hidden": 0.011979823932051659,
287
- "chunk_collision_given": 0.012250160798430443,
288
- "chunk_collision_policy_hidden": 0.013871374540030956,
289
- "chunk_collision_policy_given": 0.01805286854505539,
290
- "heading_cos_none": 0.33491435647010803,
291
- "collide_none": 0.20817269384860992,
292
- "heading_cos_user": 0.9406114220619202,
293
- "collide_user": 0.0408635288476944,
294
- "heading_cos_composed": 0.9738593697547913,
295
- "collide_composed": 0.02544333040714264
296
- },
297
- {
298
- "step": 16000,
299
- "train": 0.08275049448013305,
300
- "skipped": 0,
301
- "val_fm": 0.12747104465961456,
302
- "chunk_collision_hidden": 0.014285714365541935,
303
- "chunk_collision_given": 0.012321660295128822,
304
- "chunk_collision_policy_hidden": 0.013636363670229912,
305
- "chunk_collision_policy_given": 0.018158236518502235,
306
- "heading_cos_none": 0.35072609782218933,
307
- "collide_none": 0.20388349890708923,
308
- "heading_cos_user": 0.9457715153694153,
309
- "collide_user": 0.02993527613580227,
310
- "heading_cos_composed": 0.9770628213882446,
311
- "collide_composed": 0.02346278354525566
312
- },
313
- {
314
- "step": 17000,
315
- "train": 0.08195926193892956,
316
- "skipped": 0,
317
- "val_fm": 0.12828564643859863,
318
- "chunk_collision_hidden": 0.014608234167098999,
319
- "chunk_collision_given": 0.011757020838558674,
320
- "chunk_collision_policy_hidden": 0.019920319318771362,
321
- "chunk_collision_policy_given": 0.02743304893374443,
322
- "heading_cos_none": 0.3442957103252411,
323
- "collide_none": 0.18326693773269653,
324
- "heading_cos_user": 0.9501534700393677,
325
- "collide_user": 0.025498008355498314,
326
- "heading_cos_composed": 0.9782135486602783,
327
- "collide_composed": 0.019920319318771362
328
- },
329
- {
330
- "step": 18000,
331
- "train": 0.08134397166222333,
332
- "skipped": 0,
333
- "val_fm": 0.1270197629928589,
334
- "chunk_collision_hidden": 0.015364916995167732,
335
- "chunk_collision_given": 0.01525746937841177,
336
- "chunk_collision_policy_hidden": 0.0224071703851223,
337
- "chunk_collision_policy_given": 0.022886203601956367,
338
- "heading_cos_none": 0.3389683663845062,
339
- "collide_none": 0.18345043063163757,
340
- "heading_cos_user": 0.941602885723114,
341
- "collide_user": 0.03356752544641495,
342
- "heading_cos_composed": 0.9748241305351257,
343
- "collide_composed": 0.02576112374663353
344
- },
345
- {
346
- "step": 19000,
347
- "train": 0.08068961201608181,
348
- "skipped": 0,
349
- "val_fm": 0.13935047388076782,
350
- "chunk_collision_hidden": 0.018979057669639587,
351
- "chunk_collision_given": 0.01268357876688242,
352
- "chunk_collision_policy_hidden": 0.014397906139492989,
353
- "chunk_collision_policy_given": 0.01602136343717575,
354
- "heading_cos_none": 0.37163153290748596,
355
- "collide_none": 0.18831168115139008,
356
- "heading_cos_user": 0.9505258202552795,
357
- "collide_user": 0.025974025949835777,
358
- "heading_cos_composed": 0.9778860211372375,
359
- "collide_composed": 0.022727273404598236
360
- },
361
- {
362
- "step": 20000,
363
- "train": 0.08056311085820198,
364
- "skipped": 0,
365
- "val_fm": 0.13647112250328064,
366
- "chunk_collision_hidden": 0.016087517142295837,
367
- "chunk_collision_given": 0.014445174485445023,
368
- "chunk_collision_policy_hidden": 0.01866151951253414,
369
- "chunk_collision_policy_given": 0.018384767696261406,
370
- "heading_cos_none": 0.34786954522132874,
371
- "collide_none": 0.18145160377025604,
372
- "heading_cos_user": 0.9463329911231995,
373
- "collide_user": 0.02983870916068554,
374
- "heading_cos_composed": 0.9777635335922241,
375
- "collide_composed": 0.029032258316874504
376
- }
377
- ]
378
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_disc_large_n300_s3_with_gain025y/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:ce72e422933cdac7e74c815b273f30aa98d087be84411f8c61ba5132d1e74582
3
- size 1718901
 
 
 
 
adapters/grid_seeds/task_disc_large_n300_s3_with_gain025y/train_log.json DELETED
@@ -1,378 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_disc_large_n300_s3_with_gain025y",
5
- "model": null,
6
- "corruption": {
7
- "scale": [
8
- 1.0,
9
- 0.25
10
- ]
11
- },
12
- "obstacle": {
13
- "kind": "disc",
14
- "radius": 0.08,
15
- "along": 0.5,
16
- "offset": [
17
- 0.012,
18
- 0.024
19
- ],
20
- "side": "random"
21
- },
22
- "user_module": "grid_seeds/user_gain025y_expert_n100_s3",
23
- "lambda_field": 0.03,
24
- "sigma_min": 1.0,
25
- "sigma_max": 1.0,
26
- "closed_loop": null,
27
- "closed_loop_trials": 2000,
28
- "closed_loop_noise": 1.0,
29
- "closed_loop_depth": 6,
30
- "closed_loop_arm": "condition_grid.yaml",
31
- "closed_loop_time_limit": 5.0,
32
- "closed_loop_mix": 0.5,
33
- "p_free": 0.25,
34
- "goal_dropout": 0.25,
35
- "lambda_id": 0.001,
36
- "d": 128,
37
- "layers": 2,
38
- "targets": [
39
- 4,
40
- 4
41
- ],
42
- "reach": [
43
- 0.35,
44
- 0.5
45
- ],
46
- "n_demos": 300,
47
- "frozen_noise": true,
48
- "val_demos": 2000,
49
- "flow_steps": 10,
50
- "steps": 20000,
51
- "batch": 512,
52
- "lr": 0.001,
53
- "log_every": 1000,
54
- "seed": 3
55
- },
56
- "log": [
57
- {
58
- "step": 1000,
59
- "train": 0.16869182381033898,
60
- "skipped": 0,
61
- "val_fm": 0.09963507950305939,
62
- "chunk_collision_hidden": 0.01683937758207321,
63
- "chunk_collision_given": 0.023746702820062637,
64
- "chunk_collision_policy_hidden": 0.015544041059911251,
65
- "chunk_collision_policy_given": 0.025065964087843895,
66
- "heading_cos_none": 0.3388497233390808,
67
- "collide_none": 0.18349359929561615,
68
- "heading_cos_user": 0.9425590634346008,
69
- "collide_user": 0.03205128386616707,
70
- "heading_cos_composed": 0.9577616453170776,
71
- "collide_composed": 0.035256411880254745
72
- },
73
- {
74
- "step": 2000,
75
- "train": 0.13905862843990327,
76
- "skipped": 0,
77
- "val_fm": 0.08456847071647644,
78
- "chunk_collision_hidden": 0.01227390207350254,
79
- "chunk_collision_given": 0.018312621861696243,
80
- "chunk_collision_policy_hidden": 0.013565891422331333,
81
- "chunk_collision_policy_given": 0.018966645002365112,
82
- "heading_cos_none": 0.36344754695892334,
83
- "collide_none": 0.21052631735801697,
84
- "heading_cos_user": 0.9486047029495239,
85
- "collide_user": 0.034829720854759216,
86
- "heading_cos_composed": 0.9696323275566101,
87
- "collide_composed": 0.03018575720489025
88
- },
89
- {
90
- "step": 3000,
91
- "train": 0.12681687032431363,
92
- "skipped": 0,
93
- "val_fm": 0.09625068306922913,
94
- "chunk_collision_hidden": 0.021304067224264145,
95
- "chunk_collision_given": 0.01619170978665352,
96
- "chunk_collision_policy_hidden": 0.024531956762075424,
97
- "chunk_collision_policy_given": 0.01683937758207321,
98
- "heading_cos_none": 0.37162142992019653,
99
- "collide_none": 0.1809447556734085,
100
- "heading_cos_user": 0.9430285096168518,
101
- "collide_user": 0.020816652104258537,
102
- "heading_cos_composed": 0.9707892537117004,
103
- "collide_composed": 0.020816652104258537
104
- },
105
- {
106
- "step": 4000,
107
- "train": 0.11872676022350788,
108
- "skipped": 0,
109
- "val_fm": 0.0969712883234024,
110
- "chunk_collision_hidden": 0.01619170978665352,
111
- "chunk_collision_given": 0.017116524279117584,
112
- "chunk_collision_policy_hidden": 0.01619170978665352,
113
- "chunk_collision_policy_given": 0.021724818274378777,
114
- "heading_cos_none": 0.37606364488601685,
115
- "collide_none": 0.19801980257034302,
116
- "heading_cos_user": 0.9448825120925903,
117
- "collide_user": 0.026656512171030045,
118
- "heading_cos_composed": 0.9712567925453186,
119
- "collide_composed": 0.019040366634726524
120
- },
121
- {
122
- "step": 5000,
123
- "train": 0.1138248635083437,
124
- "skipped": 0,
125
- "val_fm": 0.0902850478887558,
126
- "chunk_collision_hidden": 0.005138086155056953,
127
- "chunk_collision_given": 0.013689699582755566,
128
- "chunk_collision_policy_hidden": 0.010276172310113907,
129
- "chunk_collision_policy_given": 0.020208604633808136,
130
- "heading_cos_none": 0.34650787711143494,
131
- "collide_none": 0.20798157155513763,
132
- "heading_cos_user": 0.9489680528640747,
133
- "collide_user": 0.03300076723098755,
134
- "heading_cos_composed": 0.9733735918998718,
135
- "collide_composed": 0.02072141133248806
136
- },
137
- {
138
- "step": 6000,
139
- "train": 0.10894800946861506,
140
- "skipped": 0,
141
- "val_fm": 0.08182766288518906,
142
- "chunk_collision_hidden": 0.010698552243411541,
143
- "chunk_collision_given": 0.011605415493249893,
144
- "chunk_collision_policy_hidden": 0.02013845182955265,
145
- "chunk_collision_policy_given": 0.015473887324333191,
146
- "heading_cos_none": 0.362692266702652,
147
- "collide_none": 0.1859177201986313,
148
- "heading_cos_user": 0.9376922845840454,
149
- "collide_user": 0.029272152110934258,
150
- "heading_cos_composed": 0.9683384299278259,
151
- "collide_composed": 0.019778480753302574
152
- },
153
- {
154
- "step": 7000,
155
- "train": 0.1051010420769453,
156
- "skipped": 0,
157
- "val_fm": 0.09810694307088852,
158
- "chunk_collision_hidden": 0.013063356280326843,
159
- "chunk_collision_given": 0.014935065060853958,
160
- "chunk_collision_policy_hidden": 0.011757020838558674,
161
- "chunk_collision_policy_given": 0.022727271541953087,
162
- "heading_cos_none": 0.36753609776496887,
163
- "collide_none": 0.19498825073242188,
164
- "heading_cos_user": 0.952079713344574,
165
- "collide_user": 0.021926390007138252,
166
- "heading_cos_composed": 0.9804742932319641,
167
- "collide_composed": 0.021926390007138252
168
- },
169
- {
170
- "step": 8000,
171
- "train": 0.10163158309459687,
172
- "skipped": 0,
173
- "val_fm": 0.10234785079956055,
174
- "chunk_collision_hidden": 0.011726384051144123,
175
- "chunk_collision_given": 0.011176858097314835,
176
- "chunk_collision_policy_hidden": 0.014332246966660023,
177
- "chunk_collision_policy_given": 0.016436556354165077,
178
- "heading_cos_none": 0.38000670075416565,
179
- "collide_none": 0.1909233182668686,
180
- "heading_cos_user": 0.9352304339408875,
181
- "collide_user": 0.033646322786808014,
182
- "heading_cos_composed": 0.9665388464927673,
183
- "collide_composed": 0.02269170619547367
184
- },
185
- {
186
- "step": 9000,
187
- "train": 0.09860601828247309,
188
- "skipped": 0,
189
- "val_fm": 0.10244879126548767,
190
- "chunk_collision_hidden": 0.016795866191387177,
191
- "chunk_collision_given": 0.00956632662564516,
192
- "chunk_collision_policy_hidden": 0.01550387591123581,
193
- "chunk_collision_policy_given": 0.020408162847161293,
194
- "heading_cos_none": 0.35843896865844727,
195
- "collide_none": 0.20301347970962524,
196
- "heading_cos_user": 0.9392232298851013,
197
- "collide_user": 0.033306900411844254,
198
- "heading_cos_composed": 0.9710814952850342,
199
- "collide_composed": 0.022997621446847916
200
- },
201
- {
202
- "step": 10000,
203
- "train": 0.09597854693979024,
204
- "skipped": 0,
205
- "val_fm": 0.11481547355651855,
206
- "chunk_collision_hidden": 0.011673151515424252,
207
- "chunk_collision_given": 0.012132822535932064,
208
- "chunk_collision_policy_hidden": 0.012321660295128822,
209
- "chunk_collision_policy_given": 0.014687100425362587,
210
- "heading_cos_none": 0.3406886160373688,
211
- "collide_none": 0.20627450942993164,
212
- "heading_cos_user": 0.9446872472763062,
213
- "collide_user": 0.03215686231851578,
214
- "heading_cos_composed": 0.9724445343017578,
215
- "collide_composed": 0.0172549020498991
216
- },
217
- {
218
- "step": 11000,
219
- "train": 0.09411237367987632,
220
- "skipped": 0,
221
- "val_fm": 0.1171865165233612,
222
- "chunk_collision_hidden": 0.020343292504549026,
223
- "chunk_collision_given": 0.017810028046369553,
224
- "chunk_collision_policy_hidden": 0.024793388321995735,
225
- "chunk_collision_policy_given": 0.025065964087843895,
226
- "heading_cos_none": 0.3580171763896942,
227
- "collide_none": 0.20048701763153076,
228
- "heading_cos_user": 0.9471536874771118,
229
- "collide_user": 0.03246753290295601,
230
- "heading_cos_composed": 0.9726988077163696,
231
- "collide_composed": 0.02110389620065689
232
- },
233
- {
234
- "step": 12000,
235
- "train": 0.09160274846851826,
236
- "skipped": 0,
237
- "val_fm": 0.11328328400850296,
238
- "chunk_collision_hidden": 0.018158236518502235,
239
- "chunk_collision_given": 0.014521452598273754,
240
- "chunk_collision_policy_hidden": 0.012321660295128822,
241
- "chunk_collision_policy_given": 0.02310231141746044,
242
- "heading_cos_none": 0.35134559869766235,
243
- "collide_none": 0.19907407462596893,
244
- "heading_cos_user": 0.9456295967102051,
245
- "collide_user": 0.03163580223917961,
246
- "heading_cos_composed": 0.9743140339851379,
247
- "collide_composed": 0.022376542910933495
248
- },
249
- {
250
- "step": 13000,
251
- "train": 0.0897180779799819,
252
- "skipped": 0,
253
- "val_fm": 0.12445904314517975,
254
- "chunk_collision_hidden": 0.016350556164979935,
255
- "chunk_collision_given": 0.016056519001722336,
256
- "chunk_collision_policy_hidden": 0.011118377558887005,
257
- "chunk_collision_policy_given": 0.02247912622988224,
258
- "heading_cos_none": 0.34730884432792664,
259
- "collide_none": 0.22239872813224792,
260
- "heading_cos_user": 0.9466934204101562,
261
- "collide_user": 0.03177124634385109,
262
- "heading_cos_composed": 0.9764437675476074,
263
- "collide_composed": 0.02382843568921089
264
- },
265
- {
266
- "step": 14000,
267
- "train": 0.08802873223274946,
268
- "skipped": 0,
269
- "val_fm": 0.12032423168420792,
270
- "chunk_collision_hidden": 0.011250827461481094,
271
- "chunk_collision_given": 0.01503267977386713,
272
- "chunk_collision_policy_hidden": 0.013236267492175102,
273
- "chunk_collision_policy_given": 0.013071895577013493,
274
- "heading_cos_none": 0.36077821254730225,
275
- "collide_none": 0.18764477968215942,
276
- "heading_cos_user": 0.9447910189628601,
277
- "collide_user": 0.04092663899064064,
278
- "heading_cos_composed": 0.9751577377319336,
279
- "collide_composed": 0.027799226343631744
280
- },
281
- {
282
- "step": 15000,
283
- "train": 0.08640841910988092,
284
- "skipped": 0,
285
- "val_fm": 0.12815500795841217,
286
- "chunk_collision_hidden": 0.01882057636976242,
287
- "chunk_collision_given": 0.014687100425362587,
288
- "chunk_collision_policy_hidden": 0.01756587252020836,
289
- "chunk_collision_policy_given": 0.02234993502497673,
290
- "heading_cos_none": 0.3682553470134735,
291
- "collide_none": 0.18498022854328156,
292
- "heading_cos_user": 0.9398624300956726,
293
- "collide_user": 0.035573121160268784,
294
- "heading_cos_composed": 0.9715206027030945,
295
- "collide_composed": 0.02292490005493164
296
- },
297
- {
298
- "step": 16000,
299
- "train": 0.0854507379308343,
300
- "skipped": 0,
301
- "val_fm": 0.14420753717422485,
302
- "chunk_collision_hidden": 0.01777777634561062,
303
- "chunk_collision_given": 0.01550387591123581,
304
- "chunk_collision_policy_hidden": 0.01904761791229248,
305
- "chunk_collision_policy_given": 0.02067183516919613,
306
- "heading_cos_none": 0.3731648325920105,
307
- "collide_none": 0.19154030084609985,
308
- "heading_cos_user": 0.9514572024345398,
309
- "collide_user": 0.032721467316150665,
310
- "heading_cos_composed": 0.9796921014785767,
311
- "collide_composed": 0.018355945125222206
312
- },
313
- {
314
- "step": 17000,
315
- "train": 0.08411870620399714,
316
- "skipped": 0,
317
- "val_fm": 0.13010439276695251,
318
- "chunk_collision_hidden": 0.012886597774922848,
319
- "chunk_collision_given": 0.011711126193404198,
320
- "chunk_collision_policy_hidden": 0.013530927710235119,
321
- "chunk_collision_policy_given": 0.013662979938089848,
322
- "heading_cos_none": 0.37029072642326355,
323
- "collide_none": 0.21879816055297852,
324
- "heading_cos_user": 0.9454305768013,
325
- "collide_user": 0.029275810346007347,
326
- "heading_cos_composed": 0.9759535193443298,
327
- "collide_composed": 0.025423729792237282
328
- },
329
- {
330
- "step": 18000,
331
- "train": 0.08351637556403875,
332
- "skipped": 0,
333
- "val_fm": 0.14309459924697876,
334
- "chunk_collision_hidden": 0.019910084083676338,
335
- "chunk_collision_given": 0.013861386105418205,
336
- "chunk_collision_policy_hidden": 0.017341040074825287,
337
- "chunk_collision_policy_given": 0.013201320543885231,
338
- "heading_cos_none": 0.3503601551055908,
339
- "collide_none": 0.20000000298023224,
340
- "heading_cos_user": 0.9421173930168152,
341
- "collide_user": 0.029571983963251114,
342
- "heading_cos_composed": 0.9711302518844604,
343
- "collide_composed": 0.028015565127134323
344
- },
345
- {
346
- "step": 19000,
347
- "train": 0.08336642131209374,
348
- "skipped": 0,
349
- "val_fm": 0.14001509547233582,
350
- "chunk_collision_hidden": 0.014341589994728565,
351
- "chunk_collision_given": 0.014473685063421726,
352
- "chunk_collision_policy_hidden": 0.012385918758809566,
353
- "chunk_collision_policy_given": 0.02565789595246315,
354
- "heading_cos_none": 0.3457406163215637,
355
- "collide_none": 0.21207307279109955,
356
- "heading_cos_user": 0.9377950429916382,
357
- "collide_user": 0.03891977667808533,
358
- "heading_cos_composed": 0.9736231565475464,
359
- "collide_composed": 0.0285941231995821
360
- },
361
- {
362
- "step": 20000,
363
- "train": 0.08286978975683451,
364
- "skipped": 0,
365
- "val_fm": 0.14411866664886475,
366
- "chunk_collision_hidden": 0.015052355825901031,
367
- "chunk_collision_given": 0.014360313303768635,
368
- "chunk_collision_policy_hidden": 0.015706807374954224,
369
- "chunk_collision_policy_given": 0.024151436984539032,
370
- "heading_cos_none": 0.3335687816143036,
371
- "collide_none": 0.20093457400798798,
372
- "heading_cos_user": 0.9443991780281067,
373
- "collide_user": 0.034267909824848175,
374
- "heading_cos_composed": 0.972118079662323,
375
- "collide_composed": 0.029595013707876205
376
- }
377
- ]
378
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_disc_large_n300_s4_with_gain025y/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:e1e51c24746b1f6e11ff87151d2d3456d1e7cc4c6651135391dcaff046ee2cad
3
- size 1718901
 
 
 
 
adapters/grid_seeds/task_disc_large_n300_s4_with_gain025y/train_log.json DELETED
@@ -1,378 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_disc_large_n300_s4_with_gain025y",
5
- "model": null,
6
- "corruption": {
7
- "scale": [
8
- 1.0,
9
- 0.25
10
- ]
11
- },
12
- "obstacle": {
13
- "kind": "disc",
14
- "radius": 0.08,
15
- "along": 0.5,
16
- "offset": [
17
- 0.012,
18
- 0.024
19
- ],
20
- "side": "random"
21
- },
22
- "user_module": "grid_seeds/user_gain025y_expert_n100_s4",
23
- "lambda_field": 0.03,
24
- "sigma_min": 1.0,
25
- "sigma_max": 1.0,
26
- "closed_loop": null,
27
- "closed_loop_trials": 2000,
28
- "closed_loop_noise": 1.0,
29
- "closed_loop_depth": 6,
30
- "closed_loop_arm": "condition_grid.yaml",
31
- "closed_loop_time_limit": 5.0,
32
- "closed_loop_mix": 0.5,
33
- "p_free": 0.25,
34
- "goal_dropout": 0.25,
35
- "lambda_id": 0.001,
36
- "d": 128,
37
- "layers": 2,
38
- "targets": [
39
- 4,
40
- 4
41
- ],
42
- "reach": [
43
- 0.35,
44
- 0.5
45
- ],
46
- "n_demos": 300,
47
- "frozen_noise": true,
48
- "val_demos": 2000,
49
- "flow_steps": 10,
50
- "steps": 20000,
51
- "batch": 512,
52
- "lr": 0.001,
53
- "log_every": 1000,
54
- "seed": 4
55
- },
56
- "log": [
57
- {
58
- "step": 1000,
59
- "train": 0.16941813753545285,
60
- "skipped": 0,
61
- "val_fm": 0.094395212829113,
62
- "chunk_collision_hidden": 0.014276443980634212,
63
- "chunk_collision_given": 0.014502306468784809,
64
- "chunk_collision_policy_hidden": 0.016872160136699677,
65
- "chunk_collision_policy_given": 0.016479894518852234,
66
- "heading_cos_none": 0.343738317489624,
67
- "collide_none": 0.17781274020671844,
68
- "heading_cos_user": 0.9529286623001099,
69
- "collide_user": 0.03068450093269348,
70
- "heading_cos_composed": 0.9674395322799683,
71
- "collide_composed": 0.032258063554763794
72
- },
73
- {
74
- "step": 2000,
75
- "train": 0.13871794580668212,
76
- "skipped": 0,
77
- "val_fm": 0.08567895740270615,
78
- "chunk_collision_hidden": 0.012845215387642384,
79
- "chunk_collision_given": 0.01867353543639183,
80
- "chunk_collision_policy_hidden": 0.01798330247402191,
81
- "chunk_collision_policy_given": 0.02124919556081295,
82
- "heading_cos_none": 0.38492244482040405,
83
- "collide_none": 0.17812500894069672,
84
- "heading_cos_user": 0.9423581957817078,
85
- "collide_user": 0.02734375,
86
- "heading_cos_composed": 0.9671981334686279,
87
- "collide_composed": 0.0234375
88
- },
89
- {
90
- "step": 3000,
91
- "train": 0.12551298896968366,
92
- "skipped": 0,
93
- "val_fm": 0.08842600882053375,
94
- "chunk_collision_hidden": 0.007802340667694807,
95
- "chunk_collision_given": 0.013470173813402653,
96
- "chunk_collision_policy_hidden": 0.01690507121384144,
97
- "chunk_collision_policy_given": 0.01924310438334942,
98
- "heading_cos_none": 0.33214518427848816,
99
- "collide_none": 0.15801885724067688,
100
- "heading_cos_user": 0.9463582634925842,
101
- "collide_user": 0.02987421303987503,
102
- "heading_cos_composed": 0.9731303453445435,
103
- "collide_composed": 0.025943394750356674
104
- },
105
- {
106
- "step": 4000,
107
- "train": 0.11693303092569113,
108
- "skipped": 0,
109
- "val_fm": 0.0944230705499649,
110
- "chunk_collision_hidden": 0.014819587580859661,
111
- "chunk_collision_given": 0.015696533024311066,
112
- "chunk_collision_policy_hidden": 0.01610824652016163,
113
- "chunk_collision_policy_given": 0.016350556164979935,
114
- "heading_cos_none": 0.375823974609375,
115
- "collide_none": 0.19438116252422333,
116
- "heading_cos_user": 0.9478103518486023,
117
- "collide_user": 0.03264996036887169,
118
- "heading_cos_composed": 0.9757529497146606,
119
- "collide_composed": 0.02201974019408226
120
- },
121
- {
122
- "step": 5000,
123
- "train": 0.11132934022694826,
124
- "skipped": 0,
125
- "val_fm": 0.08809489756822586,
126
- "chunk_collision_hidden": 0.012305699288845062,
127
- "chunk_collision_given": 0.020304568111896515,
128
- "chunk_collision_policy_hidden": 0.019430050626397133,
129
- "chunk_collision_policy_given": 0.022208120673894882,
130
- "heading_cos_none": 0.34131506085395813,
131
- "collide_none": 0.1859903335571289,
132
- "heading_cos_user": 0.9448272585868835,
133
- "collide_user": 0.03220611810684204,
134
- "heading_cos_composed": 0.9711433053016663,
135
- "collide_composed": 0.018518518656492233
136
- },
137
- {
138
- "step": 6000,
139
- "train": 0.10662349440902472,
140
- "skipped": 0,
141
- "val_fm": 0.09319275617599487,
142
- "chunk_collision_hidden": 0.01192053034901619,
143
- "chunk_collision_given": 0.01736334338784218,
144
- "chunk_collision_policy_hidden": 0.012582781724631786,
145
- "chunk_collision_policy_given": 0.018649516627192497,
146
- "heading_cos_none": 0.3204878866672516,
147
- "collide_none": 0.199391171336174,
148
- "heading_cos_user": 0.94048011302948,
149
- "collide_user": 0.03120243549346924,
150
- "heading_cos_composed": 0.9691223502159119,
151
- "collide_composed": 0.023592084646224976
152
- },
153
- {
154
- "step": 7000,
155
- "train": 0.102622970841825,
156
- "skipped": 0,
157
- "val_fm": 0.10161352157592773,
158
- "chunk_collision_hidden": 0.018818948417901993,
159
- "chunk_collision_given": 0.008441558107733727,
160
- "chunk_collision_policy_hidden": 0.016223231330513954,
161
- "chunk_collision_policy_given": 0.018831169232726097,
162
- "heading_cos_none": 0.34305498003959656,
163
- "collide_none": 0.198142409324646,
164
- "heading_cos_user": 0.9469397664070129,
165
- "collide_user": 0.030959751456975937,
166
- "heading_cos_composed": 0.9770030379295349,
167
- "collide_composed": 0.02244582027196884
168
- },
169
- {
170
- "step": 8000,
171
- "train": 0.09939233960956335,
172
- "skipped": 0,
173
- "val_fm": 0.09900884330272675,
174
- "chunk_collision_hidden": 0.017026850953698158,
175
- "chunk_collision_given": 0.01770491898059845,
176
- "chunk_collision_policy_hidden": 0.015062213875353336,
177
- "chunk_collision_policy_given": 0.019016392529010773,
178
- "heading_cos_none": 0.3528890609741211,
179
- "collide_none": 0.20585967600345612,
180
- "heading_cos_user": 0.950528621673584,
181
- "collide_user": 0.03315342962741852,
182
- "heading_cos_composed": 0.9788321852684021,
183
- "collide_composed": 0.026214340701699257
184
- },
185
- {
186
- "step": 9000,
187
- "train": 0.09653303545713425,
188
- "skipped": 0,
189
- "val_fm": 0.11086975038051605,
190
- "chunk_collision_hidden": 0.008458035066723824,
191
- "chunk_collision_given": 0.012385918758809566,
192
- "chunk_collision_policy_hidden": 0.017566688358783722,
193
- "chunk_collision_policy_given": 0.013037809170782566,
194
- "heading_cos_none": 0.3506312072277069,
195
- "collide_none": 0.17202572524547577,
196
- "heading_cos_user": 0.936975359916687,
197
- "collide_user": 0.025723472237586975,
198
- "heading_cos_composed": 0.9684668779373169,
199
- "collide_composed": 0.02331189624965191
200
- },
201
- {
202
- "step": 10000,
203
- "train": 0.09405534891039133,
204
- "skipped": 0,
205
- "val_fm": 0.11677754670381546,
206
- "chunk_collision_hidden": 0.010946555063128471,
207
- "chunk_collision_given": 0.015655577182769775,
208
- "chunk_collision_policy_hidden": 0.008370894938707352,
209
- "chunk_collision_policy_given": 0.016960209235548973,
210
- "heading_cos_none": 0.37682658433914185,
211
- "collide_none": 0.194942906498909,
212
- "heading_cos_user": 0.9531984329223633,
213
- "collide_user": 0.03344208747148514,
214
- "heading_cos_composed": 0.978667140007019,
215
- "collide_composed": 0.02202283963561058
216
- },
217
- {
218
- "step": 11000,
219
- "train": 0.09129937720298767,
220
- "skipped": 0,
221
- "val_fm": 0.11360646039247513,
222
- "chunk_collision_hidden": 0.018372703343629837,
223
- "chunk_collision_given": 0.012242267839610577,
224
- "chunk_collision_policy_hidden": 0.018372703343629837,
225
- "chunk_collision_policy_given": 0.01610824652016163,
226
- "heading_cos_none": 0.3255122900009155,
227
- "collide_none": 0.19828258454799652,
228
- "heading_cos_user": 0.9410063624382019,
229
- "collide_user": 0.031225604936480522,
230
- "heading_cos_composed": 0.9729290008544922,
231
- "collide_composed": 0.02185792289674282
232
- },
233
- {
234
- "step": 12000,
235
- "train": 0.08958535806834697,
236
- "skipped": 0,
237
- "val_fm": 0.12733760476112366,
238
- "chunk_collision_hidden": 0.015072084031999111,
239
- "chunk_collision_given": 0.015384616330265999,
240
- "chunk_collision_policy_hidden": 0.016382699832320213,
241
- "chunk_collision_policy_given": 0.014102564193308353,
242
- "heading_cos_none": 0.36105719208717346,
243
- "collide_none": 0.2070343792438507,
244
- "heading_cos_user": 0.9532169699668884,
245
- "collide_user": 0.03677058219909668,
246
- "heading_cos_composed": 0.9791429042816162,
247
- "collide_composed": 0.023181455209851265
248
- },
249
- {
250
- "step": 13000,
251
- "train": 0.08722515352070331,
252
- "skipped": 0,
253
- "val_fm": 0.11540767550468445,
254
- "chunk_collision_hidden": 0.010526316240429878,
255
- "chunk_collision_given": 0.016170762479305267,
256
- "chunk_collision_policy_hidden": 0.011184210889041424,
257
- "chunk_collision_policy_given": 0.022639069706201553,
258
- "heading_cos_none": 0.3446415960788727,
259
- "collide_none": 0.18437500298023224,
260
- "heading_cos_user": 0.9442263841629028,
261
- "collide_user": 0.02187499962747097,
262
- "heading_cos_composed": 0.9783684611320496,
263
- "collide_composed": 0.01640625111758709
264
- },
265
- {
266
- "step": 14000,
267
- "train": 0.08605276574194431,
268
- "skipped": 0,
269
- "val_fm": 0.12397408485412598,
270
- "chunk_collision_hidden": 0.017475727945566177,
271
- "chunk_collision_given": 0.016861218959093094,
272
- "chunk_collision_policy_hidden": 0.014239481650292873,
273
- "chunk_collision_policy_given": 0.018158236518502235,
274
- "heading_cos_none": 0.3410573899745941,
275
- "collide_none": 0.18259519338607788,
276
- "heading_cos_user": 0.9441255927085876,
277
- "collide_user": 0.04040404036641121,
278
- "heading_cos_composed": 0.9729191064834595,
279
- "collide_composed": 0.028749030083417892
280
- },
281
- {
282
- "step": 15000,
283
- "train": 0.08457064212858677,
284
- "skipped": 0,
285
- "val_fm": 0.14654627442359924,
286
- "chunk_collision_hidden": 0.009096816182136536,
287
- "chunk_collision_given": 0.016170762479305267,
288
- "chunk_collision_policy_hidden": 0.01299545168876648,
289
- "chunk_collision_policy_given": 0.025226391851902008,
290
- "heading_cos_none": 0.33891335129737854,
291
- "collide_none": 0.1975308656692505,
292
- "heading_cos_user": 0.9454188942909241,
293
- "collide_user": 0.03163580223917961,
294
- "heading_cos_composed": 0.9770343899726868,
295
- "collide_composed": 0.02469135820865631
296
- },
297
- {
298
- "step": 16000,
299
- "train": 0.08335259419679641,
300
- "skipped": 0,
301
- "val_fm": 0.14173159003257751,
302
- "chunk_collision_hidden": 0.024484535679221153,
303
- "chunk_collision_given": 0.01302083395421505,
304
- "chunk_collision_policy_hidden": 0.024484535679221153,
305
- "chunk_collision_policy_given": 0.0162760429084301,
306
- "heading_cos_none": 0.354196697473526,
307
- "collide_none": 0.18435321748256683,
308
- "heading_cos_user": 0.939100444316864,
309
- "collide_user": 0.03718047961592674,
310
- "heading_cos_composed": 0.9712554812431335,
311
- "collide_composed": 0.017041053622961044
312
- },
313
- {
314
- "step": 17000,
315
- "train": 0.08210984309762716,
316
- "skipped": 0,
317
- "val_fm": 0.13781926035881042,
318
- "chunk_collision_hidden": 0.02624671906232834,
319
- "chunk_collision_given": 0.018300654366612434,
320
- "chunk_collision_policy_hidden": 0.01902887225151062,
321
- "chunk_collision_policy_given": 0.026143791154026985,
322
- "heading_cos_none": 0.3587184250354767,
323
- "collide_none": 0.17826427519321442,
324
- "heading_cos_user": 0.945853054523468,
325
- "collide_user": 0.026583269238471985,
326
- "heading_cos_composed": 0.9771150350570679,
327
- "collide_composed": 0.018764659762382507
328
- },
329
- {
330
- "step": 18000,
331
- "train": 0.08167981485277415,
332
- "skipped": 0,
333
- "val_fm": 0.1733483374118805,
334
- "chunk_collision_hidden": 0.012265978381037712,
335
- "chunk_collision_given": 0.010335917584598064,
336
- "chunk_collision_policy_hidden": 0.016139443963766098,
337
- "chunk_collision_policy_given": 0.01744186133146286,
338
- "heading_cos_none": 0.34066611528396606,
339
- "collide_none": 0.1939825862646103,
340
- "heading_cos_user": 0.9478683471679688,
341
- "collide_user": 0.03246239200234413,
342
- "heading_cos_composed": 0.9748234748840332,
343
- "collide_composed": 0.030878860503435135
344
- },
345
- {
346
- "step": 19000,
347
- "train": 0.08071190456300974,
348
- "skipped": 0,
349
- "val_fm": 0.13862344622612,
350
- "chunk_collision_hidden": 0.01925545558333397,
351
- "chunk_collision_given": 0.016361257061362267,
352
- "chunk_collision_policy_hidden": 0.012836970388889313,
353
- "chunk_collision_policy_given": 0.018979057669639587,
354
- "heading_cos_none": 0.3432055413722992,
355
- "collide_none": 0.19857029616832733,
356
- "heading_cos_user": 0.9439562559127808,
357
- "collide_user": 0.03097696602344513,
358
- "heading_cos_composed": 0.9735391139984131,
359
- "collide_composed": 0.019857030361890793
360
- },
361
- {
362
- "step": 20000,
363
- "train": 0.08103249891102314,
364
- "skipped": 0,
365
- "val_fm": 0.14597071707248688,
366
- "chunk_collision_hidden": 0.017498379573225975,
367
- "chunk_collision_given": 0.014627658762037754,
368
- "chunk_collision_policy_hidden": 0.014906026422977448,
369
- "chunk_collision_policy_given": 0.019946807995438576,
370
- "heading_cos_none": 0.36378929018974304,
371
- "collide_none": 0.1801096349954605,
372
- "heading_cos_user": 0.9484838247299194,
373
- "collide_user": 0.03915426880121231,
374
- "heading_cos_composed": 0.9732611179351807,
375
- "collide_composed": 0.03288958594202995
376
- }
377
- ]
378
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_ring_goal_n300_s1_with_rot60/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:b9aed8c56b4dce1cc908073ed34adc47d67146629ae70b94c0c07a24afd96afb
3
- size 1718965
 
 
 
 
adapters/grid_seeds/task_ring_goal_n300_s1_with_rot60/train_log.json DELETED
@@ -1,377 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_ring_goal_n300_s1_with_rot60",
5
- "model": null,
6
- "corruption": {
7
- "rotation_deg": 60
8
- },
9
- "obstacle": {
10
- "kind": "ring",
11
- "around": "goal",
12
- "ring_radius": 0.14,
13
- "radius": 0.02,
14
- "gap": 0.16,
15
- "gap_angle": [
16
- 15.0,
17
- 30.0
18
- ],
19
- "side": "random"
20
- },
21
- "user_module": "grid_seeds/user_rot60_expert_n100_s1",
22
- "lambda_field": 0.03,
23
- "sigma_min": 1.0,
24
- "sigma_max": 1.0,
25
- "closed_loop": null,
26
- "closed_loop_trials": 2000,
27
- "closed_loop_noise": 1.0,
28
- "closed_loop_depth": 6,
29
- "closed_loop_arm": "condition_grid.yaml",
30
- "closed_loop_time_limit": 5.0,
31
- "closed_loop_mix": 0.5,
32
- "p_free": 0.25,
33
- "goal_dropout": 0.25,
34
- "lambda_id": 0.001,
35
- "d": 128,
36
- "layers": 2,
37
- "targets": [
38
- 4,
39
- 4
40
- ],
41
- "reach": [
42
- 0.35,
43
- 0.5
44
- ],
45
- "n_demos": 300,
46
- "frozen_noise": true,
47
- "val_demos": 2000,
48
- "flow_steps": 10,
49
- "steps": 20000,
50
- "batch": 512,
51
- "lr": 0.001,
52
- "log_every": 1000,
53
- "seed": 1
54
- },
55
- "log": [
56
- {
57
- "step": 1000,
58
- "train": 0.22765674470365047,
59
- "skipped": 0,
60
- "val_fm": 0.13509824872016907,
61
- "chunk_collision_hidden": 0.05771724879741669,
62
- "chunk_collision_given": 0.09391891956329346,
63
- "chunk_collision_policy_hidden": 0.09662775695323944,
64
- "chunk_collision_policy_given": 0.2081081122159958,
65
- "heading_cos_none": 0.28290027379989624,
66
- "collide_none": 0.3496708273887634,
67
- "heading_cos_user": 0.884501576423645,
68
- "collide_user": 0.1214338019490242,
69
- "heading_cos_composed": 0.9584904909133911,
70
- "collide_composed": 0.07973664999008179
71
- },
72
- {
73
- "step": 2000,
74
- "train": 0.16640512751042844,
75
- "skipped": 0,
76
- "val_fm": 0.13205352425575256,
77
- "chunk_collision_hidden": 0.05519480258226395,
78
- "chunk_collision_given": 0.07416879385709763,
79
- "chunk_collision_policy_hidden": 0.10064934939146042,
80
- "chunk_collision_policy_given": 0.21739129722118378,
81
- "heading_cos_none": 0.29440975189208984,
82
- "collide_none": 0.3484959602355957,
83
- "heading_cos_user": 0.8911813497543335,
84
- "collide_user": 0.1364636868238449,
85
- "heading_cos_composed": 0.9738144874572754,
86
- "collide_composed": 0.07556860148906708
87
- },
88
- {
89
- "step": 3000,
90
- "train": 0.14771359496563674,
91
- "skipped": 0,
92
- "val_fm": 0.129653662443161,
93
- "chunk_collision_hidden": 0.0559895858168602,
94
- "chunk_collision_given": 0.08801019936800003,
95
- "chunk_collision_policy_hidden": 0.107421875,
96
- "chunk_collision_policy_given": 0.2417091727256775,
97
- "heading_cos_none": 0.28221455216407776,
98
- "collide_none": 0.35436537861824036,
99
- "heading_cos_user": 0.8893036842346191,
100
- "collide_user": 0.13352897763252258,
101
- "heading_cos_composed": 0.9724918603897095,
102
- "collide_composed": 0.07630227506160736
103
- },
104
- {
105
- "step": 4000,
106
- "train": 0.13760832081735133,
107
- "skipped": 0,
108
- "val_fm": 0.13987788558006287,
109
- "chunk_collision_hidden": 0.06225426122546196,
110
- "chunk_collision_given": 0.0803108811378479,
111
- "chunk_collision_policy_hidden": 0.10681520402431488,
112
- "chunk_collision_policy_given": 0.24805699288845062,
113
- "heading_cos_none": 0.2831277847290039,
114
- "collide_none": 0.347292423248291,
115
- "heading_cos_user": 0.8865585327148438,
116
- "collide_user": 0.11263538151979446,
117
- "heading_cos_composed": 0.9752849340438843,
118
- "collide_composed": 0.07581227272748947
119
- },
120
- {
121
- "step": 5000,
122
- "train": 0.1300835447832942,
123
- "skipped": 0,
124
- "val_fm": 0.13545119762420654,
125
- "chunk_collision_hidden": 0.049800798296928406,
126
- "chunk_collision_given": 0.07306225597858429,
127
- "chunk_collision_policy_hidden": 0.11752988398075104,
128
- "chunk_collision_policy_given": 0.23443454504013062,
129
- "heading_cos_none": 0.29268738627433777,
130
- "collide_none": 0.3498207628726959,
131
- "heading_cos_user": 0.8789572715759277,
132
- "collide_user": 0.11612902581691742,
133
- "heading_cos_composed": 0.9747540950775146,
134
- "collide_composed": 0.055197130888700485
135
- },
136
- {
137
- "step": 6000,
138
- "train": 0.12379742349684239,
139
- "skipped": 0,
140
- "val_fm": 0.13926708698272705,
141
- "chunk_collision_hidden": 0.05245901644229889,
142
- "chunk_collision_given": 0.05795235186815262,
143
- "chunk_collision_policy_hidden": 0.09836065769195557,
144
- "chunk_collision_policy_given": 0.21828719973564148,
145
- "heading_cos_none": 0.2771451473236084,
146
- "collide_none": 0.36102941632270813,
147
- "heading_cos_user": 0.8956490159034729,
148
- "collide_user": 0.12941177189350128,
149
- "heading_cos_composed": 0.9800593852996826,
150
- "collide_composed": 0.058088235557079315
151
- },
152
- {
153
- "step": 7000,
154
- "train": 0.1187481172606349,
155
- "skipped": 0,
156
- "val_fm": 0.15228763222694397,
157
- "chunk_collision_hidden": 0.046296294778585434,
158
- "chunk_collision_given": 0.06156837195158005,
159
- "chunk_collision_policy_hidden": 0.12235449254512787,
160
- "chunk_collision_policy_given": 0.23849642276763916,
161
- "heading_cos_none": 0.29500699043273926,
162
- "collide_none": 0.3569828271865845,
163
- "heading_cos_user": 0.8904545307159424,
164
- "collide_user": 0.11426437646150589,
165
- "heading_cos_composed": 0.9727118015289307,
166
- "collide_composed": 0.05153099447488785
167
- },
168
- {
169
- "step": 8000,
170
- "train": 0.11372317159175872,
171
- "skipped": 0,
172
- "val_fm": 0.13421839475631714,
173
- "chunk_collision_hidden": 0.03821243345737457,
174
- "chunk_collision_given": 0.06432360410690308,
175
- "chunk_collision_policy_hidden": 0.10816062241792679,
176
- "chunk_collision_policy_given": 0.23342174291610718,
177
- "heading_cos_none": 0.28086501359939575,
178
- "collide_none": 0.3751814067363739,
179
- "heading_cos_user": 0.8869659304618835,
180
- "collide_user": 0.13280116021633148,
181
- "heading_cos_composed": 0.9803769588470459,
182
- "collide_composed": 0.056603774428367615
183
- },
184
- {
185
- "step": 9000,
186
- "train": 0.11018853840231896,
187
- "skipped": 0,
188
- "val_fm": 0.15095144510269165,
189
- "chunk_collision_hidden": 0.04330446571111679,
190
- "chunk_collision_given": 0.06391219794750214,
191
- "chunk_collision_policy_hidden": 0.10193204879760742,
192
- "chunk_collision_policy_given": 0.23821820318698883,
193
- "heading_cos_none": 0.2791292369365692,
194
- "collide_none": 0.35176992416381836,
195
- "heading_cos_user": 0.8863158822059631,
196
- "collide_user": 0.11946902424097061,
197
- "heading_cos_composed": 0.9792112112045288,
198
- "collide_composed": 0.05825958773493767
199
- },
200
- {
201
- "step": 10000,
202
- "train": 0.1063063661530614,
203
- "skipped": 0,
204
- "val_fm": 0.17142446339130402,
205
- "chunk_collision_hidden": 0.048701297491788864,
206
- "chunk_collision_given": 0.054354943335056305,
207
- "chunk_collision_policy_hidden": 0.1090909093618393,
208
- "chunk_collision_policy_given": 0.2377210259437561,
209
- "heading_cos_none": 0.29419663548469543,
210
- "collide_none": 0.3711725175380707,
211
- "heading_cos_user": 0.887037456035614,
212
- "collide_user": 0.12621359527111053,
213
- "heading_cos_composed": 0.9736706614494324,
214
- "collide_composed": 0.06572068482637405
215
- },
216
- {
217
- "step": 11000,
218
- "train": 0.1031556508615613,
219
- "skipped": 0,
220
- "val_fm": 0.17999151349067688,
221
- "chunk_collision_hidden": 0.051485151052474976,
222
- "chunk_collision_given": 0.06042496860027313,
223
- "chunk_collision_policy_hidden": 0.10231023281812668,
224
- "chunk_collision_policy_given": 0.21978752315044403,
225
- "heading_cos_none": 0.26948004961013794,
226
- "collide_none": 0.3568853437900543,
227
- "heading_cos_user": 0.8886610269546509,
228
- "collide_user": 0.14419610798358917,
229
- "heading_cos_composed": 0.976576030254364,
230
- "collide_composed": 0.05767844244837761
231
- },
232
- {
233
- "step": 12000,
234
- "train": 0.09959650214761495,
235
- "skipped": 0,
236
- "val_fm": 0.19771051406860352,
237
- "chunk_collision_hidden": 0.05287206172943115,
238
- "chunk_collision_given": 0.05533333122730255,
239
- "chunk_collision_policy_hidden": 0.10117493569850922,
240
- "chunk_collision_policy_given": 0.22066666185855865,
241
- "heading_cos_none": 0.28327319025993347,
242
- "collide_none": 0.364280641078949,
243
- "heading_cos_user": 0.8893580436706543,
244
- "collide_user": 0.13607370853424072,
245
- "heading_cos_composed": 0.9797906875610352,
246
- "collide_composed": 0.06520198285579681
247
- },
248
- {
249
- "step": 13000,
250
- "train": 0.09700499573349952,
251
- "skipped": 0,
252
- "val_fm": 0.19834429025650024,
253
- "chunk_collision_hidden": 0.05355976149439812,
254
- "chunk_collision_given": 0.06570301949977875,
255
- "chunk_collision_policy_hidden": 0.1090790256857872,
256
- "chunk_collision_policy_given": 0.21813403069972992,
257
- "heading_cos_none": 0.2790720462799072,
258
- "collide_none": 0.35843372344970703,
259
- "heading_cos_user": 0.8714264035224915,
260
- "collide_user": 0.14156626164913177,
261
- "heading_cos_composed": 0.9699300527572632,
262
- "collide_composed": 0.07078313082456589
263
- },
264
- {
265
- "step": 14000,
266
- "train": 0.09470216745138169,
267
- "skipped": 0,
268
- "val_fm": 0.16959409415721893,
269
- "chunk_collision_hidden": 0.059283386915922165,
270
- "chunk_collision_given": 0.05628272145986557,
271
- "chunk_collision_policy_hidden": 0.09315960854291916,
272
- "chunk_collision_policy_given": 0.22447644174098969,
273
- "heading_cos_none": 0.27177006006240845,
274
- "collide_none": 0.35250186920166016,
275
- "heading_cos_user": 0.8792144060134888,
276
- "collide_user": 0.1299477219581604,
277
- "heading_cos_composed": 0.9787359833717346,
278
- "collide_composed": 0.053024645894765854
279
- },
280
- {
281
- "step": 15000,
282
- "train": 0.09230028503388167,
283
- "skipped": 0,
284
- "val_fm": 0.19143664836883545,
285
- "chunk_collision_hidden": 0.04521964117884636,
286
- "chunk_collision_given": 0.0634615421295166,
287
- "chunk_collision_policy_hidden": 0.10917312651872635,
288
- "chunk_collision_policy_given": 0.21666666865348816,
289
- "heading_cos_none": 0.26848042011260986,
290
- "collide_none": 0.35567009449005127,
291
- "heading_cos_user": 0.8857566118240356,
292
- "collide_user": 0.1362297534942627,
293
- "heading_cos_composed": 0.9765487313270569,
294
- "collide_composed": 0.06406480073928833
295
- },
296
- {
297
- "step": 16000,
298
- "train": 0.09030739081650972,
299
- "skipped": 0,
300
- "val_fm": 0.1989213228225708,
301
- "chunk_collision_hidden": 0.05081433057785034,
302
- "chunk_collision_given": 0.05897601693868637,
303
- "chunk_collision_policy_hidden": 0.10553745925426483,
304
- "chunk_collision_policy_given": 0.24432921409606934,
305
- "heading_cos_none": 0.3039914667606354,
306
- "collide_none": 0.3380986452102661,
307
- "heading_cos_user": 0.8872814774513245,
308
- "collide_user": 0.11722659319639206,
309
- "heading_cos_composed": 0.981653094291687,
310
- "collide_composed": 0.052180130034685135
311
- },
312
- {
313
- "step": 17000,
314
- "train": 0.08882856830954551,
315
- "skipped": 0,
316
- "val_fm": 0.2093386948108673,
317
- "chunk_collision_hidden": 0.054123710840940475,
318
- "chunk_collision_given": 0.05786735936999321,
319
- "chunk_collision_policy_hidden": 0.10244844853878021,
320
- "chunk_collision_policy_given": 0.2282184660434723,
321
- "heading_cos_none": 0.27833473682403564,
322
- "collide_none": 0.3620437681674957,
323
- "heading_cos_user": 0.8860815167427063,
324
- "collide_user": 0.11970802396535873,
325
- "heading_cos_composed": 0.9767517447471619,
326
- "collide_composed": 0.05839415639638901
327
- },
328
- {
329
- "step": 18000,
330
- "train": 0.08819275888055562,
331
- "skipped": 0,
332
- "val_fm": 0.2046903371810913,
333
- "chunk_collision_hidden": 0.053489889949560165,
334
- "chunk_collision_given": 0.06106369197368622,
335
- "chunk_collision_policy_hidden": 0.1102413609623909,
336
- "chunk_collision_policy_given": 0.23834536969661713,
337
- "heading_cos_none": 0.27115535736083984,
338
- "collide_none": 0.360203355550766,
339
- "heading_cos_user": 0.89183509349823,
340
- "collide_user": 0.11982570588588715,
341
- "heading_cos_composed": 0.9803648591041565,
342
- "collide_composed": 0.050108931958675385
343
- },
344
- {
345
- "step": 19000,
346
- "train": 0.08752869187295437,
347
- "skipped": 0,
348
- "val_fm": 0.20322462916374207,
349
- "chunk_collision_hidden": 0.056840717792510986,
350
- "chunk_collision_given": 0.0591755285859108,
351
- "chunk_collision_policy_hidden": 0.105750173330307,
352
- "chunk_collision_policy_given": 0.2220744639635086,
353
- "heading_cos_none": 0.2744161784648895,
354
- "collide_none": 0.3619588315486908,
355
- "heading_cos_user": 0.8756341338157654,
356
- "collide_user": 0.11852377653121948,
357
- "heading_cos_composed": 0.9760843515396118,
358
- "collide_composed": 0.04542228579521179
359
- },
360
- {
361
- "step": 20000,
362
- "train": 0.08685883276164531,
363
- "skipped": 0,
364
- "val_fm": 0.1983775496482849,
365
- "chunk_collision_hidden": 0.05602605640888214,
366
- "chunk_collision_given": 0.060548119246959686,
367
- "chunk_collision_policy_hidden": 0.10553745925426483,
368
- "chunk_collision_policy_given": 0.23072020709514618,
369
- "heading_cos_none": 0.2950575649738312,
370
- "collide_none": 0.3649851679801941,
371
- "heading_cos_user": 0.8903992772102356,
372
- "collide_user": 0.13649851083755493,
373
- "heading_cos_composed": 0.9823839068412781,
374
- "collide_composed": 0.04747774451971054
375
- }
376
- ]
377
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_ring_goal_n300_s2_with_rot60/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:f2a54001c4b2ecfa3b93dda5dc359fdbbdb4096227a90630f363d1b55a0b81b9
3
- size 1718965
 
 
 
 
adapters/grid_seeds/task_ring_goal_n300_s2_with_rot60/train_log.json DELETED
@@ -1,377 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_ring_goal_n300_s2_with_rot60",
5
- "model": null,
6
- "corruption": {
7
- "rotation_deg": 60
8
- },
9
- "obstacle": {
10
- "kind": "ring",
11
- "around": "goal",
12
- "ring_radius": 0.14,
13
- "radius": 0.02,
14
- "gap": 0.16,
15
- "gap_angle": [
16
- 15.0,
17
- 30.0
18
- ],
19
- "side": "random"
20
- },
21
- "user_module": "grid_seeds/user_rot60_expert_n100_s2",
22
- "lambda_field": 0.03,
23
- "sigma_min": 1.0,
24
- "sigma_max": 1.0,
25
- "closed_loop": null,
26
- "closed_loop_trials": 2000,
27
- "closed_loop_noise": 1.0,
28
- "closed_loop_depth": 6,
29
- "closed_loop_arm": "condition_grid.yaml",
30
- "closed_loop_time_limit": 5.0,
31
- "closed_loop_mix": 0.5,
32
- "p_free": 0.25,
33
- "goal_dropout": 0.25,
34
- "lambda_id": 0.001,
35
- "d": 128,
36
- "layers": 2,
37
- "targets": [
38
- 4,
39
- 4
40
- ],
41
- "reach": [
42
- 0.35,
43
- 0.5
44
- ],
45
- "n_demos": 300,
46
- "frozen_noise": true,
47
- "val_demos": 2000,
48
- "flow_steps": 10,
49
- "steps": 20000,
50
- "batch": 512,
51
- "lr": 0.001,
52
- "log_every": 1000,
53
- "seed": 2
54
- },
55
- "log": [
56
- {
57
- "step": 1000,
58
- "train": 0.2311338159888983,
59
- "skipped": 0,
60
- "val_fm": 0.13832439482212067,
61
- "chunk_collision_hidden": 0.056172434240579605,
62
- "chunk_collision_given": 0.10405759513378143,
63
- "chunk_collision_policy_hidden": 0.1090790256857872,
64
- "chunk_collision_policy_given": 0.2408376932144165,
65
- "heading_cos_none": 0.29451051354408264,
66
- "collide_none": 0.37464386224746704,
67
- "heading_cos_user": 0.8811826705932617,
68
- "collide_user": 0.12820512056350708,
69
- "heading_cos_composed": 0.9677610397338867,
70
- "collide_composed": 0.08760683983564377
71
- },
72
- {
73
- "step": 2000,
74
- "train": 0.16672718559205532,
75
- "skipped": 0,
76
- "val_fm": 0.12775638699531555,
77
- "chunk_collision_hidden": 0.05355976149439812,
78
- "chunk_collision_given": 0.064094178378582,
79
- "chunk_collision_policy_hidden": 0.11365120112895966,
80
- "chunk_collision_policy_given": 0.20994113385677338,
81
- "heading_cos_none": 0.2680935263633728,
82
- "collide_none": 0.3562043607234955,
83
- "heading_cos_user": 0.8829663991928101,
84
- "collide_user": 0.12043794989585876,
85
- "heading_cos_composed": 0.9741774201393127,
86
- "collide_composed": 0.06350364536046982
87
- },
88
- {
89
- "step": 3000,
90
- "train": 0.14878649014234543,
91
- "skipped": 0,
92
- "val_fm": 0.1296023279428482,
93
- "chunk_collision_hidden": 0.05740378424525261,
94
- "chunk_collision_given": 0.07876048982143402,
95
- "chunk_collision_policy_hidden": 0.09067188948392868,
96
- "chunk_collision_policy_given": 0.2169141322374344,
97
- "heading_cos_none": 0.26989543437957764,
98
- "collide_none": 0.3546944856643677,
99
- "heading_cos_user": 0.8877683281898499,
100
- "collide_user": 0.12295082211494446,
101
- "heading_cos_composed": 0.9749445915222168,
102
- "collide_composed": 0.07228017598390579
103
- },
104
- {
105
- "step": 4000,
106
- "train": 0.13845185170322657,
107
- "skipped": 0,
108
- "val_fm": 0.1320471167564392,
109
- "chunk_collision_hidden": 0.0528750866651535,
110
- "chunk_collision_given": 0.06718852370977402,
111
- "chunk_collision_policy_hidden": 0.11169862002134323,
112
- "chunk_collision_policy_given": 0.23352903127670288,
113
- "heading_cos_none": 0.28723520040512085,
114
- "collide_none": 0.3378480076789856,
115
- "heading_cos_user": 0.8767334222793579,
116
- "collide_user": 0.1286681741476059,
117
- "heading_cos_composed": 0.9767398238182068,
118
- "collide_composed": 0.07750187814235687
119
- },
120
- {
121
- "step": 5000,
122
- "train": 0.13039982742071152,
123
- "skipped": 0,
124
- "val_fm": 0.1254691481590271,
125
- "chunk_collision_hidden": 0.06125080585479736,
126
- "chunk_collision_given": 0.07266880571842194,
127
- "chunk_collision_policy_hidden": 0.09929077327251434,
128
- "chunk_collision_policy_given": 0.23536977171897888,
129
- "heading_cos_none": 0.26969027519226074,
130
- "collide_none": 0.35994085669517517,
131
- "heading_cos_user": 0.8923708200454712,
132
- "collide_user": 0.12342941761016846,
133
- "heading_cos_composed": 0.9765329957008362,
134
- "collide_composed": 0.06430155038833618
135
- },
136
- {
137
- "step": 6000,
138
- "train": 0.12416001851111651,
139
- "skipped": 0,
140
- "val_fm": 0.14296863973140717,
141
- "chunk_collision_hidden": 0.05701473727822304,
142
- "chunk_collision_given": 0.052007898688316345,
143
- "chunk_collision_policy_hidden": 0.11402947455644608,
144
- "chunk_collision_policy_given": 0.23633968830108643,
145
- "heading_cos_none": 0.28317099809646606,
146
- "collide_none": 0.34047266840934753,
147
- "heading_cos_user": 0.8853628039360046,
148
- "collide_user": 0.12407680600881577,
149
- "heading_cos_composed": 0.9763699769973755,
150
- "collide_composed": 0.07533234357833862
151
- },
152
- {
153
- "step": 7000,
154
- "train": 0.11861560411751271,
155
- "skipped": 0,
156
- "val_fm": 0.14573857188224792,
157
- "chunk_collision_hidden": 0.04703608155250549,
158
- "chunk_collision_given": 0.07082521170377731,
159
- "chunk_collision_policy_hidden": 0.0960051491856575,
160
- "chunk_collision_policy_given": 0.20727744698524475,
161
- "heading_cos_none": 0.28660693764686584,
162
- "collide_none": 0.36477524042129517,
163
- "heading_cos_user": 0.8802152276039124,
164
- "collide_user": 0.11569639295339584,
165
- "heading_cos_composed": 0.9758980870246887,
166
- "collide_composed": 0.06558585166931152
167
- },
168
- {
169
- "step": 8000,
170
- "train": 0.11388203766942025,
171
- "skipped": 0,
172
- "val_fm": 0.15841147303581238,
173
- "chunk_collision_hidden": 0.05106658115983009,
174
- "chunk_collision_given": 0.05816993489861488,
175
- "chunk_collision_policy_hidden": 0.10536522418260574,
176
- "chunk_collision_policy_given": 0.2307189553976059,
177
- "heading_cos_none": 0.2730349898338318,
178
- "collide_none": 0.34087589383125305,
179
- "heading_cos_user": 0.8736829161643982,
180
- "collide_user": 0.13941605389118195,
181
- "heading_cos_composed": 0.9767547845840454,
182
- "collide_composed": 0.06204379349946976
183
- },
184
- {
185
- "step": 9000,
186
- "train": 0.10945663008838892,
187
- "skipped": 0,
188
- "val_fm": 0.16254597902297974,
189
- "chunk_collision_hidden": 0.04790418967604637,
190
- "chunk_collision_given": 0.0476190485060215,
191
- "chunk_collision_policy_hidden": 0.09514304250478745,
192
- "chunk_collision_policy_given": 0.22439661622047424,
193
- "heading_cos_none": 0.25998958945274353,
194
- "collide_none": 0.3803950250148773,
195
- "heading_cos_user": 0.8807998299598694,
196
- "collide_user": 0.13460132479667664,
197
- "heading_cos_composed": 0.9767209887504578,
198
- "collide_composed": 0.046817850321531296
199
- },
200
- {
201
- "step": 10000,
202
- "train": 0.10616030572354794,
203
- "skipped": 0,
204
- "val_fm": 0.16128990054130554,
205
- "chunk_collision_hidden": 0.05744949355721474,
206
- "chunk_collision_given": 0.05793284997344017,
207
- "chunk_collision_policy_hidden": 0.09469696879386902,
208
- "chunk_collision_policy_given": 0.21856483817100525,
209
- "heading_cos_none": 0.2735147178173065,
210
- "collide_none": 0.36133235692977905,
211
- "heading_cos_user": 0.8741031289100647,
212
- "collide_user": 0.1325126737356186,
213
- "heading_cos_composed": 0.9798707365989685,
214
- "collide_composed": 0.059377264231443405
215
- },
216
- {
217
- "step": 11000,
218
- "train": 0.10230961361527444,
219
- "skipped": 0,
220
- "val_fm": 0.16611333191394806,
221
- "chunk_collision_hidden": 0.051094889640808105,
222
- "chunk_collision_given": 0.06955380737781525,
223
- "chunk_collision_policy_hidden": 0.10218977928161621,
224
- "chunk_collision_policy_given": 0.24015748500823975,
225
- "heading_cos_none": 0.2813785970211029,
226
- "collide_none": 0.35625457763671875,
227
- "heading_cos_user": 0.8775238990783691,
228
- "collide_user": 0.1426481306552887,
229
- "heading_cos_composed": 0.9778617024421692,
230
- "collide_composed": 0.05413313955068588
231
- },
232
- {
233
- "step": 12000,
234
- "train": 0.09956181806325913,
235
- "skipped": 0,
236
- "val_fm": 0.18525215983390808,
237
- "chunk_collision_hidden": 0.05410566180944443,
238
- "chunk_collision_given": 0.0555918887257576,
239
- "chunk_collision_policy_hidden": 0.11075747758150101,
240
- "chunk_collision_policy_given": 0.22367559373378754,
241
- "heading_cos_none": 0.26165398955345154,
242
- "collide_none": 0.36664271354675293,
243
- "heading_cos_user": 0.8845457434654236,
244
- "collide_user": 0.12796549499034882,
245
- "heading_cos_composed": 0.9774095416069031,
246
- "collide_composed": 0.05032350867986679
247
- },
248
- {
249
- "step": 13000,
250
- "train": 0.09624503204226494,
251
- "skipped": 0,
252
- "val_fm": 0.1933421641588211,
253
- "chunk_collision_hidden": 0.05821474641561508,
254
- "chunk_collision_given": 0.055664703249931335,
255
- "chunk_collision_policy_hidden": 0.09767141193151474,
256
- "chunk_collision_policy_given": 0.21872954070568085,
257
- "heading_cos_none": 0.2794226408004761,
258
- "collide_none": 0.3575054407119751,
259
- "heading_cos_user": 0.8831613659858704,
260
- "collide_user": 0.11022479832172394,
261
- "heading_cos_composed": 0.9782100915908813,
262
- "collide_composed": 0.0485859289765358
263
- },
264
- {
265
- "step": 14000,
266
- "train": 0.0941472237482667,
267
- "skipped": 0,
268
- "val_fm": 0.18961116671562195,
269
- "chunk_collision_hidden": 0.0494791679084301,
270
- "chunk_collision_given": 0.060585882514715195,
271
- "chunk_collision_policy_hidden": 0.1067708358168602,
272
- "chunk_collision_policy_given": 0.23169106245040894,
273
- "heading_cos_none": 0.2699463963508606,
274
- "collide_none": 0.36200448870658875,
275
- "heading_cos_user": 0.8949342966079712,
276
- "collide_user": 0.12939417362213135,
277
- "heading_cos_composed": 0.9801746606826782,
278
- "collide_composed": 0.058339569717645645
279
- },
280
- {
281
- "step": 15000,
282
- "train": 0.09164359544962644,
283
- "skipped": 0,
284
- "val_fm": 0.191250741481781,
285
- "chunk_collision_hidden": 0.054224465042352676,
286
- "chunk_collision_given": 0.060606058686971664,
287
- "chunk_collision_policy_hidden": 0.10781840980052948,
288
- "chunk_collision_policy_given": 0.22952932119369507,
289
- "heading_cos_none": 0.22586718201637268,
290
- "collide_none": 0.3611510694026947,
291
- "heading_cos_user": 0.8777322769165039,
292
- "collide_user": 0.1323740929365158,
293
- "heading_cos_composed": 0.9746267795562744,
294
- "collide_composed": 0.05683453008532524
295
- },
296
- {
297
- "step": 16000,
298
- "train": 0.08994534127414226,
299
- "skipped": 0,
300
- "val_fm": 0.21237990260124207,
301
- "chunk_collision_hidden": 0.04675324633717537,
302
- "chunk_collision_given": 0.06160829961299896,
303
- "chunk_collision_policy_hidden": 0.09935064613819122,
304
- "chunk_collision_policy_given": 0.2315175086259842,
305
- "heading_cos_none": 0.27893751859664917,
306
- "collide_none": 0.3671933710575104,
307
- "heading_cos_user": 0.8968259692192078,
308
- "collide_user": 0.1309255063533783,
309
- "heading_cos_composed": 0.9791532158851624,
310
- "collide_composed": 0.05492851510643959
311
- },
312
- {
313
- "step": 17000,
314
- "train": 0.08846060740947724,
315
- "skipped": 0,
316
- "val_fm": 0.2015896439552307,
317
- "chunk_collision_hidden": 0.05776892602443695,
318
- "chunk_collision_given": 0.05486609786748886,
319
- "chunk_collision_policy_hidden": 0.0936255007982254,
320
- "chunk_collision_policy_given": 0.23644675314426422,
321
- "heading_cos_none": 0.2468474954366684,
322
- "collide_none": 0.36659276485443115,
323
- "heading_cos_user": 0.8775933980941772,
324
- "collide_user": 0.1293421983718872,
325
- "heading_cos_composed": 0.9820092916488647,
326
- "collide_composed": 0.05173688009381294
327
- },
328
- {
329
- "step": 18000,
330
- "train": 0.08739529776573181,
331
- "skipped": 0,
332
- "val_fm": 0.2202325165271759,
333
- "chunk_collision_hidden": 0.04033290594816208,
334
- "chunk_collision_given": 0.05785123631358147,
335
- "chunk_collision_policy_hidden": 0.09282970428466797,
336
- "chunk_collision_policy_given": 0.23331212997436523,
337
- "heading_cos_none": 0.28028252720832825,
338
- "collide_none": 0.34839650988578796,
339
- "heading_cos_user": 0.8917933106422424,
340
- "collide_user": 0.11953353136777878,
341
- "heading_cos_composed": 0.9787722229957581,
342
- "collide_composed": 0.04737609624862671
343
- },
344
- {
345
- "step": 19000,
346
- "train": 0.0866633258908987,
347
- "skipped": 0,
348
- "val_fm": 0.233056902885437,
349
- "chunk_collision_hidden": 0.04581151902675629,
350
- "chunk_collision_given": 0.06341789662837982,
351
- "chunk_collision_policy_hidden": 0.09358638525009155,
352
- "chunk_collision_policy_given": 0.23431243002414703,
353
- "heading_cos_none": 0.26265034079551697,
354
- "collide_none": 0.3390718698501587,
355
- "heading_cos_user": 0.8857957720756531,
356
- "collide_user": 0.12574851512908936,
357
- "heading_cos_composed": 0.9804160594940186,
358
- "collide_composed": 0.052395209670066833
359
- },
360
- {
361
- "step": 20000,
362
- "train": 0.08614894416928291,
363
- "skipped": 0,
364
- "val_fm": 0.22444498538970947,
365
- "chunk_collision_hidden": 0.05276705324649811,
366
- "chunk_collision_given": 0.06762968003749847,
367
- "chunk_collision_policy_hidden": 0.1048906072974205,
368
- "chunk_collision_policy_given": 0.24031516909599304,
369
- "heading_cos_none": 0.2692376375198364,
370
- "collide_none": 0.3540280759334564,
371
- "heading_cos_user": 0.8930286765098572,
372
- "collide_user": 0.12490761280059814,
373
- "heading_cos_composed": 0.9815975427627563,
374
- "collide_composed": 0.05986696109175682
375
- }
376
- ]
377
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_ring_goal_n300_s3_with_rot60/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:921f314ec84c13b0381bf1c17dd8b4f7ff8d584a89803dc5484d02d9bc46140d
3
- size 1718965
 
 
 
 
adapters/grid_seeds/task_ring_goal_n300_s3_with_rot60/train_log.json DELETED
@@ -1,377 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_ring_goal_n300_s3_with_rot60",
5
- "model": null,
6
- "corruption": {
7
- "rotation_deg": 60
8
- },
9
- "obstacle": {
10
- "kind": "ring",
11
- "around": "goal",
12
- "ring_radius": 0.14,
13
- "radius": 0.02,
14
- "gap": 0.16,
15
- "gap_angle": [
16
- 15.0,
17
- 30.0
18
- ],
19
- "side": "random"
20
- },
21
- "user_module": "grid_seeds/user_rot60_expert_n100_s3",
22
- "lambda_field": 0.03,
23
- "sigma_min": 1.0,
24
- "sigma_max": 1.0,
25
- "closed_loop": null,
26
- "closed_loop_trials": 2000,
27
- "closed_loop_noise": 1.0,
28
- "closed_loop_depth": 6,
29
- "closed_loop_arm": "condition_grid.yaml",
30
- "closed_loop_time_limit": 5.0,
31
- "closed_loop_mix": 0.5,
32
- "p_free": 0.25,
33
- "goal_dropout": 0.25,
34
- "lambda_id": 0.001,
35
- "d": 128,
36
- "layers": 2,
37
- "targets": [
38
- 4,
39
- 4
40
- ],
41
- "reach": [
42
- 0.35,
43
- 0.5
44
- ],
45
- "n_demos": 300,
46
- "frozen_noise": true,
47
- "val_demos": 2000,
48
- "flow_steps": 10,
49
- "steps": 20000,
50
- "batch": 512,
51
- "lr": 0.001,
52
- "log_every": 1000,
53
- "seed": 3
54
- },
55
- "log": [
56
- {
57
- "step": 1000,
58
- "train": 0.2311734859496355,
59
- "skipped": 0,
60
- "val_fm": 0.13793939352035522,
61
- "chunk_collision_hidden": 0.06088082864880562,
62
- "chunk_collision_given": 0.09366755187511444,
63
- "chunk_collision_policy_hidden": 0.09650258719921112,
64
- "chunk_collision_policy_given": 0.21108180284500122,
65
- "heading_cos_none": 0.2705319821834564,
66
- "collide_none": 0.3455497622489929,
67
- "heading_cos_user": 0.8955808877944946,
68
- "collide_user": 0.13238593935966492,
69
- "heading_cos_composed": 0.9635838866233826,
70
- "collide_composed": 0.08526552468538284
71
- },
72
- {
73
- "step": 2000,
74
- "train": 0.16795948211848735,
75
- "skipped": 0,
76
- "val_fm": 0.12858343124389648,
77
- "chunk_collision_hidden": 0.05620155110955238,
78
- "chunk_collision_given": 0.10006539523601532,
79
- "chunk_collision_policy_hidden": 0.10594315826892853,
80
- "chunk_collision_policy_given": 0.24525833129882812,
81
- "heading_cos_none": 0.28521957993507385,
82
- "collide_none": 0.33043479919433594,
83
- "heading_cos_user": 0.8797716498374939,
84
- "collide_user": 0.10724638402462006,
85
- "heading_cos_composed": 0.9741058349609375,
86
- "collide_composed": 0.07536232471466064
87
- },
88
- {
89
- "step": 3000,
90
- "train": 0.1492879132181406,
91
- "skipped": 0,
92
- "val_fm": 0.13142001628875732,
93
- "chunk_collision_hidden": 0.04841833561658859,
94
- "chunk_collision_given": 0.0803108811378479,
95
- "chunk_collision_policy_hidden": 0.10264687240123749,
96
- "chunk_collision_policy_given": 0.2247409224510193,
97
- "heading_cos_none": 0.2818215787410736,
98
- "collide_none": 0.34249627590179443,
99
- "heading_cos_user": 0.8795742392539978,
100
- "collide_user": 0.12407132238149643,
101
- "heading_cos_composed": 0.9714913368225098,
102
- "collide_composed": 0.06909360736608505
103
- },
104
- {
105
- "step": 4000,
106
- "train": 0.1382373376712203,
107
- "skipped": 0,
108
- "val_fm": 0.13859593868255615,
109
- "chunk_collision_hidden": 0.05116580054163933,
110
- "chunk_collision_given": 0.0796576663851738,
111
- "chunk_collision_policy_hidden": 0.11010362207889557,
112
- "chunk_collision_policy_given": 0.2231731414794922,
113
- "heading_cos_none": 0.24975065886974335,
114
- "collide_none": 0.3736730217933655,
115
- "heading_cos_user": 0.890995979309082,
116
- "collide_user": 0.13446566462516785,
117
- "heading_cos_composed": 0.9695996642112732,
118
- "collide_composed": 0.07784854620695114
119
- },
120
- {
121
- "step": 5000,
122
- "train": 0.13101630675792694,
123
- "skipped": 0,
124
- "val_fm": 0.1368759274482727,
125
- "chunk_collision_hidden": 0.052665382623672485,
126
- "chunk_collision_given": 0.06779661029577255,
127
- "chunk_collision_policy_hidden": 0.1059730276465416,
128
- "chunk_collision_policy_given": 0.2353324592113495,
129
- "heading_cos_none": 0.271152526140213,
130
- "collide_none": 0.358937531709671,
131
- "heading_cos_user": 0.8740388751029968,
132
- "collide_user": 0.13567839562892914,
133
- "heading_cos_composed": 0.9741165041923523,
134
- "collide_composed": 0.08542713522911072
135
- },
136
- {
137
- "step": 6000,
138
- "train": 0.12404151669144631,
139
- "skipped": 0,
140
- "val_fm": 0.12531638145446777,
141
- "chunk_collision_hidden": 0.05286343768239021,
142
- "chunk_collision_given": 0.07092198729515076,
143
- "chunk_collision_policy_hidden": 0.1246066689491272,
144
- "chunk_collision_policy_given": 0.23339779675006866,
145
- "heading_cos_none": 0.24039022624492645,
146
- "collide_none": 0.3325892984867096,
147
- "heading_cos_user": 0.8890320062637329,
148
- "collide_user": 0.1145833358168602,
149
- "heading_cos_composed": 0.9773424863815308,
150
- "collide_composed": 0.0587797611951828
151
- },
152
- {
153
- "step": 7000,
154
- "train": 0.11946031069010496,
155
- "skipped": 0,
156
- "val_fm": 0.15626072883605957,
157
- "chunk_collision_hidden": 0.06401044875383377,
158
- "chunk_collision_given": 0.07792207598686218,
159
- "chunk_collision_policy_hidden": 0.09405616670846939,
160
- "chunk_collision_policy_given": 0.2545454502105713,
161
- "heading_cos_none": 0.2878704071044922,
162
- "collide_none": 0.3590875566005707,
163
- "heading_cos_user": 0.884392261505127,
164
- "collide_user": 0.12877115607261658,
165
- "heading_cos_composed": 0.9774506688117981,
166
- "collide_composed": 0.08462104201316833
167
- },
168
- {
169
- "step": 8000,
170
- "train": 0.11458670315146446,
171
- "skipped": 0,
172
- "val_fm": 0.15411852300167084,
173
- "chunk_collision_hidden": 0.047557003796100616,
174
- "chunk_collision_given": 0.054569363594055176,
175
- "chunk_collision_policy_hidden": 0.10293159633874893,
176
- "chunk_collision_policy_given": 0.2143326848745346,
177
- "heading_cos_none": 0.3051477372646332,
178
- "collide_none": 0.344525545835495,
179
- "heading_cos_user": 0.8938133120536804,
180
- "collide_user": 0.1262773722410202,
181
- "heading_cos_composed": 0.971393883228302,
182
- "collide_composed": 0.07591240853071213
183
- },
184
- {
185
- "step": 9000,
186
- "train": 0.11073329178243875,
187
- "skipped": 0,
188
- "val_fm": 0.17053893208503723,
189
- "chunk_collision_hidden": 0.04392765089869499,
190
- "chunk_collision_given": 0.0580357126891613,
191
- "chunk_collision_policy_hidden": 0.09948320686817169,
192
- "chunk_collision_policy_given": 0.2321428507566452,
193
- "heading_cos_none": 0.29118070006370544,
194
- "collide_none": 0.35857462882995605,
195
- "heading_cos_user": 0.8965151309967041,
196
- "collide_user": 0.112843357026577,
197
- "heading_cos_composed": 0.9749900102615356,
198
- "collide_composed": 0.0564216785132885
199
- },
200
- {
201
- "step": 10000,
202
- "train": 0.10705270473659038,
203
- "skipped": 0,
204
- "val_fm": 0.17993637919425964,
205
- "chunk_collision_hidden": 0.05836575850844383,
206
- "chunk_collision_given": 0.06257981806993484,
207
- "chunk_collision_policy_hidden": 0.12321659922599792,
208
- "chunk_collision_policy_given": 0.2222222238779068,
209
- "heading_cos_none": 0.2907892167568207,
210
- "collide_none": 0.3529411852359772,
211
- "heading_cos_user": 0.8767114877700806,
212
- "collide_user": 0.11909949034452438,
213
- "heading_cos_composed": 0.9811543226242065,
214
- "collide_composed": 0.057371098548173904
215
- },
216
- {
217
- "step": 11000,
218
- "train": 0.1038868263810873,
219
- "skipped": 0,
220
- "val_fm": 0.1814897358417511,
221
- "chunk_collision_hidden": 0.05212968587875366,
222
- "chunk_collision_given": 0.061345648020505905,
223
- "chunk_collision_policy_hidden": 0.11379529535770416,
224
- "chunk_collision_policy_given": 0.2242744117975235,
225
- "heading_cos_none": 0.28338009119033813,
226
- "collide_none": 0.3569811284542084,
227
- "heading_cos_user": 0.892451286315918,
228
- "collide_user": 0.1169811338186264,
229
- "heading_cos_composed": 0.9791405200958252,
230
- "collide_composed": 0.049056604504585266
231
- },
232
- {
233
- "step": 12000,
234
- "train": 0.10076709777861834,
235
- "skipped": 0,
236
- "val_fm": 0.18230262398719788,
237
- "chunk_collision_hidden": 0.05252918228507042,
238
- "chunk_collision_given": 0.06270626932382584,
239
- "chunk_collision_policy_hidden": 0.1102464348077774,
240
- "chunk_collision_policy_given": 0.21716172993183136,
241
- "heading_cos_none": 0.26161593198776245,
242
- "collide_none": 0.3335745334625244,
243
- "heading_cos_user": 0.8866782188415527,
244
- "collide_user": 0.11432705819606781,
245
- "heading_cos_composed": 0.975855827331543,
246
- "collide_composed": 0.05137481912970543
247
- },
248
- {
249
- "step": 13000,
250
- "train": 0.09797555281221866,
251
- "skipped": 0,
252
- "val_fm": 0.1847529262304306,
253
- "chunk_collision_hidden": 0.050359711050987244,
254
- "chunk_collision_given": 0.061014771461486816,
255
- "chunk_collision_policy_hidden": 0.11903204023838043,
256
- "chunk_collision_policy_given": 0.22928708791732788,
257
- "heading_cos_none": 0.2710725665092468,
258
- "collide_none": 0.3568800687789917,
259
- "heading_cos_user": 0.890828549861908,
260
- "collide_user": 0.12950699031352997,
261
- "heading_cos_composed": 0.9804196357727051,
262
- "collide_composed": 0.056659307330846786
263
- },
264
- {
265
- "step": 14000,
266
- "train": 0.09539347034692765,
267
- "skipped": 0,
268
- "val_fm": 0.20400398969650269,
269
- "chunk_collision_hidden": 0.049636002629995346,
270
- "chunk_collision_given": 0.07320261746644974,
271
- "chunk_collision_policy_hidden": 0.10721376538276672,
272
- "chunk_collision_policy_given": 0.23333333432674408,
273
- "heading_cos_none": 0.2818004786968231,
274
- "collide_none": 0.3482983410358429,
275
- "heading_cos_user": 0.8857221007347107,
276
- "collide_user": 0.1209268644452095,
277
- "heading_cos_composed": 0.9805434346199036,
278
- "collide_composed": 0.06661839038133621
279
- },
280
- {
281
- "step": 15000,
282
- "train": 0.09318648442626,
283
- "skipped": 0,
284
- "val_fm": 0.20504537224769592,
285
- "chunk_collision_hidden": 0.05583437904715538,
286
- "chunk_collision_given": 0.061302680522203445,
287
- "chunk_collision_policy_hidden": 0.10978669673204422,
288
- "chunk_collision_policy_given": 0.2298850566148758,
289
- "heading_cos_none": 0.27060428261756897,
290
- "collide_none": 0.32639405131340027,
291
- "heading_cos_user": 0.8822242617607117,
292
- "collide_user": 0.12267658114433289,
293
- "heading_cos_composed": 0.9772701263427734,
294
- "collide_composed": 0.057992566376924515
295
- },
296
- {
297
- "step": 16000,
298
- "train": 0.09154515593498945,
299
- "skipped": 0,
300
- "val_fm": 0.2297457754611969,
301
- "chunk_collision_hidden": 0.05269841104745865,
302
- "chunk_collision_given": 0.06976744532585144,
303
- "chunk_collision_policy_hidden": 0.11428570747375488,
304
- "chunk_collision_policy_given": 0.21253231167793274,
305
- "heading_cos_none": 0.2788483500480652,
306
- "collide_none": 0.3328290283679962,
307
- "heading_cos_user": 0.8863188624382019,
308
- "collide_user": 0.12178517132997513,
309
- "heading_cos_composed": 0.9778977036476135,
310
- "collide_composed": 0.05975794047117233
311
- },
312
- {
313
- "step": 17000,
314
- "train": 0.08961970058083535,
315
- "skipped": 0,
316
- "val_fm": 0.22810639441013336,
317
- "chunk_collision_hidden": 0.04445876181125641,
318
- "chunk_collision_given": 0.06571242958307266,
319
- "chunk_collision_policy_hidden": 0.11533504724502563,
320
- "chunk_collision_policy_given": 0.2303188145160675,
321
- "heading_cos_none": 0.23330780863761902,
322
- "collide_none": 0.3347732126712799,
323
- "heading_cos_user": 0.8803520798683167,
324
- "collide_user": 0.12095031887292862,
325
- "heading_cos_composed": 0.9809061288833618,
326
- "collide_composed": 0.061915043741464615
327
- },
328
- {
329
- "step": 18000,
330
- "train": 0.0887393510788679,
331
- "skipped": 0,
332
- "val_fm": 0.20729829370975494,
333
- "chunk_collision_hidden": 0.04752729833126068,
334
- "chunk_collision_given": 0.06468646973371506,
335
- "chunk_collision_policy_hidden": 0.09826590120792389,
336
- "chunk_collision_policy_given": 0.21518152952194214,
337
- "heading_cos_none": 0.2726666033267975,
338
- "collide_none": 0.3516245484352112,
339
- "heading_cos_user": 0.8920876383781433,
340
- "collide_user": 0.1212996393442154,
341
- "heading_cos_composed": 0.976198136806488,
342
- "collide_composed": 0.06787003576755524
343
- },
344
- {
345
- "step": 19000,
346
- "train": 0.08813245739787817,
347
- "skipped": 0,
348
- "val_fm": 0.2012702375650406,
349
- "chunk_collision_hidden": 0.05932203307747841,
350
- "chunk_collision_given": 0.07236842066049576,
351
- "chunk_collision_policy_hidden": 0.11016949266195297,
352
- "chunk_collision_policy_given": 0.21315790712833405,
353
- "heading_cos_none": 0.2501177191734314,
354
- "collide_none": 0.33848416805267334,
355
- "heading_cos_user": 0.8890785574913025,
356
- "collide_user": 0.12141280621290207,
357
- "heading_cos_composed": 0.9794238209724426,
358
- "collide_composed": 0.05960264801979065
359
- },
360
- {
361
- "step": 20000,
362
- "train": 0.08774225504696369,
363
- "skipped": 0,
364
- "val_fm": 0.23592664301395416,
365
- "chunk_collision_hidden": 0.060209423303604126,
366
- "chunk_collision_given": 0.0691905990242958,
367
- "chunk_collision_policy_hidden": 0.12303665280342102,
368
- "chunk_collision_policy_given": 0.22845953702926636,
369
- "heading_cos_none": 0.2698274254798889,
370
- "collide_none": 0.34565219283103943,
371
- "heading_cos_user": 0.8886350989341736,
372
- "collide_user": 0.11014492809772491,
373
- "heading_cos_composed": 0.9760688543319702,
374
- "collide_composed": 0.0521739162504673
375
- }
376
- ]
377
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_ring_goal_n300_s4_with_rot60/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:837a94414ad1b98d123adc3e5413763dde0604175768058ef1c503f6faa1d1da
3
- size 1718965
 
 
 
 
adapters/grid_seeds/task_ring_goal_n300_s4_with_rot60/train_log.json DELETED
@@ -1,377 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_ring_goal_n300_s4_with_rot60",
5
- "model": null,
6
- "corruption": {
7
- "rotation_deg": 60
8
- },
9
- "obstacle": {
10
- "kind": "ring",
11
- "around": "goal",
12
- "ring_radius": 0.14,
13
- "radius": 0.02,
14
- "gap": 0.16,
15
- "gap_angle": [
16
- 15.0,
17
- 30.0
18
- ],
19
- "side": "random"
20
- },
21
- "user_module": "grid_seeds/user_rot60_expert_n100_s4",
22
- "lambda_field": 0.03,
23
- "sigma_min": 1.0,
24
- "sigma_max": 1.0,
25
- "closed_loop": null,
26
- "closed_loop_trials": 2000,
27
- "closed_loop_noise": 1.0,
28
- "closed_loop_depth": 6,
29
- "closed_loop_arm": "condition_grid.yaml",
30
- "closed_loop_time_limit": 5.0,
31
- "closed_loop_mix": 0.5,
32
- "p_free": 0.25,
33
- "goal_dropout": 0.25,
34
- "lambda_id": 0.001,
35
- "d": 128,
36
- "layers": 2,
37
- "targets": [
38
- 4,
39
- 4
40
- ],
41
- "reach": [
42
- 0.35,
43
- 0.5
44
- ],
45
- "n_demos": 300,
46
- "frozen_noise": true,
47
- "val_demos": 2000,
48
- "flow_steps": 10,
49
- "steps": 20000,
50
- "batch": 512,
51
- "lr": 0.001,
52
- "log_every": 1000,
53
- "seed": 4
54
- },
55
- "log": [
56
- {
57
- "step": 1000,
58
- "train": 0.2276826525479555,
59
- "skipped": 0,
60
- "val_fm": 0.13731735944747925,
61
- "chunk_collision_hidden": 0.0746268630027771,
62
- "chunk_collision_given": 0.1087673008441925,
63
- "chunk_collision_policy_hidden": 0.11031797528266907,
64
- "chunk_collision_policy_given": 0.2412656545639038,
65
- "heading_cos_none": 0.28201067447662354,
66
- "collide_none": 0.3562963008880615,
67
- "heading_cos_user": 0.8826536536216736,
68
- "collide_user": 0.14222222566604614,
69
- "heading_cos_composed": 0.9618009328842163,
70
- "collide_composed": 0.09333333373069763
71
- },
72
- {
73
- "step": 2000,
74
- "train": 0.16684896177053452,
75
- "skipped": 0,
76
- "val_fm": 0.1306118369102478,
77
- "chunk_collision_hidden": 0.06294155865907669,
78
- "chunk_collision_given": 0.0759819746017456,
79
- "chunk_collision_policy_hidden": 0.10918433219194412,
80
- "chunk_collision_policy_given": 0.24339988827705383,
81
- "heading_cos_none": 0.28866928815841675,
82
- "collide_none": 0.3709912598133087,
83
- "heading_cos_user": 0.8811396956443787,
84
- "collide_user": 0.11588921397924423,
85
- "heading_cos_composed": 0.9663774371147156,
86
- "collide_composed": 0.06924198567867279
87
- },
88
- {
89
- "step": 3000,
90
- "train": 0.1499572320804,
91
- "skipped": 0,
92
- "val_fm": 0.12228928506374359,
93
- "chunk_collision_hidden": 0.049414824694395065,
94
- "chunk_collision_given": 0.06927517801523209,
95
- "chunk_collision_policy_hidden": 0.11703511327505112,
96
- "chunk_collision_policy_given": 0.2366901934146881,
97
- "heading_cos_none": 0.28746044635772705,
98
- "collide_none": 0.3859134316444397,
99
- "heading_cos_user": 0.8784113526344299,
100
- "collide_user": 0.12399119883775711,
101
- "heading_cos_composed": 0.9686800241470337,
102
- "collide_composed": 0.0704328715801239
103
- },
104
- {
105
- "step": 4000,
106
- "train": 0.14016626787185668,
107
- "skipped": 0,
108
- "val_fm": 0.1306270956993103,
109
- "chunk_collision_hidden": 0.06636597961187363,
110
- "chunk_collision_given": 0.0791366845369339,
111
- "chunk_collision_policy_hidden": 0.11726804077625275,
112
- "chunk_collision_policy_given": 0.22563765943050385,
113
- "heading_cos_none": 0.29419025778770447,
114
- "collide_none": 0.3677833378314972,
115
- "heading_cos_user": 0.8947612047195435,
116
- "collide_user": 0.12758375704288483,
117
- "heading_cos_composed": 0.9775051474571228,
118
- "collide_composed": 0.07056307792663574
119
- },
120
- {
121
- "step": 5000,
122
- "train": 0.1327665789425373,
123
- "skipped": 0,
124
- "val_fm": 0.1196925938129425,
125
- "chunk_collision_hidden": 0.053108807653188705,
126
- "chunk_collision_given": 0.07741116732358932,
127
- "chunk_collision_policy_hidden": 0.10362693667411804,
128
- "chunk_collision_policy_given": 0.2239847630262375,
129
- "heading_cos_none": 0.3016682267189026,
130
- "collide_none": 0.37917932868003845,
131
- "heading_cos_user": 0.8825460076332092,
132
- "collide_user": 0.14209726452827454,
133
- "heading_cos_composed": 0.974354088306427,
134
- "collide_composed": 0.054711245000362396
135
- },
136
- {
137
- "step": 6000,
138
- "train": 0.12635206361860038,
139
- "skipped": 0,
140
- "val_fm": 0.12047626078128815,
141
- "chunk_collision_hidden": 0.057615894824266434,
142
- "chunk_collision_given": 0.06945337355136871,
143
- "chunk_collision_policy_hidden": 0.1026490107178688,
144
- "chunk_collision_policy_given": 0.2270096391439438,
145
- "heading_cos_none": 0.29131880402565,
146
- "collide_none": 0.35357141494750977,
147
- "heading_cos_user": 0.8859919309616089,
148
- "collide_user": 0.13428571820259094,
149
- "heading_cos_composed": 0.9784544110298157,
150
- "collide_composed": 0.06857142597436905
151
- },
152
- {
153
- "step": 7000,
154
- "train": 0.12224717678874732,
155
- "skipped": 0,
156
- "val_fm": 0.13182631134986877,
157
- "chunk_collision_hidden": 0.046073976904153824,
158
- "chunk_collision_given": 0.05974026024341583,
159
- "chunk_collision_policy_hidden": 0.11356262117624283,
160
- "chunk_collision_policy_given": 0.22922077775001526,
161
- "heading_cos_none": 0.2790124714374542,
162
- "collide_none": 0.3714699447154999,
163
- "heading_cos_user": 0.8756951093673706,
164
- "collide_user": 0.13106444478034973,
165
- "heading_cos_composed": 0.9800626039505005,
166
- "collide_composed": 0.06734250485897064
167
- },
168
- {
169
- "step": 8000,
170
- "train": 0.11690404899418354,
171
- "skipped": 0,
172
- "val_fm": 0.14544597268104553,
173
- "chunk_collision_hidden": 0.06810740381479263,
174
- "chunk_collision_given": 0.07737705111503601,
175
- "chunk_collision_policy_hidden": 0.12180746346712112,
176
- "chunk_collision_policy_given": 0.2262295037508011,
177
- "heading_cos_none": 0.29274433851242065,
178
- "collide_none": 0.3571428656578064,
179
- "heading_cos_user": 0.8814972043037415,
180
- "collide_user": 0.12714286148548126,
181
- "heading_cos_composed": 0.9810197353363037,
182
- "collide_composed": 0.07571428269147873
183
- },
184
- {
185
- "step": 9000,
186
- "train": 0.11329377242922783,
187
- "skipped": 0,
188
- "val_fm": 0.1482132226228714,
189
- "chunk_collision_hidden": 0.04424203187227249,
190
- "chunk_collision_given": 0.06258148699998856,
191
- "chunk_collision_policy_hidden": 0.10930383950471878,
192
- "chunk_collision_policy_given": 0.2353324592113495,
193
- "heading_cos_none": 0.27492862939834595,
194
- "collide_none": 0.3611111342906952,
195
- "heading_cos_user": 0.8871652483940125,
196
- "collide_user": 0.13963964581489563,
197
- "heading_cos_composed": 0.9764360785484314,
198
- "collide_composed": 0.05930931121110916
199
- },
200
- {
201
- "step": 10000,
202
- "train": 0.10953986864537,
203
- "skipped": 0,
204
- "val_fm": 0.17368875443935394,
205
- "chunk_collision_hidden": 0.054732777178287506,
206
- "chunk_collision_given": 0.06196999549865723,
207
- "chunk_collision_policy_hidden": 0.10817772150039673,
208
- "chunk_collision_policy_given": 0.21200262010097504,
209
- "heading_cos_none": 0.24387779831886292,
210
- "collide_none": 0.3582647740840912,
211
- "heading_cos_user": 0.8820705413818359,
212
- "collide_user": 0.1249065101146698,
213
- "heading_cos_composed": 0.9786725044250488,
214
- "collide_composed": 0.053851909935474396
215
- },
216
- {
217
- "step": 11000,
218
- "train": 0.10575005106627941,
219
- "skipped": 0,
220
- "val_fm": 0.1440935730934143,
221
- "chunk_collision_hidden": 0.04986876621842384,
222
- "chunk_collision_given": 0.07474226504564285,
223
- "chunk_collision_policy_hidden": 0.11679790169000626,
224
- "chunk_collision_policy_given": 0.22422680258750916,
225
- "heading_cos_none": 0.28825247287750244,
226
- "collide_none": 0.36403509974479675,
227
- "heading_cos_user": 0.8811210989952087,
228
- "collide_user": 0.12865497171878815,
229
- "heading_cos_composed": 0.9727438688278198,
230
- "collide_composed": 0.07456140220165253
231
- },
232
- {
233
- "step": 12000,
234
- "train": 0.10230641478300094,
235
- "skipped": 0,
236
- "val_fm": 0.16086144745349884,
237
- "chunk_collision_hidden": 0.05242463946342468,
238
- "chunk_collision_given": 0.05705128237605095,
239
- "chunk_collision_policy_hidden": 0.11533421277999878,
240
- "chunk_collision_policy_given": 0.24038462340831757,
241
- "heading_cos_none": 0.3083820343017578,
242
- "collide_none": 0.37546467781066895,
243
- "heading_cos_user": 0.9019387364387512,
244
- "collide_user": 0.11821561306715012,
245
- "heading_cos_composed": 0.9788313508033752,
246
- "collide_composed": 0.052788104861974716
247
- },
248
- {
249
- "step": 13000,
250
- "train": 0.09921152061969042,
251
- "skipped": 0,
252
- "val_fm": 0.15192541480064392,
253
- "chunk_collision_hidden": 0.04802631959319115,
254
- "chunk_collision_given": 0.05950840935111046,
255
- "chunk_collision_policy_hidden": 0.11184211075305939,
256
- "chunk_collision_policy_given": 0.2457956075668335,
257
- "heading_cos_none": 0.2878131568431854,
258
- "collide_none": 0.3471314609050751,
259
- "heading_cos_user": 0.888493001461029,
260
- "collide_user": 0.13144516944885254,
261
- "heading_cos_composed": 0.9761142730712891,
262
- "collide_composed": 0.050108931958675385
263
- },
264
- {
265
- "step": 14000,
266
- "train": 0.09735288191586733,
267
- "skipped": 0,
268
- "val_fm": 0.16571754217147827,
269
- "chunk_collision_hidden": 0.06407766789197922,
270
- "chunk_collision_given": 0.07328145205974579,
271
- "chunk_collision_policy_hidden": 0.12038834393024445,
272
- "chunk_collision_policy_given": 0.2457846999168396,
273
- "heading_cos_none": 0.25611233711242676,
274
- "collide_none": 0.36635106801986694,
275
- "heading_cos_user": 0.8857371807098389,
276
- "collide_user": 0.13692644238471985,
277
- "heading_cos_composed": 0.9777344465255737,
278
- "collide_composed": 0.06117989867925644
279
- },
280
- {
281
- "step": 15000,
282
- "train": 0.09478650315850973,
283
- "skipped": 0,
284
- "val_fm": 0.16052570939064026,
285
- "chunk_collision_hidden": 0.05263157933950424,
286
- "chunk_collision_given": 0.06791720539331436,
287
- "chunk_collision_policy_hidden": 0.11306042969226837,
288
- "chunk_collision_policy_given": 0.23803363740444183,
289
- "heading_cos_none": 0.29930561780929565,
290
- "collide_none": 0.36563876271247864,
291
- "heading_cos_user": 0.8850322961807251,
292
- "collide_user": 0.14610865712165833,
293
- "heading_cos_composed": 0.9817673563957214,
294
- "collide_composed": 0.061674006283283234
295
- },
296
- {
297
- "step": 16000,
298
- "train": 0.09291688977181911,
299
- "skipped": 0,
300
- "val_fm": 0.1694851666688919,
301
- "chunk_collision_hidden": 0.05605670064687729,
302
- "chunk_collision_given": 0.0716145858168602,
303
- "chunk_collision_policy_hidden": 0.11340206116437912,
304
- "chunk_collision_policy_given": 0.259765625,
305
- "heading_cos_none": 0.2928414046764374,
306
- "collide_none": 0.3556034564971924,
307
- "heading_cos_user": 0.882104754447937,
308
- "collide_user": 0.13146550953388214,
309
- "heading_cos_composed": 0.9786010980606079,
310
- "collide_composed": 0.0625
311
- },
312
- {
313
- "step": 17000,
314
- "train": 0.09089038506150246,
315
- "skipped": 0,
316
- "val_fm": 0.19658547639846802,
317
- "chunk_collision_hidden": 0.05708661302924156,
318
- "chunk_collision_given": 0.059477124363183975,
319
- "chunk_collision_policy_hidden": 0.10629921406507492,
320
- "chunk_collision_policy_given": 0.22875817120075226,
321
- "heading_cos_none": 0.2587811350822449,
322
- "collide_none": 0.34315168857574463,
323
- "heading_cos_user": 0.8739798665046692,
324
- "collide_user": 0.12812960147857666,
325
- "heading_cos_composed": 0.9760941863059998,
326
- "collide_composed": 0.05596465244889259
327
- },
328
- {
329
- "step": 18000,
330
- "train": 0.09033736685663461,
331
- "skipped": 0,
332
- "val_fm": 0.19210942089557648,
333
- "chunk_collision_hidden": 0.04260813444852829,
334
- "chunk_collision_given": 0.06653746962547302,
335
- "chunk_collision_policy_hidden": 0.1039380207657814,
336
- "chunk_collision_policy_given": 0.22351421415805817,
337
- "heading_cos_none": 0.2787095010280609,
338
- "collide_none": 0.37555888295173645,
339
- "heading_cos_user": 0.8857602477073669,
340
- "collide_user": 0.141579732298851,
341
- "heading_cos_composed": 0.9804778695106506,
342
- "collide_composed": 0.046199701726436615
343
- },
344
- {
345
- "step": 19000,
346
- "train": 0.08905376975983381,
347
- "skipped": 0,
348
- "val_fm": 0.17903265357017517,
349
- "chunk_collision_hidden": 0.04942233860492706,
350
- "chunk_collision_given": 0.06151832640171051,
351
- "chunk_collision_policy_hidden": 0.1033376157283783,
352
- "chunk_collision_policy_given": 0.21662303805351257,
353
- "heading_cos_none": 0.25056082010269165,
354
- "collide_none": 0.35740604996681213,
355
- "heading_cos_user": 0.8849987983703613,
356
- "collide_user": 0.15327930450439453,
357
- "heading_cos_composed": 0.977002739906311,
358
- "collide_composed": 0.07000736892223358
359
- },
360
- {
361
- "step": 20000,
362
- "train": 0.08873093571513892,
363
- "skipped": 0,
364
- "val_fm": 0.18636354804039001,
365
- "chunk_collision_hidden": 0.05962410569190979,
366
- "chunk_collision_given": 0.05984042212367058,
367
- "chunk_collision_policy_hidden": 0.09721321612596512,
368
- "chunk_collision_policy_given": 0.2220744639635086,
369
- "heading_cos_none": 0.3001755177974701,
370
- "collide_none": 0.38823530077934265,
371
- "heading_cos_user": 0.8831543922424316,
372
- "collide_user": 0.14191177487373352,
373
- "heading_cos_composed": 0.977920413017273,
374
- "collide_composed": 0.058088235557079315
375
- }
376
- ]
377
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_ring_start_n300_s1_with_curl20/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:394375c023b2858ff25129ad1f068f4e8711b47776dd45f4650b0ea8c1336512
3
- size 1718965
 
 
 
 
adapters/grid_seeds/task_ring_start_n300_s1_with_curl20/train_log.json DELETED
@@ -1,378 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_ring_start_n300_s1_with_curl20",
5
- "model": null,
6
- "corruption": {
7
- "curl": 20,
8
- "tau": 0.1
9
- },
10
- "obstacle": {
11
- "kind": "ring",
12
- "around": "start",
13
- "ring_radius": 0.14,
14
- "radius": 0.02,
15
- "gap": 0.16,
16
- "gap_angle": [
17
- 15.0,
18
- 30.0
19
- ],
20
- "side": "random"
21
- },
22
- "user_module": "grid_seeds/user_curl20_expert_n100_s1",
23
- "lambda_field": 0.03,
24
- "sigma_min": 1.0,
25
- "sigma_max": 1.0,
26
- "closed_loop": null,
27
- "closed_loop_trials": 2000,
28
- "closed_loop_noise": 1.0,
29
- "closed_loop_depth": 6,
30
- "closed_loop_arm": "condition_grid.yaml",
31
- "closed_loop_time_limit": 5.0,
32
- "closed_loop_mix": 0.5,
33
- "p_free": 0.25,
34
- "goal_dropout": 0.25,
35
- "lambda_id": 0.001,
36
- "d": 128,
37
- "layers": 2,
38
- "targets": [
39
- 4,
40
- 4
41
- ],
42
- "reach": [
43
- 0.35,
44
- 0.5
45
- ],
46
- "n_demos": 300,
47
- "frozen_noise": true,
48
- "val_demos": 2000,
49
- "flow_steps": 10,
50
- "steps": 20000,
51
- "batch": 512,
52
- "lr": 0.001,
53
- "log_every": 1000,
54
- "seed": 1
55
- },
56
- "log": [
57
- {
58
- "step": 1000,
59
- "train": 0.2769708383530378,
60
- "skipped": 0,
61
- "val_fm": 0.16989772021770477,
62
- "chunk_collision_hidden": 0.03177691251039505,
63
- "chunk_collision_given": 0.05608108267188072,
64
- "chunk_collision_policy_hidden": 0.05447470769286156,
65
- "chunk_collision_policy_given": 0.12702703475952148,
66
- "heading_cos_none": 0.15838947892189026,
67
- "collide_none": 0.3537563979625702,
68
- "heading_cos_user": 0.8017551898956299,
69
- "collide_user": 0.08533916622400284,
70
- "heading_cos_composed": 0.945094645023346,
71
- "collide_composed": 0.06783369928598404
72
- },
73
- {
74
- "step": 2000,
75
- "train": 0.2071953021287918,
76
- "skipped": 0,
77
- "val_fm": 0.18190813064575195,
78
- "chunk_collision_hidden": 0.037662338465452194,
79
- "chunk_collision_given": 0.057544756680727005,
80
- "chunk_collision_policy_hidden": 0.05129870027303696,
81
- "chunk_collision_policy_given": 0.11253196746110916,
82
- "heading_cos_none": 0.16533930599689484,
83
- "collide_none": 0.3333333432674408,
84
- "heading_cos_user": 0.7937946319580078,
85
- "collide_user": 0.09365781396627426,
86
- "heading_cos_composed": 0.9440479278564453,
87
- "collide_composed": 0.07595869898796082
88
- },
89
- {
90
- "step": 3000,
91
- "train": 0.18883567129075526,
92
- "skipped": 0,
93
- "val_fm": 0.20008236169815063,
94
- "chunk_collision_hidden": 0.033203125,
95
- "chunk_collision_given": 0.05676020309329033,
96
- "chunk_collision_policy_hidden": 0.06640625,
97
- "chunk_collision_policy_given": 0.13073979318141937,
98
- "heading_cos_none": 0.15289506316184998,
99
- "collide_none": 0.3643013834953308,
100
- "heading_cos_user": 0.782921552658081,
101
- "collide_user": 0.11265545338392258,
102
- "heading_cos_composed": 0.9551907181739807,
103
- "collide_composed": 0.058522313833236694
104
- },
105
- {
106
- "step": 4000,
107
- "train": 0.17217908209562302,
108
- "skipped": 0,
109
- "val_fm": 0.21007664501667023,
110
- "chunk_collision_hidden": 0.03145478665828705,
111
- "chunk_collision_given": 0.0628238320350647,
112
- "chunk_collision_policy_hidden": 0.059633027762174606,
113
- "chunk_collision_policy_given": 0.14572538435459137,
114
- "heading_cos_none": 0.16252751648426056,
115
- "collide_none": 0.3290506601333618,
116
- "heading_cos_user": 0.7845944166183472,
117
- "collide_user": 0.10421127825975418,
118
- "heading_cos_composed": 0.9500842690467834,
119
- "collide_composed": 0.06495360285043716
120
- },
121
- {
122
- "step": 5000,
123
- "train": 0.1591798064261675,
124
- "skipped": 0,
125
- "val_fm": 0.23340433835983276,
126
- "chunk_collision_hidden": 0.019920319318771362,
127
- "chunk_collision_given": 0.04891994595527649,
128
- "chunk_collision_policy_hidden": 0.06507304310798645,
129
- "chunk_collision_policy_given": 0.1321473866701126,
130
- "heading_cos_none": 0.16350099444389343,
131
- "collide_none": 0.3501078486442566,
132
- "heading_cos_user": 0.791724681854248,
133
- "collide_user": 0.09849029779434204,
134
- "heading_cos_composed": 0.953007698059082,
135
- "collide_composed": 0.030913012102246284
136
- },
137
- {
138
- "step": 6000,
139
- "train": 0.1479543715044856,
140
- "skipped": 0,
141
- "val_fm": 0.22931966185569763,
142
- "chunk_collision_hidden": 0.02426229417324066,
143
- "chunk_collision_given": 0.038634903728961945,
144
- "chunk_collision_policy_hidden": 0.0708196759223938,
145
- "chunk_collision_policy_given": 0.1365099847316742,
146
- "heading_cos_none": 0.19858480989933014,
147
- "collide_none": 0.3277002274990082,
148
- "heading_cos_user": 0.8096171617507935,
149
- "collide_user": 0.09698750823736191,
150
- "heading_cos_composed": 0.9626389741897583,
151
- "collide_composed": 0.032329168170690536
152
- },
153
- {
154
- "step": 7000,
155
- "train": 0.13805057304352522,
156
- "skipped": 0,
157
- "val_fm": 0.27014049887657166,
158
- "chunk_collision_hidden": 0.0317460298538208,
159
- "chunk_collision_given": 0.039533376693725586,
160
- "chunk_collision_policy_hidden": 0.05886243283748627,
161
- "chunk_collision_policy_given": 0.1399870365858078,
162
- "heading_cos_none": 0.17485038936138153,
163
- "collide_none": 0.36853933334350586,
164
- "heading_cos_user": 0.7818477749824524,
165
- "collide_user": 0.11310861259698868,
166
- "heading_cos_composed": 0.9575889706611633,
167
- "collide_composed": 0.033707864582538605
168
- },
169
- {
170
- "step": 8000,
171
- "train": 0.12899953739345074,
172
- "skipped": 0,
173
- "val_fm": 0.2844015657901764,
174
- "chunk_collision_hidden": 0.019430050626397133,
175
- "chunk_collision_given": 0.043103449046611786,
176
- "chunk_collision_policy_hidden": 0.04792746156454086,
177
- "chunk_collision_policy_given": 0.13461537659168243,
178
- "heading_cos_none": 0.16522547602653503,
179
- "collide_none": 0.32072725892066956,
180
- "heading_cos_user": 0.8118183016777039,
181
- "collide_user": 0.0923636332154274,
182
- "heading_cos_composed": 0.9630358219146729,
183
- "collide_composed": 0.031272727996110916
184
- },
185
- {
186
- "step": 9000,
187
- "train": 0.12236814849078655,
188
- "skipped": 0,
189
- "val_fm": 0.29080069065093994,
190
- "chunk_collision_hidden": 0.023984011262655258,
191
- "chunk_collision_given": 0.03357004374265671,
192
- "chunk_collision_policy_hidden": 0.05729513615369797,
193
- "chunk_collision_policy_given": 0.13298901915550232,
194
- "heading_cos_none": 0.1765335202217102,
195
- "collide_none": 0.338733434677124,
196
- "heading_cos_user": 0.8103647828102112,
197
- "collide_user": 0.09572901576757431,
198
- "heading_cos_composed": 0.9609681367874146,
199
- "collide_composed": 0.028718704357743263
200
- },
201
- {
202
- "step": 10000,
203
- "train": 0.11588154436647892,
204
- "skipped": 0,
205
- "val_fm": 0.30314740538597107,
206
- "chunk_collision_hidden": 0.033766232430934906,
207
- "chunk_collision_given": 0.04780615493655205,
208
- "chunk_collision_policy_hidden": 0.055844154208898544,
209
- "chunk_collision_policy_given": 0.1414538323879242,
210
- "heading_cos_none": 0.15047945082187653,
211
- "collide_none": 0.3264094889163971,
212
- "heading_cos_user": 0.7990403175354004,
213
- "collide_user": 0.09495548903942108,
214
- "heading_cos_composed": 0.9546008706092834,
215
- "collide_composed": 0.04302670434117317
216
- },
217
- {
218
- "step": 11000,
219
- "train": 0.11022622698545456,
220
- "skipped": 0,
221
- "val_fm": 0.3351109027862549,
222
- "chunk_collision_hidden": 0.023762376978993416,
223
- "chunk_collision_given": 0.03320053219795227,
224
- "chunk_collision_policy_hidden": 0.049504950642585754,
225
- "chunk_collision_policy_given": 0.131474107503891,
226
- "heading_cos_none": 0.16191764175891876,
227
- "collide_none": 0.32037436962127686,
228
- "heading_cos_user": 0.781548798084259,
229
- "collide_user": 0.1015118733048439,
230
- "heading_cos_composed": 0.9577564597129822,
231
- "collide_composed": 0.029517637565732002
232
- },
233
- {
234
- "step": 12000,
235
- "train": 0.10520855490863323,
236
- "skipped": 0,
237
- "val_fm": 0.36883634328842163,
238
- "chunk_collision_hidden": 0.030026109889149666,
239
- "chunk_collision_given": 0.04533333331346512,
240
- "chunk_collision_policy_hidden": 0.055483028292655945,
241
- "chunk_collision_policy_given": 0.13866665959358215,
242
- "heading_cos_none": 0.17008458077907562,
243
- "collide_none": 0.3347608745098114,
244
- "heading_cos_user": 0.798166811466217,
245
- "collide_user": 0.10135617107152939,
246
- "heading_cos_composed": 0.9621694087982178,
247
- "collide_composed": 0.025695931166410446
248
- },
249
- {
250
- "step": 13000,
251
- "train": 0.10123899804800748,
252
- "skipped": 0,
253
- "val_fm": 0.39821696281433105,
254
- "chunk_collision_hidden": 0.02743304893374443,
255
- "chunk_collision_given": 0.03153745085000992,
256
- "chunk_collision_policy_hidden": 0.05747877061367035,
257
- "chunk_collision_policy_given": 0.13797634840011597,
258
- "heading_cos_none": 0.1588449627161026,
259
- "collide_none": 0.316579133272171,
260
- "heading_cos_user": 0.776761531829834,
261
- "collide_user": 0.10127531737089157,
262
- "heading_cos_composed": 0.9588900804519653,
263
- "collide_composed": 0.03150787577033043
264
- },
265
- {
266
- "step": 14000,
267
- "train": 0.09774583242833615,
268
- "skipped": 0,
269
- "val_fm": 0.3690151572227478,
270
- "chunk_collision_hidden": 0.023452768102288246,
271
- "chunk_collision_given": 0.02945026196539402,
272
- "chunk_collision_policy_hidden": 0.055374592542648315,
273
- "chunk_collision_policy_given": 0.14070680737495422,
274
- "heading_cos_none": 0.16421140730381012,
275
- "collide_none": 0.35240963101387024,
276
- "heading_cos_user": 0.8034476041793823,
277
- "collide_user": 0.09864457696676254,
278
- "heading_cos_composed": 0.9561366438865662,
279
- "collide_composed": 0.029367469251155853
280
- },
281
- {
282
- "step": 15000,
283
- "train": 0.09517887350916862,
284
- "skipped": 0,
285
- "val_fm": 0.4246029257774353,
286
- "chunk_collision_hidden": 0.01937984488904476,
287
- "chunk_collision_given": 0.02756410278379917,
288
- "chunk_collision_policy_hidden": 0.0633074939250946,
289
- "chunk_collision_policy_given": 0.13076923787593842,
290
- "heading_cos_none": 0.13827405869960785,
291
- "collide_none": 0.34699854254722595,
292
- "heading_cos_user": 0.7882333993911743,
293
- "collide_user": 0.10102488845586777,
294
- "heading_cos_composed": 0.961989164352417,
295
- "collide_composed": 0.024890189990401268
296
- },
297
- {
298
- "step": 16000,
299
- "train": 0.09211129220575094,
300
- "skipped": 0,
301
- "val_fm": 0.4437229037284851,
302
- "chunk_collision_hidden": 0.02801302820444107,
303
- "chunk_collision_given": 0.02527543716132641,
304
- "chunk_collision_policy_hidden": 0.05993485078215599,
305
- "chunk_collision_policy_given": 0.13480232656002045,
306
- "heading_cos_none": 0.13815642893314362,
307
- "collide_none": 0.3380884528160095,
308
- "heading_cos_user": 0.7896345853805542,
309
- "collide_user": 0.07988587766885757,
310
- "heading_cos_composed": 0.9655615091323853,
311
- "collide_composed": 0.023537803441286087
312
- },
313
- {
314
- "step": 17000,
315
- "train": 0.09008561404794455,
316
- "skipped": 0,
317
- "val_fm": 0.4264792203903198,
318
- "chunk_collision_hidden": 0.021262886002659798,
319
- "chunk_collision_given": 0.02990897186100483,
320
- "chunk_collision_policy_hidden": 0.0579896904528141,
321
- "chunk_collision_policy_given": 0.14109233021736145,
322
- "heading_cos_none": 0.1592772901058197,
323
- "collide_none": 0.3178519606590271,
324
- "heading_cos_user": 0.7901856303215027,
325
- "collide_user": 0.09724237769842148,
326
- "heading_cos_composed": 0.9581296443939209,
327
- "collide_composed": 0.033381711691617966
328
- },
329
- {
330
- "step": 18000,
331
- "train": 0.08973801550269127,
332
- "skipped": 0,
333
- "val_fm": 0.42419302463531494,
334
- "chunk_collision_hidden": 0.02478799782693386,
335
- "chunk_collision_given": 0.02692055143415928,
336
- "chunk_collision_policy_hidden": 0.053489889949560165,
337
- "chunk_collision_policy_given": 0.14773473143577576,
338
- "heading_cos_none": 0.1563606709241867,
339
- "collide_none": 0.36745214462280273,
340
- "heading_cos_user": 0.7842140793800354,
341
- "collide_user": 0.10235640406608582,
342
- "heading_cos_composed": 0.9553247690200806,
343
- "collide_composed": 0.02724594995379448
344
- },
345
- {
346
- "step": 19000,
347
- "train": 0.08853626061975955,
348
- "skipped": 0,
349
- "val_fm": 0.4494272470474243,
350
- "chunk_collision_hidden": 0.030403174459934235,
351
- "chunk_collision_given": 0.03656914830207825,
352
- "chunk_collision_policy_hidden": 0.06411103904247284,
353
- "chunk_collision_policy_given": 0.14029255509376526,
354
- "heading_cos_none": 0.14837567508220673,
355
- "collide_none": 0.3312101662158966,
356
- "heading_cos_user": 0.782560408115387,
357
- "collide_user": 0.10120311379432678,
358
- "heading_cos_composed": 0.9618945121765137,
359
- "collide_composed": 0.03326256200671196
360
- },
361
- {
362
- "step": 20000,
363
- "train": 0.08806616882234812,
364
- "skipped": 0,
365
- "val_fm": 0.4723718762397766,
366
- "chunk_collision_hidden": 0.019543973729014397,
367
- "chunk_collision_given": 0.040790311992168427,
368
- "chunk_collision_policy_hidden": 0.05602605640888214,
369
- "chunk_collision_policy_given": 0.14340344071388245,
370
- "heading_cos_none": 0.16010542213916779,
371
- "collide_none": 0.3129657208919525,
372
- "heading_cos_user": 0.7904734015464783,
373
- "collide_user": 0.07898658514022827,
374
- "heading_cos_composed": 0.9648069143295288,
375
- "collide_composed": 0.025335321202874184
376
- }
377
- ]
378
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_ring_start_n300_s2_with_curl20/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:4b287bbf6962fd75895c44cfc73ee41d72b9f10488bd3cbba969773c6771a0fb
3
- size 1718965
 
 
 
 
adapters/grid_seeds/task_ring_start_n300_s2_with_curl20/train_log.json DELETED
@@ -1,378 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_ring_start_n300_s2_with_curl20",
5
- "model": null,
6
- "corruption": {
7
- "curl": 20,
8
- "tau": 0.1
9
- },
10
- "obstacle": {
11
- "kind": "ring",
12
- "around": "start",
13
- "ring_radius": 0.14,
14
- "radius": 0.02,
15
- "gap": 0.16,
16
- "gap_angle": [
17
- 15.0,
18
- 30.0
19
- ],
20
- "side": "random"
21
- },
22
- "user_module": "grid_seeds/user_curl20_expert_n100_s2",
23
- "lambda_field": 0.03,
24
- "sigma_min": 1.0,
25
- "sigma_max": 1.0,
26
- "closed_loop": null,
27
- "closed_loop_trials": 2000,
28
- "closed_loop_noise": 1.0,
29
- "closed_loop_depth": 6,
30
- "closed_loop_arm": "condition_grid.yaml",
31
- "closed_loop_time_limit": 5.0,
32
- "closed_loop_mix": 0.5,
33
- "p_free": 0.25,
34
- "goal_dropout": 0.25,
35
- "lambda_id": 0.001,
36
- "d": 128,
37
- "layers": 2,
38
- "targets": [
39
- 4,
40
- 4
41
- ],
42
- "reach": [
43
- 0.35,
44
- 0.5
45
- ],
46
- "n_demos": 300,
47
- "frozen_noise": true,
48
- "val_demos": 2000,
49
- "flow_steps": 10,
50
- "steps": 20000,
51
- "batch": 512,
52
- "lr": 0.001,
53
- "log_every": 1000,
54
- "seed": 2
55
- },
56
- "log": [
57
- {
58
- "step": 1000,
59
- "train": 0.2859312887787819,
60
- "skipped": 0,
61
- "val_fm": 0.19207456707954407,
62
- "chunk_collision_hidden": 0.04572174698114395,
63
- "chunk_collision_given": 0.07787958532571793,
64
- "chunk_collision_policy_hidden": 0.062050946056842804,
65
- "chunk_collision_policy_given": 0.14463351666927338,
66
- "heading_cos_none": 0.1720796525478363,
67
- "collide_none": 0.32886379957199097,
68
- "heading_cos_user": 0.7869863510131836,
69
- "collide_user": 0.09950599819421768,
70
- "heading_cos_composed": 0.9401400685310364,
71
- "collide_composed": 0.07410021126270294
72
- },
73
- {
74
- "step": 2000,
75
- "train": 0.20898237501084804,
76
- "skipped": 0,
77
- "val_fm": 0.2071334719657898,
78
- "chunk_collision_hidden": 0.04768125340342522,
79
- "chunk_collision_given": 0.064094178378582,
80
- "chunk_collision_policy_hidden": 0.059438273310661316,
81
- "chunk_collision_policy_given": 0.1366906464099884,
82
- "heading_cos_none": 0.1705755591392517,
83
- "collide_none": 0.33037692308425903,
84
- "heading_cos_user": 0.8069647550582886,
85
- "collide_user": 0.10051736980676651,
86
- "heading_cos_composed": 0.9547500014305115,
87
- "collide_composed": 0.06504064798355103
88
- },
89
- {
90
- "step": 3000,
91
- "train": 0.18868116287887096,
92
- "skipped": 0,
93
- "val_fm": 0.20894572138786316,
94
- "chunk_collision_hidden": 0.04305283725261688,
95
- "chunk_collision_given": 0.060684312134981155,
96
- "chunk_collision_policy_hidden": 0.0652315765619278,
97
- "chunk_collision_policy_given": 0.12846997380256653,
98
- "heading_cos_none": 0.17528045177459717,
99
- "collide_none": 0.34099334478378296,
100
- "heading_cos_user": 0.7939744591712952,
101
- "collide_user": 0.09859155118465424,
102
- "heading_cos_composed": 0.9535477757453918,
103
- "collide_composed": 0.05707931891083717
104
- },
105
- {
106
- "step": 4000,
107
- "train": 0.17249558737874032,
108
- "skipped": 0,
109
- "val_fm": 0.21159227192401886,
110
- "chunk_collision_hidden": 0.021810973063111305,
111
- "chunk_collision_given": 0.03783431276679039,
112
- "chunk_collision_policy_hidden": 0.05221414566040039,
113
- "chunk_collision_policy_given": 0.13111546635627747,
114
- "heading_cos_none": 0.15819965302944183,
115
- "collide_none": 0.3283914029598236,
116
- "heading_cos_user": 0.8128485679626465,
117
- "collide_user": 0.0845070481300354,
118
- "heading_cos_composed": 0.9526870846748352,
119
- "collide_composed": 0.0422535240650177
120
- },
121
- {
122
- "step": 5000,
123
- "train": 0.15830633541941644,
124
- "skipped": 0,
125
- "val_fm": 0.23905277252197266,
126
- "chunk_collision_hidden": 0.03352675586938858,
127
- "chunk_collision_given": 0.041800640523433685,
128
- "chunk_collision_policy_hidden": 0.04771115258336067,
129
- "chunk_collision_policy_given": 0.13311897218227386,
130
- "heading_cos_none": 0.14173968136310577,
131
- "collide_none": 0.32385119795799255,
132
- "heading_cos_user": 0.7951186895370483,
133
- "collide_user": 0.08533916622400284,
134
- "heading_cos_composed": 0.9540368914604187,
135
- "collide_composed": 0.04741064831614494
136
- },
137
- {
138
- "step": 6000,
139
- "train": 0.14584698037058114,
140
- "skipped": 0,
141
- "val_fm": 0.25856661796569824,
142
- "chunk_collision_hidden": 0.023062139749526978,
143
- "chunk_collision_given": 0.047399602830410004,
144
- "chunk_collision_policy_hidden": 0.05829596519470215,
145
- "chunk_collision_policy_given": 0.1514154076576233,
146
- "heading_cos_none": 0.19397325813770294,
147
- "collide_none": 0.34708917140960693,
148
- "heading_cos_user": 0.7853866815567017,
149
- "collide_user": 0.09727340191602707,
150
- "heading_cos_composed": 0.9523953199386597,
151
- "collide_composed": 0.041267503052949905
152
- },
153
- {
154
- "step": 7000,
155
- "train": 0.13505136238783597,
156
- "skipped": 0,
157
- "val_fm": 0.2715435028076172,
158
- "chunk_collision_hidden": 0.030283505097031593,
159
- "chunk_collision_given": 0.0487329438328743,
160
- "chunk_collision_policy_hidden": 0.04381443187594414,
161
- "chunk_collision_policy_given": 0.13450291752815247,
162
- "heading_cos_none": 0.14812734723091125,
163
- "collide_none": 0.36082473397254944,
164
- "heading_cos_user": 0.7927337884902954,
165
- "collide_user": 0.10824742168188095,
166
- "heading_cos_composed": 0.9500006437301636,
167
- "collide_composed": 0.05081001669168472
168
- },
169
- {
170
- "step": 8000,
171
- "train": 0.12685306853055953,
172
- "skipped": 0,
173
- "val_fm": 0.2882711887359619,
174
- "chunk_collision_hidden": 0.04395604506134987,
175
- "chunk_collision_given": 0.04640522971749306,
176
- "chunk_collision_policy_hidden": 0.05429864302277565,
177
- "chunk_collision_policy_given": 0.1411764770746231,
178
- "heading_cos_none": 0.13089022040367126,
179
- "collide_none": 0.3496350347995758,
180
- "heading_cos_user": 0.7871084213256836,
181
- "collide_user": 0.09999999403953552,
182
- "heading_cos_composed": 0.9490634799003601,
183
- "collide_composed": 0.043065693229436874
184
- },
185
- {
186
- "step": 9000,
187
- "train": 0.11992513220757246,
188
- "skipped": 0,
189
- "val_fm": 0.3324621319770813,
190
- "chunk_collision_hidden": 0.025282766669988632,
191
- "chunk_collision_given": 0.02804957702755928,
192
- "chunk_collision_policy_hidden": 0.05988023802638054,
193
- "chunk_collision_policy_given": 0.13633398711681366,
194
- "heading_cos_none": 0.12257641553878784,
195
- "collide_none": 0.3350515365600586,
196
- "heading_cos_user": 0.7807729840278625,
197
- "collide_user": 0.11340206116437912,
198
- "heading_cos_composed": 0.9553671479225159,
199
- "collide_composed": 0.028718704357743263
200
- },
201
- {
202
- "step": 10000,
203
- "train": 0.1139008090570569,
204
- "skipped": 0,
205
- "val_fm": 0.33677953481674194,
206
- "chunk_collision_hidden": 0.029671717435121536,
207
- "chunk_collision_given": 0.0394996702671051,
208
- "chunk_collision_policy_hidden": 0.05997474864125252,
209
- "chunk_collision_policy_given": 0.13956549763679504,
210
- "heading_cos_none": 0.16813494265079498,
211
- "collide_none": 0.34350037574768066,
212
- "heading_cos_user": 0.7891160845756531,
213
- "collide_user": 0.10457516461610794,
214
- "heading_cos_composed": 0.9514716267585754,
215
- "collide_composed": 0.03267974033951759
216
- },
217
- {
218
- "step": 11000,
219
- "train": 0.10896867553144693,
220
- "skipped": 0,
221
- "val_fm": 0.34367215633392334,
222
- "chunk_collision_hidden": 0.03251492977142334,
223
- "chunk_collision_given": 0.02296587824821472,
224
- "chunk_collision_policy_hidden": 0.061048440635204315,
225
- "chunk_collision_policy_given": 0.14566929638385773,
226
- "heading_cos_none": 0.14920131862163544,
227
- "collide_none": 0.3281938135623932,
228
- "heading_cos_user": 0.7841845154762268,
229
- "collide_user": 0.10939794033765793,
230
- "heading_cos_composed": 0.9512044191360474,
231
- "collide_composed": 0.030837003141641617
232
- },
233
- {
234
- "step": 12000,
235
- "train": 0.10443939030915499,
236
- "skipped": 0,
237
- "val_fm": 0.36300015449523926,
238
- "chunk_collision_hidden": 0.04010184481739998,
239
- "chunk_collision_given": 0.03466317802667618,
240
- "chunk_collision_policy_hidden": 0.05219605192542076,
241
- "chunk_collision_policy_given": 0.128188356757164,
242
- "heading_cos_none": 0.1519390344619751,
243
- "collide_none": 0.35170412063598633,
244
- "heading_cos_user": 0.7793182730674744,
245
- "collide_user": 0.10369832813739777,
246
- "heading_cos_composed": 0.9505696892738342,
247
- "collide_composed": 0.039883971214294434
248
- },
249
- {
250
- "step": 13000,
251
- "train": 0.10032955922186375,
252
- "skipped": 0,
253
- "val_fm": 0.40308818221092224,
254
- "chunk_collision_hidden": 0.021345406770706177,
255
- "chunk_collision_given": 0.028159789741039276,
256
- "chunk_collision_policy_hidden": 0.05368693545460701,
257
- "chunk_collision_policy_given": 0.1421087086200714,
258
- "heading_cos_none": 0.14855128526687622,
259
- "collide_none": 0.33018869161605835,
260
- "heading_cos_user": 0.7781723737716675,
261
- "collide_user": 0.11465892195701599,
262
- "heading_cos_composed": 0.9592815041542053,
263
- "collide_composed": 0.0232220608741045
264
- },
265
- {
266
- "step": 14000,
267
- "train": 0.09757862279564142,
268
- "skipped": 0,
269
- "val_fm": 0.4179777204990387,
270
- "chunk_collision_hidden": 0.03059895895421505,
271
- "chunk_collision_given": 0.031957387924194336,
272
- "chunk_collision_policy_hidden": 0.0559895858168602,
273
- "chunk_collision_policy_given": 0.13581889867782593,
274
- "heading_cos_none": 0.18795153498649597,
275
- "collide_none": 0.32414308190345764,
276
- "heading_cos_user": 0.808571994304657,
277
- "collide_user": 0.10730253159999847,
278
- "heading_cos_composed": 0.9603336453437805,
279
- "collide_composed": 0.028315946459770203
280
- },
281
- {
282
- "step": 15000,
283
- "train": 0.0943638043999672,
284
- "skipped": 0,
285
- "val_fm": 0.4054340720176697,
286
- "chunk_collision_hidden": 0.028373265638947487,
287
- "chunk_collision_given": 0.023855576291680336,
288
- "chunk_collision_policy_hidden": 0.06242118403315544,
289
- "chunk_collision_policy_given": 0.13539651036262512,
290
- "heading_cos_none": 0.16493059694766998,
291
- "collide_none": 0.3580246865749359,
292
- "heading_cos_user": 0.8021764755249023,
293
- "collide_user": 0.1111111119389534,
294
- "heading_cos_composed": 0.95342618227005,
295
- "collide_composed": 0.026143791154026985
296
- },
297
- {
298
- "step": 16000,
299
- "train": 0.09240723242610693,
300
- "skipped": 0,
301
- "val_fm": 0.4174611568450928,
302
- "chunk_collision_hidden": 0.030519479885697365,
303
- "chunk_collision_given": 0.03631647303700447,
304
- "chunk_collision_policy_hidden": 0.05000000074505806,
305
- "chunk_collision_policy_given": 0.13229571282863617,
306
- "heading_cos_none": 0.14386244118213654,
307
- "collide_none": 0.3071748912334442,
308
- "heading_cos_user": 0.7928030490875244,
309
- "collide_user": 0.09566517174243927,
310
- "heading_cos_composed": 0.9622613787651062,
311
- "collide_composed": 0.02466367743909359
312
- },
313
- {
314
- "step": 17000,
315
- "train": 0.09013994979858399,
316
- "skipped": 0,
317
- "val_fm": 0.4493858218193054,
318
- "chunk_collision_hidden": 0.02324037253856659,
319
- "chunk_collision_given": 0.026126712560653687,
320
- "chunk_collision_policy_hidden": 0.06308101117610931,
321
- "chunk_collision_policy_given": 0.13389940559864044,
322
- "heading_cos_none": 0.15573838353157043,
323
- "collide_none": 0.31319087743759155,
324
- "heading_cos_user": 0.7987769842147827,
325
- "collide_user": 0.0840088427066803,
326
- "heading_cos_composed": 0.960137665271759,
327
- "collide_composed": 0.022844510152935982
328
- },
329
- {
330
- "step": 18000,
331
- "train": 0.08885987152159214,
332
- "skipped": 0,
333
- "val_fm": 0.4663171172142029,
334
- "chunk_collision_hidden": 0.01792573556303978,
335
- "chunk_collision_given": 0.02860775589942932,
336
- "chunk_collision_policy_hidden": 0.05889884755015373,
337
- "chunk_collision_policy_given": 0.12968848645687103,
338
- "heading_cos_none": 0.145524799823761,
339
- "collide_none": 0.3399122953414917,
340
- "heading_cos_user": 0.782970130443573,
341
- "collide_user": 0.1111111119389534,
342
- "heading_cos_composed": 0.962960958480835,
343
- "collide_composed": 0.034356724470853806
344
- },
345
- {
346
- "step": 19000,
347
- "train": 0.0878801928460598,
348
- "skipped": 0,
349
- "val_fm": 0.4456365704536438,
350
- "chunk_collision_hidden": 0.0222513098269701,
351
- "chunk_collision_given": 0.02603471465408802,
352
- "chunk_collision_policy_hidden": 0.0628272294998169,
353
- "chunk_collision_policy_given": 0.13618157804012299,
354
- "heading_cos_none": 0.1970059722661972,
355
- "collide_none": 0.3497723937034607,
356
- "heading_cos_user": 0.797306478023529,
357
- "collide_user": 0.09711684286594391,
358
- "heading_cos_composed": 0.954364538192749,
359
- "collide_composed": 0.028072837740182877
360
- },
361
- {
362
- "step": 20000,
363
- "train": 0.08765489143878222,
364
- "skipped": 0,
365
- "val_fm": 0.43777328729629517,
366
- "chunk_collision_hidden": 0.02960103005170822,
367
- "chunk_collision_given": 0.0295469481498003,
368
- "chunk_collision_policy_hidden": 0.052123554050922394,
369
- "chunk_collision_policy_given": 0.13722915947437286,
370
- "heading_cos_none": 0.136168971657753,
371
- "collide_none": 0.32320237159729004,
372
- "heading_cos_user": 0.7785555720329285,
373
- "collide_user": 0.09266123175621033,
374
- "heading_cos_composed": 0.9625481963157654,
375
- "collide_composed": 0.02668643556535244
376
- }
377
- ]
378
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_ring_start_n300_s3_with_curl20/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:20789758a701d14b3311e65fde638331f6a2dcaa95532bc2e9856be5bd0a689f
3
- size 1718965
 
 
 
 
adapters/grid_seeds/task_ring_start_n300_s3_with_curl20/train_log.json DELETED
@@ -1,378 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_ring_start_n300_s3_with_curl20",
5
- "model": null,
6
- "corruption": {
7
- "curl": 20,
8
- "tau": 0.1
9
- },
10
- "obstacle": {
11
- "kind": "ring",
12
- "around": "start",
13
- "ring_radius": 0.14,
14
- "radius": 0.02,
15
- "gap": 0.16,
16
- "gap_angle": [
17
- 15.0,
18
- 30.0
19
- ],
20
- "side": "random"
21
- },
22
- "user_module": "grid_seeds/user_curl20_expert_n100_s3",
23
- "lambda_field": 0.03,
24
- "sigma_min": 1.0,
25
- "sigma_max": 1.0,
26
- "closed_loop": null,
27
- "closed_loop_trials": 2000,
28
- "closed_loop_noise": 1.0,
29
- "closed_loop_depth": 6,
30
- "closed_loop_arm": "condition_grid.yaml",
31
- "closed_loop_time_limit": 5.0,
32
- "closed_loop_mix": 0.5,
33
- "p_free": 0.25,
34
- "goal_dropout": 0.25,
35
- "lambda_id": 0.001,
36
- "d": 128,
37
- "layers": 2,
38
- "targets": [
39
- 4,
40
- 4
41
- ],
42
- "reach": [
43
- 0.35,
44
- 0.5
45
- ],
46
- "n_demos": 300,
47
- "frozen_noise": true,
48
- "val_demos": 2000,
49
- "flow_steps": 10,
50
- "steps": 20000,
51
- "batch": 512,
52
- "lr": 0.001,
53
- "log_every": 1000,
54
- "seed": 3
55
- },
56
- "log": [
57
- {
58
- "step": 1000,
59
- "train": 0.29974100658297537,
60
- "skipped": 0,
61
- "val_fm": 0.19386665523052216,
62
- "chunk_collision_hidden": 0.06411916762590408,
63
- "chunk_collision_given": 0.12203166633844376,
64
- "chunk_collision_policy_hidden": 0.05569947883486748,
65
- "chunk_collision_policy_given": 0.14643800258636475,
66
- "heading_cos_none": 0.1632673591375351,
67
- "collide_none": 0.33257919549942017,
68
- "heading_cos_user": 0.7739163041114807,
69
- "collide_user": 0.10708899050951004,
70
- "heading_cos_composed": 0.9196569323539734,
71
- "collide_composed": 0.10633484274148941
72
- },
73
- {
74
- "step": 2000,
75
- "train": 0.2197981338351965,
76
- "skipped": 0,
77
- "val_fm": 0.1941516101360321,
78
- "chunk_collision_hidden": 0.03811369463801384,
79
- "chunk_collision_given": 0.07717461884021759,
80
- "chunk_collision_policy_hidden": 0.05232558399438858,
81
- "chunk_collision_policy_given": 0.13996075093746185,
82
- "heading_cos_none": 0.16071157157421112,
83
- "collide_none": 0.3178519606590271,
84
- "heading_cos_user": 0.7801234126091003,
85
- "collide_user": 0.10232220590114594,
86
- "heading_cos_composed": 0.9417445063591003,
87
- "collide_composed": 0.07256893813610077
88
- },
89
- {
90
- "step": 3000,
91
- "train": 0.19681453923881054,
92
- "skipped": 0,
93
- "val_fm": 0.1905205398797989,
94
- "chunk_collision_hidden": 0.03292446583509445,
95
- "chunk_collision_given": 0.057642485946416855,
96
- "chunk_collision_policy_hidden": 0.0600387342274189,
97
- "chunk_collision_policy_given": 0.13277201354503632,
98
- "heading_cos_none": 0.14228537678718567,
99
- "collide_none": 0.32590943574905396,
100
- "heading_cos_user": 0.77327561378479,
101
- "collide_user": 0.0987379401922226,
102
- "heading_cos_composed": 0.949105441570282,
103
- "collide_composed": 0.0608760230243206
104
- },
105
- {
106
- "step": 4000,
107
- "train": 0.17885603392124175,
108
- "skipped": 0,
109
- "val_fm": 0.22089359164237976,
110
- "chunk_collision_hidden": 0.03367875516414642,
111
- "chunk_collision_given": 0.044107966125011444,
112
- "chunk_collision_policy_hidden": 0.07059585303068161,
113
- "chunk_collision_policy_given": 0.13759051263332367,
114
- "heading_cos_none": 0.19913482666015625,
115
- "collide_none": 0.3240542411804199,
116
- "heading_cos_user": 0.7911040782928467,
117
- "collide_user": 0.0935046374797821,
118
- "heading_cos_composed": 0.9530936479568481,
119
- "collide_composed": 0.04282655194401741
120
- },
121
- {
122
- "step": 5000,
123
- "train": 0.16460565799474716,
124
- "skipped": 0,
125
- "val_fm": 0.20180603861808777,
126
- "chunk_collision_hidden": 0.025690430775284767,
127
- "chunk_collision_given": 0.04823989421129227,
128
- "chunk_collision_policy_hidden": 0.058445729315280914,
129
- "chunk_collision_policy_given": 0.1499348133802414,
130
- "heading_cos_none": 0.16965289413928986,
131
- "collide_none": 0.3323594033718109,
132
- "heading_cos_user": 0.7928410172462463,
133
- "collide_user": 0.08984660357236862,
134
- "heading_cos_composed": 0.9581608176231384,
135
- "collide_composed": 0.047479912638664246
136
- },
137
- {
138
- "step": 6000,
139
- "train": 0.15105013608932494,
140
- "skipped": 0,
141
- "val_fm": 0.2485605776309967,
142
- "chunk_collision_hidden": 0.02894902415573597,
143
- "chunk_collision_given": 0.05351386219263077,
144
- "chunk_collision_policy_hidden": 0.0604153573513031,
145
- "chunk_collision_policy_given": 0.12701483070850372,
146
- "heading_cos_none": 0.16819323599338531,
147
- "collide_none": 0.35040831565856934,
148
- "heading_cos_user": 0.7744707465171814,
149
- "collide_user": 0.10467706620693207,
150
- "heading_cos_composed": 0.9465546011924744,
151
- "collide_composed": 0.036377135664224625
152
- },
153
- {
154
- "step": 7000,
155
- "train": 0.14113444901257755,
156
- "skipped": 0,
157
- "val_fm": 0.2695099413394928,
158
- "chunk_collision_hidden": 0.025473546236753464,
159
- "chunk_collision_given": 0.033766232430934906,
160
- "chunk_collision_policy_hidden": 0.062050946056842804,
161
- "chunk_collision_policy_given": 0.145454540848732,
162
- "heading_cos_none": 0.15435786545276642,
163
- "collide_none": 0.34683358669281006,
164
- "heading_cos_user": 0.7814502120018005,
165
- "collide_user": 0.09204712510108948,
166
- "heading_cos_composed": 0.9553521871566772,
167
- "collide_composed": 0.03976435959339142
168
- },
169
- {
170
- "step": 8000,
171
- "train": 0.13229860182851552,
172
- "skipped": 0,
173
- "val_fm": 0.2676521837711334,
174
- "chunk_collision_hidden": 0.031270358711481094,
175
- "chunk_collision_given": 0.055226825177669525,
176
- "chunk_collision_policy_hidden": 0.06254071742296219,
177
- "chunk_collision_policy_given": 0.12689021229743958,
178
- "heading_cos_none": 0.19597762823104858,
179
- "collide_none": 0.3455076813697815,
180
- "heading_cos_user": 0.7879871726036072,
181
- "collide_user": 0.09642075002193451,
182
- "heading_cos_composed": 0.9458680152893066,
183
- "collide_composed": 0.047479912638664246
184
- },
185
- {
186
- "step": 9000,
187
- "train": 0.1251438499391079,
188
- "skipped": 0,
189
- "val_fm": 0.28377407789230347,
190
- "chunk_collision_hidden": 0.0297157634049654,
191
- "chunk_collision_given": 0.03890306130051613,
192
- "chunk_collision_policy_hidden": 0.04715762287378311,
193
- "chunk_collision_policy_given": 0.14413264393806458,
194
- "heading_cos_none": 0.16598209738731384,
195
- "collide_none": 0.3175775408744812,
196
- "heading_cos_user": 0.7825562357902527,
197
- "collide_user": 0.09970457851886749,
198
- "heading_cos_composed": 0.9564052820205688,
199
- "collide_composed": 0.03766617178916931
200
- },
201
- {
202
- "step": 10000,
203
- "train": 0.11984980110824107,
204
- "skipped": 0,
205
- "val_fm": 0.3179572522640228,
206
- "chunk_collision_hidden": 0.029831387102603912,
207
- "chunk_collision_given": 0.03703703731298447,
208
- "chunk_collision_policy_hidden": 0.04928664118051529,
209
- "chunk_collision_policy_given": 0.13154533505439758,
210
- "heading_cos_none": 0.18526335060596466,
211
- "collide_none": 0.34593021869659424,
212
- "heading_cos_user": 0.8004790544509888,
213
- "collide_user": 0.08575581014156342,
214
- "heading_cos_composed": 0.9505723714828491,
215
- "collide_composed": 0.04505813866853714
216
- },
217
- {
218
- "step": 11000,
219
- "train": 0.11462587301433086,
220
- "skipped": 0,
221
- "val_fm": 0.3671135902404785,
222
- "chunk_collision_hidden": 0.03305784985423088,
223
- "chunk_collision_given": 0.04683377593755722,
224
- "chunk_collision_policy_hidden": 0.05467259883880615,
225
- "chunk_collision_policy_given": 0.14050132036209106,
226
- "heading_cos_none": 0.1925070732831955,
227
- "collide_none": 0.33103975653648376,
228
- "heading_cos_user": 0.8126635551452637,
229
- "collide_user": 0.09556575119495392,
230
- "heading_cos_composed": 0.9562367796897888,
231
- "collide_composed": 0.04510703682899475
232
- },
233
- {
234
- "step": 12000,
235
- "train": 0.10992798288166523,
236
- "skipped": 0,
237
- "val_fm": 0.3983311653137207,
238
- "chunk_collision_hidden": 0.040207523852586746,
239
- "chunk_collision_given": 0.03630363196134567,
240
- "chunk_collision_policy_hidden": 0.05901426821947098,
241
- "chunk_collision_policy_given": 0.1577557772397995,
242
- "heading_cos_none": 0.16150912642478943,
243
- "collide_none": 0.3541364371776581,
244
- "heading_cos_user": 0.8041933178901672,
245
- "collide_user": 0.11538461595773697,
246
- "heading_cos_composed": 0.9565176963806152,
247
- "collide_composed": 0.03773584961891174
248
- },
249
- {
250
- "step": 13000,
251
- "train": 0.10583299849182368,
252
- "skipped": 0,
253
- "val_fm": 0.37036260962486267,
254
- "chunk_collision_hidden": 0.03400915488600731,
255
- "chunk_collision_given": 0.03339755907654762,
256
- "chunk_collision_policy_hidden": 0.059516020119190216,
257
- "chunk_collision_policy_given": 0.1541425883769989,
258
- "heading_cos_none": 0.15705038607120514,
259
- "collide_none": 0.342242032289505,
260
- "heading_cos_user": 0.7924730777740479,
261
- "collide_user": 0.10913140326738358,
262
- "heading_cos_composed": 0.9573668837547302,
263
- "collide_composed": 0.03934669867157936
264
- },
265
- {
266
- "step": 14000,
267
- "train": 0.10266613903641701,
268
- "skipped": 0,
269
- "val_fm": 0.41197553277015686,
270
- "chunk_collision_hidden": 0.0377233624458313,
271
- "chunk_collision_given": 0.03790849819779396,
272
- "chunk_collision_policy_hidden": 0.05625413730740547,
273
- "chunk_collision_policy_given": 0.1411764770746231,
274
- "heading_cos_none": 0.15614254772663116,
275
- "collide_none": 0.32848837971687317,
276
- "heading_cos_user": 0.7884878516197205,
277
- "collide_user": 0.10101743787527084,
278
- "heading_cos_composed": 0.9584553241729736,
279
- "collide_composed": 0.04287790507078171
280
- },
281
- {
282
- "step": 15000,
283
- "train": 0.09946475795656443,
284
- "skipped": 0,
285
- "val_fm": 0.41308048367500305,
286
- "chunk_collision_hidden": 0.029485570266842842,
287
- "chunk_collision_given": 0.040868453681468964,
288
- "chunk_collision_policy_hidden": 0.060225844383239746,
289
- "chunk_collision_policy_given": 0.13665388524532318,
290
- "heading_cos_none": 0.141765758395195,
291
- "collide_none": 0.3281596302986145,
292
- "heading_cos_user": 0.786512553691864,
293
- "collide_user": 0.11160384118556976,
294
- "heading_cos_composed": 0.9515451192855835,
295
- "collide_composed": 0.036954913288354874
296
- },
297
- {
298
- "step": 16000,
299
- "train": 0.0969966951161623,
300
- "skipped": 0,
301
- "val_fm": 0.47088032960891724,
302
- "chunk_collision_hidden": 0.034285712987184525,
303
- "chunk_collision_given": 0.03940568491816521,
304
- "chunk_collision_policy_hidden": 0.0679365023970604,
305
- "chunk_collision_policy_given": 0.13372093439102173,
306
- "heading_cos_none": 0.17790386080741882,
307
- "collide_none": 0.3261515498161316,
308
- "heading_cos_user": 0.807064950466156,
309
- "collide_user": 0.08766715973615646,
310
- "heading_cos_composed": 0.9599825739860535,
311
- "collide_composed": 0.030460624024271965
312
- },
313
- {
314
- "step": 17000,
315
- "train": 0.09478563367575407,
316
- "skipped": 0,
317
- "val_fm": 0.46229368448257446,
318
- "chunk_collision_hidden": 0.024484535679221153,
319
- "chunk_collision_given": 0.03773584961891174,
320
- "chunk_collision_policy_hidden": 0.06314432621002197,
321
- "chunk_collision_policy_given": 0.14443722367286682,
322
- "heading_cos_none": 0.14402428269386292,
323
- "collide_none": 0.32902297377586365,
324
- "heading_cos_user": 0.7841300964355469,
325
- "collide_user": 0.09123563021421432,
326
- "heading_cos_composed": 0.9557986259460449,
327
- "collide_composed": 0.0416666679084301
328
- },
329
- {
330
- "step": 18000,
331
- "train": 0.0937542414739728,
332
- "skipped": 0,
333
- "val_fm": 0.45379263162612915,
334
- "chunk_collision_hidden": 0.03339755907654762,
335
- "chunk_collision_given": 0.034983500838279724,
336
- "chunk_collision_policy_hidden": 0.051380861550569534,
337
- "chunk_collision_policy_given": 0.13399340212345123,
338
- "heading_cos_none": 0.15978962182998657,
339
- "collide_none": 0.3408104181289673,
340
- "heading_cos_user": 0.7816299796104431,
341
- "collide_user": 0.0940665677189827,
342
- "heading_cos_composed": 0.9498441815376282,
343
- "collide_composed": 0.03328509256243706
344
- },
345
- {
346
- "step": 19000,
347
- "train": 0.0928796924725175,
348
- "skipped": 0,
349
- "val_fm": 0.5166587829589844,
350
- "chunk_collision_hidden": 0.03129074349999428,
351
- "chunk_collision_given": 0.044736843556165695,
352
- "chunk_collision_policy_hidden": 0.05475879833102226,
353
- "chunk_collision_policy_given": 0.14407895505428314,
354
- "heading_cos_none": 0.15158100426197052,
355
- "collide_none": 0.35661765933036804,
356
- "heading_cos_user": 0.7832532525062561,
357
- "collide_user": 0.10808824002742767,
358
- "heading_cos_composed": 0.9515008926391602,
359
- "collide_composed": 0.03970588371157646
360
- },
361
- {
362
- "step": 20000,
363
- "train": 0.09241898878663778,
364
- "skipped": 0,
365
- "val_fm": 0.4912404417991638,
366
- "chunk_collision_hidden": 0.028141360729932785,
367
- "chunk_collision_given": 0.0345952995121479,
368
- "chunk_collision_policy_hidden": 0.06675392389297485,
369
- "chunk_collision_policy_given": 0.15600521862506866,
370
- "heading_cos_none": 0.14518257975578308,
371
- "collide_none": 0.33669790625572205,
372
- "heading_cos_user": 0.7814713716506958,
373
- "collide_user": 0.10454217344522476,
374
- "heading_cos_composed": 0.9556500911712646,
375
- "collide_composed": 0.03677000477910042
376
- }
377
- ]
378
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_ring_start_n300_s4_with_curl20/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:a82faaca5456632ec48666e9fa37dc6ffbc6ca432f6357bbf5605562d42d6119
3
- size 1718965
 
 
 
 
adapters/grid_seeds/task_ring_start_n300_s4_with_curl20/train_log.json DELETED
@@ -1,378 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_ring_start_n300_s4_with_curl20",
5
- "model": null,
6
- "corruption": {
7
- "curl": 20,
8
- "tau": 0.1
9
- },
10
- "obstacle": {
11
- "kind": "ring",
12
- "around": "start",
13
- "ring_radius": 0.14,
14
- "radius": 0.02,
15
- "gap": 0.16,
16
- "gap_angle": [
17
- 15.0,
18
- 30.0
19
- ],
20
- "side": "random"
21
- },
22
- "user_module": "grid_seeds/user_curl20_expert_n100_s4",
23
- "lambda_field": 0.03,
24
- "sigma_min": 1.0,
25
- "sigma_max": 1.0,
26
- "closed_loop": null,
27
- "closed_loop_trials": 2000,
28
- "closed_loop_noise": 1.0,
29
- "closed_loop_depth": 6,
30
- "closed_loop_arm": "condition_grid.yaml",
31
- "closed_loop_time_limit": 5.0,
32
- "closed_loop_mix": 0.5,
33
- "p_free": 0.25,
34
- "goal_dropout": 0.25,
35
- "lambda_id": 0.001,
36
- "d": 128,
37
- "layers": 2,
38
- "targets": [
39
- 4,
40
- 4
41
- ],
42
- "reach": [
43
- 0.35,
44
- 0.5
45
- ],
46
- "n_demos": 300,
47
- "frozen_noise": true,
48
- "val_demos": 2000,
49
- "flow_steps": 10,
50
- "steps": 20000,
51
- "batch": 512,
52
- "lr": 0.001,
53
- "log_every": 1000,
54
- "seed": 4
55
- },
56
- "log": [
57
- {
58
- "step": 1000,
59
- "train": 0.29855562165379523,
60
- "skipped": 0,
61
- "val_fm": 0.18682880699634552,
62
- "chunk_collision_hidden": 0.04023361578583717,
63
- "chunk_collision_given": 0.0791034922003746,
64
- "chunk_collision_policy_hidden": 0.055807918310165405,
65
- "chunk_collision_policy_given": 0.1542518138885498,
66
- "heading_cos_none": 0.1615927517414093,
67
- "collide_none": 0.33856502175331116,
68
- "heading_cos_user": 0.7950423955917358,
69
- "collide_user": 0.09192825108766556,
70
- "heading_cos_composed": 0.9365246295928955,
71
- "collide_composed": 0.08370702713727951
72
- },
73
- {
74
- "step": 2000,
75
- "train": 0.21897034107148647,
76
- "skipped": 0,
77
- "val_fm": 0.19592511653900146,
78
- "chunk_collision_hidden": 0.032755300402641296,
79
- "chunk_collision_given": 0.0637475848197937,
80
- "chunk_collision_policy_hidden": 0.05587668716907501,
81
- "chunk_collision_policy_given": 0.14294913411140442,
82
- "heading_cos_none": 0.18571485579013824,
83
- "collide_none": 0.35703811049461365,
84
- "heading_cos_user": 0.7833219766616821,
85
- "collide_user": 0.10557185113430023,
86
- "heading_cos_composed": 0.9422883987426758,
87
- "collide_composed": 0.05865102633833885
88
- },
89
- {
90
- "step": 3000,
91
- "train": 0.19551861138641835,
92
- "skipped": 0,
93
- "val_fm": 0.21970634162425995,
94
- "chunk_collision_hidden": 0.03250975161790848,
95
- "chunk_collision_given": 0.06735087186098099,
96
- "chunk_collision_policy_hidden": 0.05656696856021881,
97
- "chunk_collision_policy_given": 0.15009622275829315,
98
- "heading_cos_none": 0.16639690101146698,
99
- "collide_none": 0.3279411792755127,
100
- "heading_cos_user": 0.79527747631073,
101
- "collide_user": 0.09485294669866562,
102
- "heading_cos_composed": 0.9515825510025024,
103
- "collide_composed": 0.06544117629528046
104
- },
105
- {
106
- "step": 4000,
107
- "train": 0.17655875973403454,
108
- "skipped": 0,
109
- "val_fm": 0.21638190746307373,
110
- "chunk_collision_hidden": 0.04445876181125641,
111
- "chunk_collision_given": 0.06671026349067688,
112
- "chunk_collision_policy_hidden": 0.06765463948249817,
113
- "chunk_collision_policy_given": 0.14061477780342102,
114
- "heading_cos_none": 0.18155626952648163,
115
- "collide_none": 0.34214285016059875,
116
- "heading_cos_user": 0.7963314652442932,
117
- "collide_user": 0.10357142984867096,
118
- "heading_cos_composed": 0.9537697434425354,
119
- "collide_composed": 0.055714286863803864
120
- },
121
- {
122
- "step": 5000,
123
- "train": 0.16006890900433063,
124
- "skipped": 0,
125
- "val_fm": 0.24545374512672424,
126
- "chunk_collision_hidden": 0.022020725533366203,
127
- "chunk_collision_given": 0.04568527638912201,
128
- "chunk_collision_policy_hidden": 0.04792746156454086,
129
- "chunk_collision_policy_given": 0.14720812439918518,
130
- "heading_cos_none": 0.19400447607040405,
131
- "collide_none": 0.3391238749027252,
132
- "heading_cos_user": 0.8052807450294495,
133
- "collide_user": 0.09441087394952774,
134
- "heading_cos_composed": 0.9570517539978027,
135
- "collide_composed": 0.05060422793030739
136
- },
137
- {
138
- "step": 6000,
139
- "train": 0.14508032873272897,
140
- "skipped": 0,
141
- "val_fm": 0.2554019093513489,
142
- "chunk_collision_hidden": 0.03178808093070984,
143
- "chunk_collision_given": 0.04565916210412979,
144
- "chunk_collision_policy_hidden": 0.05165563151240349,
145
- "chunk_collision_policy_given": 0.13826365768909454,
146
- "heading_cos_none": 0.1697162389755249,
147
- "collide_none": 0.3309352397918701,
148
- "heading_cos_user": 0.8151760697364807,
149
- "collide_user": 0.09064748138189316,
150
- "heading_cos_composed": 0.9518642425537109,
151
- "collide_composed": 0.038129497319459915
152
- },
153
- {
154
- "step": 7000,
155
- "train": 0.13484572573006154,
156
- "skipped": 0,
157
- "val_fm": 0.3127947151660919,
158
- "chunk_collision_hidden": 0.03374432027339935,
159
- "chunk_collision_given": 0.044805195182561874,
160
- "chunk_collision_policy_hidden": 0.0629461407661438,
161
- "chunk_collision_policy_given": 0.13441558182239532,
162
- "heading_cos_none": 0.12461689859628677,
163
- "collide_none": 0.333093523979187,
164
- "heading_cos_user": 0.7886540293693542,
165
- "collide_user": 0.0899280533194542,
166
- "heading_cos_composed": 0.9527380466461182,
167
- "collide_composed": 0.04532374069094658
168
- },
169
- {
170
- "step": 8000,
171
- "train": 0.12621102321892977,
172
- "skipped": 0,
173
- "val_fm": 0.2880963683128357,
174
- "chunk_collision_hidden": 0.020956123247742653,
175
- "chunk_collision_given": 0.033442623913288116,
176
- "chunk_collision_policy_hidden": 0.06352324783802032,
177
- "chunk_collision_policy_given": 0.11934426426887512,
178
- "heading_cos_none": 0.15468181669712067,
179
- "collide_none": 0.35100287199020386,
180
- "heading_cos_user": 0.7940885424613953,
181
- "collide_user": 0.10100287199020386,
182
- "heading_cos_composed": 0.9596444964408875,
183
- "collide_composed": 0.04083094745874405
184
- },
185
- {
186
- "step": 9000,
187
- "train": 0.11972122555226088,
188
- "skipped": 0,
189
- "val_fm": 0.31598857045173645,
190
- "chunk_collision_hidden": 0.03838646784424782,
191
- "chunk_collision_given": 0.04823989421129227,
192
- "chunk_collision_policy_hidden": 0.046193886548280716,
193
- "chunk_collision_policy_given": 0.14537157118320465,
194
- "heading_cos_none": 0.17052368819713593,
195
- "collide_none": 0.3470764756202698,
196
- "heading_cos_user": 0.7792754173278809,
197
- "collide_user": 0.1034482792019844,
198
- "heading_cos_composed": 0.9447458386421204,
199
- "collide_composed": 0.0524737648665905
200
- },
201
- {
202
- "step": 10000,
203
- "train": 0.11337915717810393,
204
- "skipped": 0,
205
- "val_fm": 0.39892786741256714,
206
- "chunk_collision_hidden": 0.027688346803188324,
207
- "chunk_collision_given": 0.04305283725261688,
208
- "chunk_collision_policy_hidden": 0.05280103161931038,
209
- "chunk_collision_policy_given": 0.13698630034923553,
210
- "heading_cos_none": 0.20769792795181274,
211
- "collide_none": 0.3455497622489929,
212
- "heading_cos_user": 0.816619336605072,
213
- "collide_user": 0.10172027349472046,
214
- "heading_cos_composed": 0.9583275318145752,
215
- "collide_composed": 0.03814510256052017
216
- },
217
- {
218
- "step": 11000,
219
- "train": 0.10843730621039867,
220
- "skipped": 0,
221
- "val_fm": 0.41092777252197266,
222
- "chunk_collision_hidden": 0.03608923777937889,
223
- "chunk_collision_given": 0.05476804077625275,
224
- "chunk_collision_policy_hidden": 0.05249343812465668,
225
- "chunk_collision_policy_given": 0.14368556439876556,
226
- "heading_cos_none": 0.14550387859344482,
227
- "collide_none": 0.3479853570461273,
228
- "heading_cos_user": 0.7905306816101074,
229
- "collide_user": 0.09450549632310867,
230
- "heading_cos_composed": 0.9562204480171204,
231
- "collide_composed": 0.03443223610520363
232
- },
233
- {
234
- "step": 12000,
235
- "train": 0.10437910618633031,
236
- "skipped": 0,
237
- "val_fm": 0.456613153219223,
238
- "chunk_collision_hidden": 0.02686762809753418,
239
- "chunk_collision_given": 0.044871795922517776,
240
- "chunk_collision_policy_hidden": 0.051114026457071304,
241
- "chunk_collision_policy_given": 0.14935897290706635,
242
- "heading_cos_none": 0.17455215752124786,
243
- "collide_none": 0.33283692598342896,
244
- "heading_cos_user": 0.7938379645347595,
245
- "collide_user": 0.10052122175693512,
246
- "heading_cos_composed": 0.9506703615188599,
247
- "collide_composed": 0.02903946489095688
248
- },
249
- {
250
- "step": 13000,
251
- "train": 0.09982517789304256,
252
- "skipped": 0,
253
- "val_fm": 0.4073321521282196,
254
- "chunk_collision_hidden": 0.028947370126843452,
255
- "chunk_collision_given": 0.03557568043470383,
256
- "chunk_collision_policy_hidden": 0.05065789818763733,
257
- "chunk_collision_policy_given": 0.1507115215063095,
258
- "heading_cos_none": 0.15953262150287628,
259
- "collide_none": 0.352011501789093,
260
- "heading_cos_user": 0.7752806544303894,
261
- "collide_user": 0.10991379618644714,
262
- "heading_cos_composed": 0.9546028971672058,
263
- "collide_composed": 0.030890803784132004
264
- },
265
- {
266
- "step": 14000,
267
- "train": 0.0972152851447463,
268
- "skipped": 0,
269
- "val_fm": 0.47804197669029236,
270
- "chunk_collision_hidden": 0.04077669605612755,
271
- "chunk_collision_given": 0.023346303030848503,
272
- "chunk_collision_policy_hidden": 0.061488669365644455,
273
- "chunk_collision_policy_given": 0.13488975167274475,
274
- "heading_cos_none": 0.1855352818965912,
275
- "collide_none": 0.3345401883125305,
276
- "heading_cos_user": 0.8099108934402466,
277
- "collide_user": 0.1042722687125206,
278
- "heading_cos_composed": 0.9507479071617126,
279
- "collide_composed": 0.03475742042064667
280
- },
281
- {
282
- "step": 15000,
283
- "train": 0.09420696637034416,
284
- "skipped": 0,
285
- "val_fm": 0.46459078788757324,
286
- "chunk_collision_hidden": 0.02274204045534134,
287
- "chunk_collision_given": 0.02910737320780754,
288
- "chunk_collision_policy_hidden": 0.04938271641731262,
289
- "chunk_collision_policy_given": 0.15265201032161713,
290
- "heading_cos_none": 0.13197138905525208,
291
- "collide_none": 0.3333333432674408,
292
- "heading_cos_user": 0.7917386293411255,
293
- "collide_user": 0.10407569259405136,
294
- "heading_cos_composed": 0.9528786540031433,
295
- "collide_composed": 0.03711790591478348
296
- },
297
- {
298
- "step": 16000,
299
- "train": 0.09193933650106191,
300
- "skipped": 0,
301
- "val_fm": 0.4783439636230469,
302
- "chunk_collision_hidden": 0.03930412232875824,
303
- "chunk_collision_given": 0.033203125,
304
- "chunk_collision_policy_hidden": 0.054123710840940475,
305
- "chunk_collision_policy_given": 0.1315104216337204,
306
- "heading_cos_none": 0.18479114770889282,
307
- "collide_none": 0.36002886295318604,
308
- "heading_cos_user": 0.792512834072113,
309
- "collide_user": 0.11399711668491364,
310
- "heading_cos_composed": 0.9489555954933167,
311
- "collide_composed": 0.034632034599781036
312
- },
313
- {
314
- "step": 17000,
315
- "train": 0.08977732047438622,
316
- "skipped": 0,
317
- "val_fm": 0.4813683032989502,
318
- "chunk_collision_hidden": 0.030839893966913223,
319
- "chunk_collision_given": 0.038562092930078506,
320
- "chunk_collision_policy_hidden": 0.046587925404310226,
321
- "chunk_collision_policy_given": 0.14575164020061493,
322
- "heading_cos_none": 0.14990545809268951,
323
- "collide_none": 0.34553441405296326,
324
- "heading_cos_user": 0.7785835266113281,
325
- "collide_user": 0.09956075996160507,
326
- "heading_cos_composed": 0.9589715600013733,
327
- "collide_composed": 0.03294289857149124
328
- },
329
- {
330
- "step": 18000,
331
- "train": 0.08890756269544363,
332
- "skipped": 0,
333
- "val_fm": 0.5363931655883789,
334
- "chunk_collision_hidden": 0.030342156067490578,
335
- "chunk_collision_given": 0.03100775182247162,
336
- "chunk_collision_policy_hidden": 0.05358295515179634,
337
- "chunk_collision_policy_given": 0.1350129246711731,
338
- "heading_cos_none": 0.13468687236309052,
339
- "collide_none": 0.3266814351081848,
340
- "heading_cos_user": 0.797796905040741,
341
- "collide_user": 0.08869179338216782,
342
- "heading_cos_composed": 0.9526264667510986,
343
- "collide_composed": 0.036954913288354874
344
- },
345
- {
346
- "step": 19000,
347
- "train": 0.08733231142908335,
348
- "skipped": 0,
349
- "val_fm": 0.5201677083969116,
350
- "chunk_collision_hidden": 0.028241336345672607,
351
- "chunk_collision_given": 0.03730366379022598,
352
- "chunk_collision_policy_hidden": 0.060975611209869385,
353
- "chunk_collision_policy_given": 0.1328534036874771,
354
- "heading_cos_none": 0.14814133942127228,
355
- "collide_none": 0.3532889783382416,
356
- "heading_cos_user": 0.7789829969406128,
357
- "collide_user": 0.1071692556142807,
358
- "heading_cos_composed": 0.9500946998596191,
359
- "collide_composed": 0.025129342451691628
360
- },
361
- {
362
- "step": 20000,
363
- "train": 0.08701416852325201,
364
- "skipped": 0,
365
- "val_fm": 0.48704466223716736,
366
- "chunk_collision_hidden": 0.03305249288678169,
367
- "chunk_collision_given": 0.035904254764318466,
368
- "chunk_collision_policy_hidden": 0.05638366565108299,
369
- "chunk_collision_policy_given": 0.14295212924480438,
370
- "heading_cos_none": 0.13815316557884216,
371
- "collide_none": 0.3414634168148041,
372
- "heading_cos_user": 0.792604923248291,
373
- "collide_user": 0.09164819121360779,
374
- "heading_cos_composed": 0.9470069408416748,
375
- "collide_composed": 0.02586844004690647
376
- }
377
- ]
378
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_wall_gap_n300_s1_with_gain025x/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:bbf4512f30841e2059714856f6412b3c3df135df8aa140856eef8197b3dd0edd
3
- size 1718965
 
 
 
 
adapters/grid_seeds/task_wall_gap_n300_s1_with_gain025x/train_log.json DELETED
@@ -1,377 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_wall_gap_n300_s1_with_gain025x",
5
- "model": null,
6
- "corruption": {
7
- "scale": [
8
- 0.25,
9
- 1.0
10
- ]
11
- },
12
- "obstacle": {
13
- "kind": "wall",
14
- "along": 0.5,
15
- "gap": 0.16,
16
- "gap_offset": 0.14,
17
- "radius": 0.015,
18
- "extent": 0.4,
19
- "side": "random"
20
- },
21
- "user_module": "grid_seeds/user_gain025x_expert_n100_s1",
22
- "lambda_field": 0.03,
23
- "sigma_min": 1.0,
24
- "sigma_max": 1.0,
25
- "closed_loop": null,
26
- "closed_loop_trials": 2000,
27
- "closed_loop_noise": 1.0,
28
- "closed_loop_depth": 6,
29
- "closed_loop_arm": "condition_grid.yaml",
30
- "closed_loop_time_limit": 5.0,
31
- "closed_loop_mix": 0.5,
32
- "p_free": 0.25,
33
- "goal_dropout": 0.25,
34
- "lambda_id": 0.001,
35
- "d": 128,
36
- "layers": 2,
37
- "targets": [
38
- 4,
39
- 4
40
- ],
41
- "reach": [
42
- 0.35,
43
- 0.5
44
- ],
45
- "n_demos": 300,
46
- "frozen_noise": true,
47
- "val_demos": 2000,
48
- "flow_steps": 10,
49
- "steps": 20000,
50
- "batch": 512,
51
- "lr": 0.001,
52
- "log_every": 1000,
53
- "seed": 1
54
- },
55
- "log": [
56
- {
57
- "step": 1000,
58
- "train": 0.16110820284485816,
59
- "skipped": 0,
60
- "val_fm": 0.0833306759595871,
61
- "chunk_collision_hidden": 0.01361867692321539,
62
- "chunk_collision_given": 0.01689189299941063,
63
- "chunk_collision_policy_hidden": 0.020103761926293373,
64
- "chunk_collision_policy_given": 0.013513513840734959,
65
- "heading_cos_none": 0.34449538588523865,
66
- "collide_none": 0.2389240562915802,
67
- "heading_cos_user": 0.9387292265892029,
68
- "collide_user": 0.04984177276492119,
69
- "heading_cos_composed": 0.9697975516319275,
70
- "collide_composed": 0.04351266101002693
71
- },
72
- {
73
- "step": 2000,
74
- "train": 0.1207511454373598,
75
- "skipped": 0,
76
- "val_fm": 0.07813496142625809,
77
- "chunk_collision_hidden": 0.012987012974917889,
78
- "chunk_collision_given": 0.0076726339757442474,
79
- "chunk_collision_policy_hidden": 0.012987012974917889,
80
- "chunk_collision_policy_given": 0.008951406925916672,
81
- "heading_cos_none": 0.36281880736351013,
82
- "collide_none": 0.21931907534599304,
83
- "heading_cos_user": 0.937400221824646,
84
- "collide_user": 0.04275534301996231,
85
- "heading_cos_composed": 0.9717283248901367,
86
- "collide_composed": 0.03325415775179863
87
- },
88
- {
89
- "step": 3000,
90
- "train": 0.10792249041050672,
91
- "skipped": 0,
92
- "val_fm": 0.08993447571992874,
93
- "chunk_collision_hidden": 0.008463541977107525,
94
- "chunk_collision_given": 0.008290816098451614,
95
- "chunk_collision_policy_hidden": 0.014322916977107525,
96
- "chunk_collision_policy_given": 0.0178571417927742,
97
- "heading_cos_none": 0.40034791827201843,
98
- "collide_none": 0.23101265728473663,
99
- "heading_cos_user": 0.9459665417671204,
100
- "collide_user": 0.04746835678815842,
101
- "heading_cos_composed": 0.978182852268219,
102
- "collide_composed": 0.03085443191230297
103
- },
104
- {
105
- "step": 4000,
106
- "train": 0.1007754719182849,
107
- "skipped": 0,
108
- "val_fm": 0.0869537815451622,
109
- "chunk_collision_hidden": 0.007208388298749924,
110
- "chunk_collision_given": 0.006476683542132378,
111
- "chunk_collision_policy_hidden": 0.01834862492978573,
112
- "chunk_collision_policy_given": 0.01683937758207321,
113
- "heading_cos_none": 0.33884021639823914,
114
- "collide_none": 0.2356589138507843,
115
- "heading_cos_user": 0.9375730156898499,
116
- "collide_user": 0.042635656893253326,
117
- "heading_cos_composed": 0.974738359451294,
118
- "collide_composed": 0.020155038684606552
119
- },
120
- {
121
- "step": 5000,
122
- "train": 0.09631503596901894,
123
- "skipped": 0,
124
- "val_fm": 0.09106197953224182,
125
- "chunk_collision_hidden": 0.0073041170835494995,
126
- "chunk_collision_given": 0.009529859758913517,
127
- "chunk_collision_policy_hidden": 0.017928287386894226,
128
- "chunk_collision_policy_given": 0.013341804035007954,
129
- "heading_cos_none": 0.3471817970275879,
130
- "collide_none": 0.21789883077144623,
131
- "heading_cos_user": 0.9395307898521423,
132
- "collide_user": 0.040466926991939545,
133
- "heading_cos_composed": 0.9778938293457031,
134
- "collide_composed": 0.018677042797207832
135
- },
136
- {
137
- "step": 6000,
138
- "train": 0.09283036538213492,
139
- "skipped": 0,
140
- "val_fm": 0.07926572114229202,
141
- "chunk_collision_hidden": 0.007213114760816097,
142
- "chunk_collision_given": 0.0032195751555263996,
143
- "chunk_collision_policy_hidden": 0.012459016405045986,
144
- "chunk_collision_policy_given": 0.011590470559895039,
145
- "heading_cos_none": 0.37749117612838745,
146
- "collide_none": 0.21746031939983368,
147
- "heading_cos_user": 0.9477411508560181,
148
- "collide_user": 0.03888889029622078,
149
- "heading_cos_composed": 0.9796931743621826,
150
- "collide_composed": 0.013492063619196415
151
- },
152
- {
153
- "step": 7000,
154
- "train": 0.0892118982076645,
155
- "skipped": 0,
156
- "val_fm": 0.09281015396118164,
157
- "chunk_collision_hidden": 0.007275131996721029,
158
- "chunk_collision_given": 0.005832793191075325,
159
- "chunk_collision_policy_hidden": 0.0119047611951828,
160
- "chunk_collision_policy_given": 0.01296176202595234,
161
- "heading_cos_none": 0.3660328686237335,
162
- "collide_none": 0.23932312428951263,
163
- "heading_cos_user": 0.9378094673156738,
164
- "collide_user": 0.04673650115728378,
165
- "heading_cos_composed": 0.9733902812004089,
166
- "collide_composed": 0.016921836882829666
167
- },
168
- {
169
- "step": 8000,
170
- "train": 0.08638293290138245,
171
- "skipped": 0,
172
- "val_fm": 0.08758959174156189,
173
- "chunk_collision_hidden": 0.004533678758889437,
174
- "chunk_collision_given": 0.003978779539465904,
175
- "chunk_collision_policy_hidden": 0.009067357517778873,
176
- "chunk_collision_policy_given": 0.015251989476382732,
177
- "heading_cos_none": 0.3444869816303253,
178
- "collide_none": 0.21212121844291687,
179
- "heading_cos_user": 0.9419654011726379,
180
- "collide_user": 0.03574203699827194,
181
- "heading_cos_composed": 0.9770144820213318,
182
- "collide_composed": 0.014763015322387218
183
- },
184
- {
185
- "step": 9000,
186
- "train": 0.08428961105644703,
187
- "skipped": 0,
188
- "val_fm": 0.09022026509046555,
189
- "chunk_collision_hidden": 0.0059960028156638145,
190
- "chunk_collision_given": 0.006455778144299984,
191
- "chunk_collision_policy_hidden": 0.016655564308166504,
192
- "chunk_collision_policy_given": 0.012265978381037712,
193
- "heading_cos_none": 0.3580527603626251,
194
- "collide_none": 0.21229051053524017,
195
- "heading_cos_user": 0.9453056454658508,
196
- "collide_user": 0.0263367909938097,
197
- "heading_cos_composed": 0.9852054715156555,
198
- "collide_composed": 0.017557861283421516
199
- },
200
- {
201
- "step": 10000,
202
- "train": 0.08175383104383946,
203
- "skipped": 0,
204
- "val_fm": 0.09255659580230713,
205
- "chunk_collision_hidden": 0.0038961037062108517,
206
- "chunk_collision_given": 0.004584151785820723,
207
- "chunk_collision_policy_hidden": 0.012987012974917889,
208
- "chunk_collision_policy_given": 0.012442697770893574,
209
- "heading_cos_none": 0.32636645436286926,
210
- "collide_none": 0.2362903207540512,
211
- "heading_cos_user": 0.9362324476242065,
212
- "collide_user": 0.04032257944345474,
213
- "heading_cos_composed": 0.9720854163169861,
214
- "collide_composed": 0.020967742428183556
215
- },
216
- {
217
- "step": 11000,
218
- "train": 0.08000439649820328,
219
- "skipped": 0,
220
- "val_fm": 0.09262097626924515,
221
- "chunk_collision_hidden": 0.007260726299136877,
222
- "chunk_collision_given": 0.003320053219795227,
223
- "chunk_collision_policy_hidden": 0.01782178319990635,
224
- "chunk_collision_policy_given": 0.009960159659385681,
225
- "heading_cos_none": 0.36920827627182007,
226
- "collide_none": 0.21674491465091705,
227
- "heading_cos_user": 0.9398452639579773,
228
- "collide_user": 0.03912363201379776,
229
- "heading_cos_composed": 0.981743574142456,
230
- "collide_composed": 0.009389671497046947
231
- },
232
- {
233
- "step": 12000,
234
- "train": 0.07753286366164684,
235
- "skipped": 0,
236
- "val_fm": 0.11663548648357391,
237
- "chunk_collision_hidden": 0.009791122749447823,
238
- "chunk_collision_given": 0.005333333276212215,
239
- "chunk_collision_policy_hidden": 0.012402089312672615,
240
- "chunk_collision_policy_given": 0.014666666276752949,
241
- "heading_cos_none": 0.32795992493629456,
242
- "collide_none": 0.22041761875152588,
243
- "heading_cos_user": 0.9434508681297302,
244
- "collide_user": 0.03789636492729187,
245
- "heading_cos_composed": 0.9816726446151733,
246
- "collide_composed": 0.008507346734404564
247
- },
248
- {
249
- "step": 13000,
250
- "train": 0.07590999556705355,
251
- "skipped": 0,
252
- "val_fm": 0.12307561933994293,
253
- "chunk_collision_hidden": 0.007838014513254166,
254
- "chunk_collision_given": 0.0032851509749889374,
255
- "chunk_collision_policy_hidden": 0.018941868096590042,
256
- "chunk_collision_policy_given": 0.011169513687491417,
257
- "heading_cos_none": 0.34391045570373535,
258
- "collide_none": 0.22058823704719543,
259
- "heading_cos_user": 0.932915449142456,
260
- "collide_user": 0.04493464156985283,
261
- "heading_cos_composed": 0.9738448858261108,
262
- "collide_composed": 0.014705882407724857
263
- },
264
- {
265
- "step": 14000,
266
- "train": 0.07446711036935448,
267
- "skipped": 0,
268
- "val_fm": 0.10173393785953522,
269
- "chunk_collision_hidden": 0.003908794838935137,
270
- "chunk_collision_given": 0.008507853373885155,
271
- "chunk_collision_policy_hidden": 0.012377849780023098,
272
- "chunk_collision_policy_given": 0.015052355825901031,
273
- "heading_cos_none": 0.35902559757232666,
274
- "collide_none": 0.22213247418403625,
275
- "heading_cos_user": 0.9397024512290955,
276
- "collide_user": 0.03957996889948845,
277
- "heading_cos_composed": 0.9791929125785828,
278
- "collide_composed": 0.010500808246433735
279
- },
280
- {
281
- "step": 15000,
282
- "train": 0.07327604481205344,
283
- "skipped": 0,
284
- "val_fm": 0.12002717703580856,
285
- "chunk_collision_hidden": 0.0019379844889044762,
286
- "chunk_collision_given": 0.00897435937076807,
287
- "chunk_collision_policy_hidden": 0.012919897213578224,
288
- "chunk_collision_policy_given": 0.012179487384855747,
289
- "heading_cos_none": 0.344542533159256,
290
- "collide_none": 0.24305003881454468,
291
- "heading_cos_user": 0.9383457899093628,
292
- "collide_user": 0.03256553038954735,
293
- "heading_cos_composed": 0.9835999608039856,
294
- "collide_composed": 0.009531374089419842
295
- },
296
- {
297
- "step": 16000,
298
- "train": 0.07173651599511505,
299
- "skipped": 0,
300
- "val_fm": 0.1342979371547699,
301
- "chunk_collision_hidden": 0.005211726296693087,
302
- "chunk_collision_given": 0.005832793191075325,
303
- "chunk_collision_policy_hidden": 0.015635179355740547,
304
- "chunk_collision_policy_given": 0.01101749762892723,
305
- "heading_cos_none": 0.36330339312553406,
306
- "collide_none": 0.21958684921264648,
307
- "heading_cos_user": 0.9423083662986755,
308
- "collide_user": 0.028309104964137077,
309
- "heading_cos_composed": 0.9764112830162048,
310
- "collide_composed": 0.009181331843137741
311
- },
312
- {
313
- "step": 17000,
314
- "train": 0.07085263330116869,
315
- "skipped": 0,
316
- "val_fm": 0.11351326107978821,
317
- "chunk_collision_hidden": 0.002577319508418441,
318
- "chunk_collision_given": 0.009102731011807919,
319
- "chunk_collision_policy_hidden": 0.01610824652016163,
320
- "chunk_collision_policy_given": 0.01430429145693779,
321
- "heading_cos_none": 0.35930877923965454,
322
- "collide_none": 0.2391475886106491,
323
- "heading_cos_user": 0.943829357624054,
324
- "collide_user": 0.03551696985960007,
325
- "heading_cos_composed": 0.9815559983253479,
326
- "collide_composed": 0.011838989332318306
327
- },
328
- {
329
- "step": 18000,
330
- "train": 0.07042210584878922,
331
- "skipped": 0,
332
- "val_fm": 0.11299403011798859,
333
- "chunk_collision_hidden": 0.006523157469928265,
334
- "chunk_collision_given": 0.009192383848130703,
335
- "chunk_collision_policy_hidden": 0.014350946061313152,
336
- "chunk_collision_policy_given": 0.012475377880036831,
337
- "heading_cos_none": 0.3014569878578186,
338
- "collide_none": 0.2287735790014267,
339
- "heading_cos_user": 0.9395730495452881,
340
- "collide_user": 0.04323899373412132,
341
- "heading_cos_composed": 0.9796820282936096,
342
- "collide_composed": 0.013364779762923717
343
- },
344
- {
345
- "step": 19000,
346
- "train": 0.06994375409558415,
347
- "skipped": 0,
348
- "val_fm": 0.11921152472496033,
349
- "chunk_collision_hidden": 0.007931262254714966,
350
- "chunk_collision_given": 0.002659574383869767,
351
- "chunk_collision_policy_hidden": 0.020489094778895378,
352
- "chunk_collision_policy_given": 0.006648935843259096,
353
- "heading_cos_none": 0.3589513897895813,
354
- "collide_none": 0.22103658318519592,
355
- "heading_cos_user": 0.9426021575927734,
356
- "collide_user": 0.041158534586429596,
357
- "heading_cos_composed": 0.9814400672912598,
358
- "collide_composed": 0.011432926170527935
359
- },
360
- {
361
- "step": 20000,
362
- "train": 0.06931765918433666,
363
- "skipped": 0,
364
- "val_fm": 0.09894535690546036,
365
- "chunk_collision_hidden": 0.0026058631483465433,
366
- "chunk_collision_given": 0.005098788999021053,
367
- "chunk_collision_policy_hidden": 0.013680781237781048,
368
- "chunk_collision_policy_given": 0.012109624221920967,
369
- "heading_cos_none": 0.34273627400398254,
370
- "collide_none": 0.21549636125564575,
371
- "heading_cos_user": 0.939189612865448,
372
- "collide_user": 0.03793381527066231,
373
- "heading_cos_composed": 0.9772003293037415,
374
- "collide_composed": 0.01452784426510334
375
- }
376
- ]
377
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_wall_gap_n300_s2_with_gain025x/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:51b266d0adb028ebaa66a5ecee193393e9ebfb8b4f29ea2b1d38523616d52a62
3
- size 1718965
 
 
 
 
adapters/grid_seeds/task_wall_gap_n300_s2_with_gain025x/train_log.json DELETED
@@ -1,377 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_wall_gap_n300_s2_with_gain025x",
5
- "model": null,
6
- "corruption": {
7
- "scale": [
8
- 0.25,
9
- 1.0
10
- ]
11
- },
12
- "obstacle": {
13
- "kind": "wall",
14
- "along": 0.5,
15
- "gap": 0.16,
16
- "gap_offset": 0.14,
17
- "radius": 0.015,
18
- "extent": 0.4,
19
- "side": "random"
20
- },
21
- "user_module": "grid_seeds/user_gain025x_expert_n100_s2",
22
- "lambda_field": 0.03,
23
- "sigma_min": 1.0,
24
- "sigma_max": 1.0,
25
- "closed_loop": null,
26
- "closed_loop_trials": 2000,
27
- "closed_loop_noise": 1.0,
28
- "closed_loop_depth": 6,
29
- "closed_loop_arm": "condition_grid.yaml",
30
- "closed_loop_time_limit": 5.0,
31
- "closed_loop_mix": 0.5,
32
- "p_free": 0.25,
33
- "goal_dropout": 0.25,
34
- "lambda_id": 0.001,
35
- "d": 128,
36
- "layers": 2,
37
- "targets": [
38
- 4,
39
- 4
40
- ],
41
- "reach": [
42
- 0.35,
43
- 0.5
44
- ],
45
- "n_demos": 300,
46
- "frozen_noise": true,
47
- "val_demos": 2000,
48
- "flow_steps": 10,
49
- "steps": 20000,
50
- "batch": 512,
51
- "lr": 0.001,
52
- "log_every": 1000,
53
- "seed": 2
54
- },
55
- "log": [
56
- {
57
- "step": 1000,
58
- "train": 0.15328855636715888,
59
- "skipped": 0,
60
- "val_fm": 0.09135377407073975,
61
- "chunk_collision_hidden": 0.01567602902650833,
62
- "chunk_collision_given": 0.020942408591508865,
63
- "chunk_collision_policy_hidden": 0.015022859908640385,
64
- "chunk_collision_policy_given": 0.015706807374954224,
65
- "heading_cos_none": 0.35452768206596375,
66
- "collide_none": 0.2166285365819931,
67
- "heading_cos_user": 0.9382776618003845,
68
- "collide_user": 0.03127383813261986,
69
- "heading_cos_composed": 0.9701462388038635,
70
- "collide_composed": 0.04118993133306503
71
- },
72
- {
73
- "step": 2000,
74
- "train": 0.11674383290112018,
75
- "skipped": 0,
76
- "val_fm": 0.08797892183065414,
77
- "chunk_collision_hidden": 0.011757020838558674,
78
- "chunk_collision_given": 0.013080444186925888,
79
- "chunk_collision_policy_hidden": 0.013716524466872215,
80
- "chunk_collision_policy_given": 0.014388488605618477,
81
- "heading_cos_none": 0.3499142825603485,
82
- "collide_none": 0.2112341821193695,
83
- "heading_cos_user": 0.942041277885437,
84
- "collide_user": 0.04509493708610535,
85
- "heading_cos_composed": 0.980415940284729,
86
- "collide_composed": 0.030063292011618614
87
- },
88
- {
89
- "step": 3000,
90
- "train": 0.10562458857148886,
91
- "skipped": 0,
92
- "val_fm": 0.0858105719089508,
93
- "chunk_collision_hidden": 0.010437051765620708,
94
- "chunk_collision_given": 0.012265978381037712,
95
- "chunk_collision_policy_hidden": 0.014350946061313152,
96
- "chunk_collision_policy_given": 0.021304067224264145,
97
- "heading_cos_none": 0.36049386858940125,
98
- "collide_none": 0.21621622145175934,
99
- "heading_cos_user": 0.932567834854126,
100
- "collide_user": 0.047502048313617706,
101
- "heading_cos_composed": 0.9702237844467163,
102
- "collide_composed": 0.018018018454313278
103
- },
104
- {
105
- "step": 4000,
106
- "train": 0.09899253716319799,
107
- "skipped": 0,
108
- "val_fm": 0.08803382515907288,
109
- "chunk_collision_hidden": 0.012557832524180412,
110
- "chunk_collision_given": 0.007827788591384888,
111
- "chunk_collision_policy_hidden": 0.01718440279364586,
112
- "chunk_collision_policy_given": 0.011089367792010307,
113
- "heading_cos_none": 0.33831098675727844,
114
- "collide_none": 0.21935483813285828,
115
- "heading_cos_user": 0.9409706592559814,
116
- "collide_user": 0.029032258316874504,
117
- "heading_cos_composed": 0.9781959056854248,
118
- "collide_composed": 0.014516129158437252
119
- },
120
- {
121
- "step": 5000,
122
- "train": 0.09411229428648948,
123
- "skipped": 0,
124
- "val_fm": 0.09697107970714569,
125
- "chunk_collision_hidden": 0.011605415493249893,
126
- "chunk_collision_given": 0.006430868059396744,
127
- "chunk_collision_policy_hidden": 0.010960670188069344,
128
- "chunk_collision_policy_given": 0.012218649499118328,
129
- "heading_cos_none": 0.3370664119720459,
130
- "collide_none": 0.22730860114097595,
131
- "heading_cos_user": 0.9385504722595215,
132
- "collide_user": 0.04104182869195938,
133
- "heading_cos_composed": 0.9780734777450562,
134
- "collide_composed": 0.02288871258497238
135
- },
136
- {
137
- "step": 6000,
138
- "train": 0.09067900245636702,
139
- "skipped": 0,
140
- "val_fm": 0.07969924807548523,
141
- "chunk_collision_hidden": 0.006406149826943874,
142
- "chunk_collision_given": 0.00789993442595005,
143
- "chunk_collision_policy_hidden": 0.019218450412154198,
144
- "chunk_collision_policy_given": 0.014483212493360043,
145
- "heading_cos_none": 0.3699253797531128,
146
- "collide_none": 0.20820190012454987,
147
- "heading_cos_user": 0.9311293959617615,
148
- "collide_user": 0.041009463369846344,
149
- "heading_cos_composed": 0.9701201319694519,
150
- "collide_composed": 0.017350157722830772
151
- },
152
- {
153
- "step": 7000,
154
- "train": 0.08742368457466364,
155
- "skipped": 0,
156
- "val_fm": 0.08617037534713745,
157
- "chunk_collision_hidden": 0.007731958292424679,
158
- "chunk_collision_given": 0.00649772584438324,
159
- "chunk_collision_policy_hidden": 0.015463916584849358,
160
- "chunk_collision_policy_given": 0.012345679104328156,
161
- "heading_cos_none": 0.37248480319976807,
162
- "collide_none": 0.23505976796150208,
163
- "heading_cos_user": 0.9448465704917908,
164
- "collide_user": 0.03585657477378845,
165
- "heading_cos_composed": 0.9794721007347107,
166
- "collide_composed": 0.019123505800962448
167
- },
168
- {
169
- "step": 8000,
170
- "train": 0.08510423477739096,
171
- "skipped": 0,
172
- "val_fm": 0.10576890408992767,
173
- "chunk_collision_hidden": 0.004524887073785067,
174
- "chunk_collision_given": 0.007843137718737125,
175
- "chunk_collision_policy_hidden": 0.018745960667729378,
176
- "chunk_collision_policy_given": 0.016339870169758797,
177
- "heading_cos_none": 0.346583753824234,
178
- "collide_none": 0.2389240562915802,
179
- "heading_cos_user": 0.9332267642021179,
180
- "collide_user": 0.03401898965239525,
181
- "heading_cos_composed": 0.9763409495353699,
182
- "collide_composed": 0.017405062913894653
183
- },
184
- {
185
- "step": 9000,
186
- "train": 0.08285449116677046,
187
- "skipped": 0,
188
- "val_fm": 0.11300256848335266,
189
- "chunk_collision_hidden": 0.00665335962548852,
190
- "chunk_collision_given": 0.007175473030656576,
191
- "chunk_collision_policy_hidden": 0.01131071150302887,
192
- "chunk_collision_policy_given": 0.01304631493985653,
193
- "heading_cos_none": 0.3312128484249115,
194
- "collide_none": 0.19367589056491852,
195
- "heading_cos_user": 0.9343520998954773,
196
- "collide_user": 0.05059288442134857,
197
- "heading_cos_composed": 0.9759711623191833,
198
- "collide_composed": 0.012648221105337143
199
- },
200
- {
201
- "step": 10000,
202
- "train": 0.08104524528235198,
203
- "skipped": 0,
204
- "val_fm": 0.09602676331996918,
205
- "chunk_collision_hidden": 0.010101010091602802,
206
- "chunk_collision_given": 0.009216589853167534,
207
- "chunk_collision_policy_hidden": 0.020202020183205605,
208
- "chunk_collision_policy_given": 0.014483212493360043,
209
- "heading_cos_none": 0.36285439133644104,
210
- "collide_none": 0.22135008871555328,
211
- "heading_cos_user": 0.9279482960700989,
212
- "collide_user": 0.040816329419612885,
213
- "heading_cos_composed": 0.9766712188720703,
214
- "collide_composed": 0.013343799859285355
215
- },
216
- {
217
- "step": 11000,
218
- "train": 0.0788777506724,
219
- "skipped": 0,
220
- "val_fm": 0.09853850305080414,
221
- "chunk_collision_hidden": 0.006635700352489948,
222
- "chunk_collision_given": 0.00853018369525671,
223
- "chunk_collision_policy_hidden": 0.014598540030419827,
224
- "chunk_collision_policy_given": 0.010498687624931335,
225
- "heading_cos_none": 0.36289849877357483,
226
- "collide_none": 0.20408163964748383,
227
- "heading_cos_user": 0.929080069065094,
228
- "collide_user": 0.03453689068555832,
229
- "heading_cos_composed": 0.9774568676948547,
230
- "collide_composed": 0.020408164709806442
231
- },
232
- {
233
- "step": 12000,
234
- "train": 0.07732601984590291,
235
- "skipped": 0,
236
- "val_fm": 0.11934676766395569,
237
- "chunk_collision_hidden": 0.009548057802021503,
238
- "chunk_collision_given": 0.005232177674770355,
239
- "chunk_collision_policy_hidden": 0.015913430601358414,
240
- "chunk_collision_policy_given": 0.016350556164979935,
241
- "heading_cos_none": 0.343361496925354,
242
- "collide_none": 0.22901959717273712,
243
- "heading_cos_user": 0.9420753717422485,
244
- "collide_user": 0.0407843142747879,
245
- "heading_cos_composed": 0.979476809501648,
246
- "collide_composed": 0.013333332724869251
247
- },
248
- {
249
- "step": 13000,
250
- "train": 0.07536125933378934,
251
- "skipped": 0,
252
- "val_fm": 0.10569596290588379,
253
- "chunk_collision_hidden": 0.006468305364251137,
254
- "chunk_collision_given": 0.007858546450734138,
255
- "chunk_collision_policy_hidden": 0.011642949655652046,
256
- "chunk_collision_policy_given": 0.01833660714328289,
257
- "heading_cos_none": 0.35213330388069153,
258
- "collide_none": 0.2309505194425583,
259
- "heading_cos_user": 0.9309660792350769,
260
- "collide_user": 0.04320502653717995,
261
- "heading_cos_composed": 0.9752667546272278,
262
- "collide_composed": 0.016496464610099792
263
- },
264
- {
265
- "step": 14000,
266
- "train": 0.07423624569550157,
267
- "skipped": 0,
268
- "val_fm": 0.12897396087646484,
269
- "chunk_collision_hidden": 0.0071614584885537624,
270
- "chunk_collision_given": 0.01065246295183897,
271
- "chunk_collision_policy_hidden": 0.0182291679084301,
272
- "chunk_collision_policy_given": 0.01997336745262146,
273
- "heading_cos_none": 0.3602500557899475,
274
- "collide_none": 0.22945484519004822,
275
- "heading_cos_user": 0.9419472217559814,
276
- "collide_user": 0.03661513328552246,
277
- "heading_cos_composed": 0.9788076281547546,
278
- "collide_composed": 0.017087062820792198
279
- },
280
- {
281
- "step": 15000,
282
- "train": 0.07287550183013082,
283
- "skipped": 0,
284
- "val_fm": 0.09544284641742706,
285
- "chunk_collision_hidden": 0.00378310214728117,
286
- "chunk_collision_given": 0.0025789812207221985,
287
- "chunk_collision_policy_hidden": 0.020176544785499573,
288
- "chunk_collision_policy_given": 0.008381688967347145,
289
- "heading_cos_none": 0.3655482828617096,
290
- "collide_none": 0.22819313406944275,
291
- "heading_cos_user": 0.9377483129501343,
292
- "collide_user": 0.050623051822185516,
293
- "heading_cos_composed": 0.9794420599937439,
294
- "collide_composed": 0.018691588193178177
295
- },
296
- {
297
- "step": 16000,
298
- "train": 0.07183178516849875,
299
- "skipped": 0,
300
- "val_fm": 0.1154843121767044,
301
- "chunk_collision_hidden": 0.005844155792146921,
302
- "chunk_collision_given": 0.006485084071755409,
303
- "chunk_collision_policy_hidden": 0.009740259498357773,
304
- "chunk_collision_policy_given": 0.021400777623057365,
305
- "heading_cos_none": 0.349001944065094,
306
- "collide_none": 0.2222222238779068,
307
- "heading_cos_user": 0.9324841499328613,
308
- "collide_user": 0.04362139850854874,
309
- "heading_cos_composed": 0.9799500107765198,
310
- "collide_composed": 0.01316872425377369
311
- },
312
- {
313
- "step": 17000,
314
- "train": 0.07067850672081114,
315
- "skipped": 0,
316
- "val_fm": 0.12235074490308762,
317
- "chunk_collision_hidden": 0.004648074507713318,
318
- "chunk_collision_given": 0.009144349955022335,
319
- "chunk_collision_policy_hidden": 0.014608234167098999,
320
- "chunk_collision_policy_given": 0.01828869991004467,
321
- "heading_cos_none": 0.3470807671546936,
322
- "collide_none": 0.21491579711437225,
323
- "heading_cos_user": 0.9393222332000732,
324
- "collide_user": 0.04250200465321541,
325
- "heading_cos_composed": 0.9814716577529907,
326
- "collide_composed": 0.01443464308977127
327
- },
328
- {
329
- "step": 18000,
330
- "train": 0.07044217868894338,
331
- "skipped": 0,
332
- "val_fm": 0.1216103583574295,
333
- "chunk_collision_hidden": 0.003841229248791933,
334
- "chunk_collision_given": 0.0038143673446029425,
335
- "chunk_collision_policy_hidden": 0.019206145778298378,
336
- "chunk_collision_policy_given": 0.00826446246355772,
337
- "heading_cos_none": 0.3553515672683716,
338
- "collide_none": 0.2069236785173416,
339
- "heading_cos_user": 0.9421297311782837,
340
- "collide_user": 0.04327301308512688,
341
- "heading_cos_composed": 0.9853399991989136,
342
- "collide_composed": 0.00786782056093216
343
- },
344
- {
345
- "step": 19000,
346
- "train": 0.06960181725397706,
347
- "skipped": 0,
348
- "val_fm": 0.13035953044891357,
349
- "chunk_collision_hidden": 0.003926701843738556,
350
- "chunk_collision_given": 0.007343124598264694,
351
- "chunk_collision_policy_hidden": 0.016361257061362267,
352
- "chunk_collision_policy_given": 0.014018692076206207,
353
- "heading_cos_none": 0.3585105240345001,
354
- "collide_none": 0.2130470722913742,
355
- "heading_cos_user": 0.932969331741333,
356
- "collide_user": 0.03385631740093231,
357
- "heading_cos_composed": 0.9750106930732727,
358
- "collide_composed": 0.011560694314539433
359
- },
360
- {
361
- "step": 20000,
362
- "train": 0.06966306104511022,
363
- "skipped": 0,
364
- "val_fm": 0.11096267402172089,
365
- "chunk_collision_hidden": 0.007722008042037487,
366
- "chunk_collision_given": 0.006565988063812256,
367
- "chunk_collision_policy_hidden": 0.01673101633787155,
368
- "chunk_collision_policy_given": 0.014445174485445023,
369
- "heading_cos_none": 0.3163069486618042,
370
- "collide_none": 0.20979592204093933,
371
- "heading_cos_user": 0.9289010167121887,
372
- "collide_user": 0.03918367251753807,
373
- "heading_cos_composed": 0.973831832408905,
374
- "collide_composed": 0.009795918129384518
375
- }
376
- ]
377
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_wall_gap_n300_s3_with_gain025x/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:8f83497558aab450fd8d5d01153bcff097a0500420c8d4deaff9e4d7f0f4d46b
3
- size 1718965
 
 
 
 
adapters/grid_seeds/task_wall_gap_n300_s3_with_gain025x/train_log.json DELETED
@@ -1,377 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_wall_gap_n300_s3_with_gain025x",
5
- "model": null,
6
- "corruption": {
7
- "scale": [
8
- 0.25,
9
- 1.0
10
- ]
11
- },
12
- "obstacle": {
13
- "kind": "wall",
14
- "along": 0.5,
15
- "gap": 0.16,
16
- "gap_offset": 0.14,
17
- "radius": 0.015,
18
- "extent": 0.4,
19
- "side": "random"
20
- },
21
- "user_module": "grid_seeds/user_gain025x_expert_n100_s3",
22
- "lambda_field": 0.03,
23
- "sigma_min": 1.0,
24
- "sigma_max": 1.0,
25
- "closed_loop": null,
26
- "closed_loop_trials": 2000,
27
- "closed_loop_noise": 1.0,
28
- "closed_loop_depth": 6,
29
- "closed_loop_arm": "condition_grid.yaml",
30
- "closed_loop_time_limit": 5.0,
31
- "closed_loop_mix": 0.5,
32
- "p_free": 0.25,
33
- "goal_dropout": 0.25,
34
- "lambda_id": 0.001,
35
- "d": 128,
36
- "layers": 2,
37
- "targets": [
38
- 4,
39
- 4
40
- ],
41
- "reach": [
42
- 0.35,
43
- 0.5
44
- ],
45
- "n_demos": 300,
46
- "frozen_noise": true,
47
- "val_demos": 2000,
48
- "flow_steps": 10,
49
- "steps": 20000,
50
- "batch": 512,
51
- "lr": 0.001,
52
- "log_every": 1000,
53
- "seed": 3
54
- },
55
- "log": [
56
- {
57
- "step": 1000,
58
- "train": 0.1538522096052766,
59
- "skipped": 0,
60
- "val_fm": 0.07526953518390656,
61
- "chunk_collision_hidden": 0.009715025313198566,
62
- "chunk_collision_given": 0.017810028046369553,
63
- "chunk_collision_policy_hidden": 0.011010362766683102,
64
- "chunk_collision_policy_given": 0.01715039648115635,
65
- "heading_cos_none": 0.33361777663230896,
66
- "collide_none": 0.23964256048202515,
67
- "heading_cos_user": 0.9418835639953613,
68
- "collide_user": 0.039805036038160324,
69
- "heading_cos_composed": 0.9688474535942078,
70
- "collide_composed": 0.03655564412474632
71
- },
72
- {
73
- "step": 2000,
74
- "train": 0.11706279803067446,
75
- "skipped": 0,
76
- "val_fm": 0.08235574513673782,
77
- "chunk_collision_hidden": 0.010981912724673748,
78
- "chunk_collision_given": 0.009156310930848122,
79
- "chunk_collision_policy_hidden": 0.01744186133146286,
80
- "chunk_collision_policy_given": 0.009810333140194416,
81
- "heading_cos_none": 0.36675286293029785,
82
- "collide_none": 0.21417444944381714,
83
- "heading_cos_user": 0.940967857837677,
84
- "collide_user": 0.035825543105602264,
85
- "heading_cos_composed": 0.9759671092033386,
86
- "collide_composed": 0.03037383034825325
87
- },
88
- {
89
- "step": 3000,
90
- "train": 0.10528348223865032,
91
- "skipped": 0,
92
- "val_fm": 0.09226007759571075,
93
- "chunk_collision_hidden": 0.012265978381037712,
94
- "chunk_collision_given": 0.014896372333168983,
95
- "chunk_collision_policy_hidden": 0.014848289079964161,
96
- "chunk_collision_policy_given": 0.013601035811007023,
97
- "heading_cos_none": 0.35954582691192627,
98
- "collide_none": 0.23381878435611725,
99
- "heading_cos_user": 0.9338359236717224,
100
- "collide_user": 0.03802588954567909,
101
- "heading_cos_composed": 0.9734740853309631,
102
- "collide_composed": 0.024271845817565918
103
- },
104
- {
105
- "step": 4000,
106
- "train": 0.09846806153655052,
107
- "skipped": 0,
108
- "val_fm": 0.08516240864992142,
109
- "chunk_collision_hidden": 0.008419688791036606,
110
- "chunk_collision_given": 0.010533245280385017,
111
- "chunk_collision_policy_hidden": 0.008419688791036606,
112
- "chunk_collision_policy_given": 0.015141540206968784,
113
- "heading_cos_none": 0.3608261048793793,
114
- "collide_none": 0.22126661241054535,
115
- "heading_cos_user": 0.9428077340126038,
116
- "collide_user": 0.03440187871456146,
117
- "heading_cos_composed": 0.9771227836608887,
118
- "collide_composed": 0.014855355955660343
119
- },
120
- {
121
- "step": 5000,
122
- "train": 0.09452501851320266,
123
- "skipped": 0,
124
- "val_fm": 0.08588428050279617,
125
- "chunk_collision_hidden": 0.00770712923258543,
126
- "chunk_collision_given": 0.006518904585391283,
127
- "chunk_collision_policy_hidden": 0.016056519001722336,
128
- "chunk_collision_policy_given": 0.018904823809862137,
129
- "heading_cos_none": 0.34573081135749817,
130
- "collide_none": 0.22969837486743927,
131
- "heading_cos_user": 0.9313194155693054,
132
- "collide_user": 0.03712296858429909,
133
- "heading_cos_composed": 0.9796338081359863,
134
- "collide_composed": 0.02242846041917801
135
- },
136
- {
137
- "step": 6000,
138
- "train": 0.09060259177535772,
139
- "skipped": 0,
140
- "val_fm": 0.07225069403648376,
141
- "chunk_collision_hidden": 0.005663939751684666,
142
- "chunk_collision_given": 0.006447453051805496,
143
- "chunk_collision_policy_hidden": 0.016991818323731422,
144
- "chunk_collision_policy_given": 0.012894906103610992,
145
- "heading_cos_none": 0.34538549184799194,
146
- "collide_none": 0.23798076808452606,
147
- "heading_cos_user": 0.93487948179245,
148
- "collide_user": 0.048076923936605453,
149
- "heading_cos_composed": 0.9762334227561951,
150
- "collide_composed": 0.024038461968302727
151
- },
152
- {
153
- "step": 7000,
154
- "train": 0.08767528743296861,
155
- "skipped": 0,
156
- "val_fm": 0.08510110527276993,
157
- "chunk_collision_hidden": 0.009144349955022335,
158
- "chunk_collision_given": 0.0071428571827709675,
159
- "chunk_collision_policy_hidden": 0.012410189025104046,
160
- "chunk_collision_policy_given": 0.015584414824843407,
161
- "heading_cos_none": 0.32715439796447754,
162
- "collide_none": 0.23862729966640472,
163
- "heading_cos_user": 0.9393137693405151,
164
- "collide_user": 0.04150040075182915,
165
- "heading_cos_composed": 0.9783093929290771,
166
- "collide_composed": 0.016759777441620827
167
- },
168
- {
169
- "step": 8000,
170
- "train": 0.0851068252697587,
171
- "skipped": 0,
172
- "val_fm": 0.0951956957578659,
173
- "chunk_collision_hidden": 0.003908794838935137,
174
- "chunk_collision_given": 0.003944773226976395,
175
- "chunk_collision_policy_hidden": 0.011726384051144123,
176
- "chunk_collision_policy_given": 0.01512163132429123,
177
- "heading_cos_none": 0.37854820489883423,
178
- "collide_none": 0.22972972691059113,
179
- "heading_cos_user": 0.9364731311798096,
180
- "collide_user": 0.04451510310173035,
181
- "heading_cos_composed": 0.9785007834434509,
182
- "collide_composed": 0.01748807728290558
183
- },
184
- {
185
- "step": 9000,
186
- "train": 0.08291201128065587,
187
- "skipped": 0,
188
- "val_fm": 0.106006920337677,
189
- "chunk_collision_hidden": 0.006459948606789112,
190
- "chunk_collision_given": 0.0025510203558951616,
191
- "chunk_collision_policy_hidden": 0.01550387591123581,
192
- "chunk_collision_policy_given": 0.013392857275903225,
193
- "heading_cos_none": 0.351517915725708,
194
- "collide_none": 0.20336268842220306,
195
- "heading_cos_user": 0.939163088798523,
196
- "collide_user": 0.05044035241007805,
197
- "heading_cos_composed": 0.9837980270385742,
198
- "collide_composed": 0.012009607627987862
199
- },
200
- {
201
- "step": 10000,
202
- "train": 0.08103434576094151,
203
- "skipped": 0,
204
- "val_fm": 0.09903769195079803,
205
- "chunk_collision_hidden": 0.005836575757712126,
206
- "chunk_collision_given": 0.005747126415371895,
207
- "chunk_collision_policy_hidden": 0.016861218959093094,
208
- "chunk_collision_policy_given": 0.014048530720174313,
209
- "heading_cos_none": 0.3369356393814087,
210
- "collide_none": 0.2305271476507187,
211
- "heading_cos_user": 0.9381089806556702,
212
- "collide_user": 0.037765540182590485,
213
- "heading_cos_composed": 0.9791139960289001,
214
- "collide_composed": 0.011014948599040508
215
- },
216
- {
217
- "step": 11000,
218
- "train": 0.07902516806870699,
219
- "skipped": 0,
220
- "val_fm": 0.09672313183546066,
221
- "chunk_collision_hidden": 0.005085823126137257,
222
- "chunk_collision_given": 0.003957783803343773,
223
- "chunk_collision_policy_hidden": 0.014621741138398647,
224
- "chunk_collision_policy_given": 0.011873351410031319,
225
- "heading_cos_none": 0.37657493352890015,
226
- "collide_none": 0.21854305267333984,
227
- "heading_cos_user": 0.9464350342750549,
228
- "collide_user": 0.051324501633644104,
229
- "heading_cos_composed": 0.98000168800354,
230
- "collide_composed": 0.01821191981434822
231
- },
232
- {
233
- "step": 12000,
234
- "train": 0.07689468299597502,
235
- "skipped": 0,
236
- "val_fm": 0.11177879571914673,
237
- "chunk_collision_hidden": 0.006485084071755409,
238
- "chunk_collision_given": 0.0066006602719426155,
239
- "chunk_collision_policy_hidden": 0.01361867692321539,
240
- "chunk_collision_policy_given": 0.017161715775728226,
241
- "heading_cos_none": 0.3764015734195709,
242
- "collide_none": 0.23215685784816742,
243
- "heading_cos_user": 0.9378640055656433,
244
- "collide_user": 0.0470588244497776,
245
- "heading_cos_composed": 0.9777331352233887,
246
- "collide_composed": 0.0117647061124444
247
- },
248
- {
249
- "step": 13000,
250
- "train": 0.07531645590811968,
251
- "skipped": 0,
252
- "val_fm": 0.1051664799451828,
253
- "chunk_collision_hidden": 0.006540222093462944,
254
- "chunk_collision_given": 0.004495825618505478,
255
- "chunk_collision_policy_hidden": 0.018312621861696243,
256
- "chunk_collision_policy_given": 0.017341040074825287,
257
- "heading_cos_none": 0.36253228783607483,
258
- "collide_none": 0.22294023633003235,
259
- "heading_cos_user": 0.9347226023674011,
260
- "collide_user": 0.04442649707198143,
261
- "heading_cos_composed": 0.9766459465026855,
262
- "collide_composed": 0.014539580792188644
263
- },
264
- {
265
- "step": 14000,
266
- "train": 0.07391819903999566,
267
- "skipped": 0,
268
- "val_fm": 0.11240790039300919,
269
- "chunk_collision_hidden": 0.003970880061388016,
270
- "chunk_collision_given": 0.006535947788506746,
271
- "chunk_collision_policy_hidden": 0.012574453838169575,
272
- "chunk_collision_policy_given": 0.018300654366612434,
273
- "heading_cos_none": 0.349160760641098,
274
- "collide_none": 0.22057677805423737,
275
- "heading_cos_user": 0.9391648173332214,
276
- "collide_user": 0.04286827892065048,
277
- "heading_cos_composed": 0.9819415807723999,
278
- "collide_composed": 0.013250194489955902
279
- },
280
- {
281
- "step": 15000,
282
- "train": 0.07276159206405282,
283
- "skipped": 0,
284
- "val_fm": 0.12490744888782501,
285
- "chunk_collision_hidden": 0.00878293626010418,
286
- "chunk_collision_given": 0.0051085567101836205,
287
- "chunk_collision_policy_hidden": 0.016311166808009148,
288
- "chunk_collision_policy_given": 0.017241379246115685,
289
- "heading_cos_none": 0.3850158452987671,
290
- "collide_none": 0.2272000014781952,
291
- "heading_cos_user": 0.934798002243042,
292
- "collide_user": 0.035999998450279236,
293
- "heading_cos_composed": 0.9779723882675171,
294
- "collide_composed": 0.009599999524652958
295
- },
296
- {
297
- "step": 16000,
298
- "train": 0.07181302448734642,
299
- "skipped": 0,
300
- "val_fm": 0.12467655539512634,
301
- "chunk_collision_hidden": 0.00317460298538208,
302
- "chunk_collision_given": 0.0058139534667134285,
303
- "chunk_collision_policy_hidden": 0.0209523793309927,
304
- "chunk_collision_policy_given": 0.01550387591123581,
305
- "heading_cos_none": 0.33900171518325806,
306
- "collide_none": 0.22042138874530792,
307
- "heading_cos_user": 0.9410706758499146,
308
- "collide_user": 0.0356564000248909,
309
- "heading_cos_composed": 0.9817193746566772,
310
- "collide_composed": 0.006482982076704502
311
- },
312
- {
313
- "step": 17000,
314
- "train": 0.07056085093691945,
315
- "skipped": 0,
316
- "val_fm": 0.11277958750724792,
317
- "chunk_collision_hidden": 0.005154639016836882,
318
- "chunk_collision_given": 0.005204944871366024,
319
- "chunk_collision_policy_hidden": 0.01739690639078617,
320
- "chunk_collision_policy_given": 0.015614834614098072,
321
- "heading_cos_none": 0.3771129548549652,
322
- "collide_none": 0.22952085733413696,
323
- "heading_cos_user": 0.943450927734375,
324
- "collide_user": 0.03941267356276512,
325
- "heading_cos_composed": 0.986549973487854,
326
- "collide_composed": 0.011591962538659573
327
- },
328
- {
329
- "step": 18000,
330
- "train": 0.06994075952842832,
331
- "skipped": 0,
332
- "val_fm": 0.13188713788986206,
333
- "chunk_collision_hidden": 0.0019267823081463575,
334
- "chunk_collision_given": 0.0033003301359713078,
335
- "chunk_collision_policy_hidden": 0.010276172310113907,
336
- "chunk_collision_policy_given": 0.013201320543885231,
337
- "heading_cos_none": 0.3336254954338074,
338
- "collide_none": 0.20046620070934296,
339
- "heading_cos_user": 0.9417964816093445,
340
- "collide_user": 0.032634034752845764,
341
- "heading_cos_composed": 0.9817595481872559,
342
- "collide_composed": 0.008547008968889713
343
- },
344
- {
345
- "step": 19000,
346
- "train": 0.06966917092725634,
347
- "skipped": 0,
348
- "val_fm": 0.13066218793392181,
349
- "chunk_collision_hidden": 0.004563233349472284,
350
- "chunk_collision_given": 0.005921052768826485,
351
- "chunk_collision_policy_hidden": 0.011082137934863567,
352
- "chunk_collision_policy_given": 0.017763158306479454,
353
- "heading_cos_none": 0.36146020889282227,
354
- "collide_none": 0.2188006490468979,
355
- "heading_cos_user": 0.937034547328949,
356
- "collide_user": 0.042139384895563126,
357
- "heading_cos_composed": 0.9774048328399658,
358
- "collide_composed": 0.014586709439754486
359
- },
360
- {
361
- "step": 20000,
362
- "train": 0.0694188480898738,
363
- "skipped": 0,
364
- "val_fm": 0.14331936836242676,
365
- "chunk_collision_hidden": 0.0032722512260079384,
366
- "chunk_collision_given": 0.004569190554320812,
367
- "chunk_collision_policy_hidden": 0.016361257061362267,
368
- "chunk_collision_policy_given": 0.019582245498895645,
369
- "heading_cos_none": 0.35730618238449097,
370
- "collide_none": 0.22292490303516388,
371
- "heading_cos_user": 0.9323022961616516,
372
- "collide_user": 0.038735177367925644,
373
- "heading_cos_composed": 0.9758847951889038,
374
- "collide_composed": 0.013438735157251358
375
- }
376
- ]
377
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/task_wall_gap_n300_s4_with_gain025x/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:a08d598a5cf17ae2d5a07f4193663a75d1b683724746e8f2d23a646ea28a2930
3
- size 1718965
 
 
 
 
adapters/grid_seeds/task_wall_gap_n300_s4_with_gain025x/train_log.json DELETED
@@ -1,377 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "task",
4
- "name": "grid_seeds/task_wall_gap_n300_s4_with_gain025x",
5
- "model": null,
6
- "corruption": {
7
- "scale": [
8
- 0.25,
9
- 1.0
10
- ]
11
- },
12
- "obstacle": {
13
- "kind": "wall",
14
- "along": 0.5,
15
- "gap": 0.16,
16
- "gap_offset": 0.14,
17
- "radius": 0.015,
18
- "extent": 0.4,
19
- "side": "random"
20
- },
21
- "user_module": "grid_seeds/user_gain025x_expert_n100_s4",
22
- "lambda_field": 0.03,
23
- "sigma_min": 1.0,
24
- "sigma_max": 1.0,
25
- "closed_loop": null,
26
- "closed_loop_trials": 2000,
27
- "closed_loop_noise": 1.0,
28
- "closed_loop_depth": 6,
29
- "closed_loop_arm": "condition_grid.yaml",
30
- "closed_loop_time_limit": 5.0,
31
- "closed_loop_mix": 0.5,
32
- "p_free": 0.25,
33
- "goal_dropout": 0.25,
34
- "lambda_id": 0.001,
35
- "d": 128,
36
- "layers": 2,
37
- "targets": [
38
- 4,
39
- 4
40
- ],
41
- "reach": [
42
- 0.35,
43
- 0.5
44
- ],
45
- "n_demos": 300,
46
- "frozen_noise": true,
47
- "val_demos": 2000,
48
- "flow_steps": 10,
49
- "steps": 20000,
50
- "batch": 512,
51
- "lr": 0.001,
52
- "log_every": 1000,
53
- "seed": 4
54
- },
55
- "log": [
56
- {
57
- "step": 1000,
58
- "train": 0.15948625229299068,
59
- "skipped": 0,
60
- "val_fm": 0.08043109625577927,
61
- "chunk_collision_hidden": 0.011031797155737877,
62
- "chunk_collision_given": 0.014502306468784809,
63
- "chunk_collision_policy_hidden": 0.015574302524328232,
64
- "chunk_collision_policy_given": 0.019116677343845367,
65
- "heading_cos_none": 0.369642972946167,
66
- "collide_none": 0.20960000157356262,
67
- "heading_cos_user": 0.9459391236305237,
68
- "collide_user": 0.03920000046491623,
69
- "heading_cos_composed": 0.9709224104881287,
70
- "collide_composed": 0.035999998450279236
71
- },
72
- {
73
- "step": 2000,
74
- "train": 0.12270252046734095,
75
- "skipped": 0,
76
- "val_fm": 0.07611293345689774,
77
- "chunk_collision_hidden": 0.014771997928619385,
78
- "chunk_collision_given": 0.012234386056661606,
79
- "chunk_collision_policy_hidden": 0.013487475924193859,
80
- "chunk_collision_policy_given": 0.010946555063128471,
81
- "heading_cos_none": 0.3506790101528168,
82
- "collide_none": 0.23003952205181122,
83
- "heading_cos_user": 0.9374909996986389,
84
- "collide_user": 0.04110671952366829,
85
- "heading_cos_composed": 0.9691444635391235,
86
- "collide_composed": 0.025296442210674286
87
- },
88
- {
89
- "step": 3000,
90
- "train": 0.10930843918025493,
91
- "skipped": 0,
92
- "val_fm": 0.07852786779403687,
93
- "chunk_collision_hidden": 0.0058517553843557835,
94
- "chunk_collision_given": 0.007697242312133312,
95
- "chunk_collision_policy_hidden": 0.012353706173598766,
96
- "chunk_collision_policy_given": 0.014111610129475594,
97
- "heading_cos_none": 0.367482990026474,
98
- "collide_none": 0.22337870299816132,
99
- "heading_cos_user": 0.938947319984436,
100
- "collide_user": 0.049639709293842316,
101
- "heading_cos_composed": 0.9752650260925293,
102
- "collide_composed": 0.026421137154102325
103
- },
104
- {
105
- "step": 4000,
106
- "train": 0.10185768596827983,
107
- "skipped": 0,
108
- "val_fm": 0.08547578752040863,
109
- "chunk_collision_hidden": 0.007087628822773695,
110
- "chunk_collision_given": 0.007848266512155533,
111
- "chunk_collision_policy_hidden": 0.013530927710235119,
112
- "chunk_collision_policy_given": 0.013734466396272182,
113
- "heading_cos_none": 0.33907827734947205,
114
- "collide_none": 0.20700152218341827,
115
- "heading_cos_user": 0.9432504177093506,
116
- "collide_user": 0.03729071468114853,
117
- "heading_cos_composed": 0.9819950461387634,
118
- "collide_composed": 0.009132420644164085
119
- },
120
- {
121
- "step": 5000,
122
- "train": 0.09684992346912623,
123
- "skipped": 0,
124
- "val_fm": 0.07560166716575623,
125
- "chunk_collision_hidden": 0.0038860102649778128,
126
- "chunk_collision_given": 0.005710659548640251,
127
- "chunk_collision_policy_hidden": 0.012953367084264755,
128
- "chunk_collision_policy_given": 0.013324872590601444,
129
- "heading_cos_none": 0.3310422897338867,
130
- "collide_none": 0.22412388026714325,
131
- "heading_cos_user": 0.9438127279281616,
132
- "collide_user": 0.03911980241537094,
133
- "heading_cos_composed": 0.979744017124176,
134
- "collide_composed": 0.011409942992031574
135
- },
136
- {
137
- "step": 6000,
138
- "train": 0.09295424173772335,
139
- "skipped": 0,
140
- "val_fm": 0.0855291560292244,
141
- "chunk_collision_hidden": 0.005960265174508095,
142
- "chunk_collision_given": 0.007717041298747063,
143
- "chunk_collision_policy_hidden": 0.01192053034901619,
144
- "chunk_collision_policy_given": 0.019935689866542816,
145
- "heading_cos_none": 0.36323121190071106,
146
- "collide_none": 0.21174651384353638,
147
- "heading_cos_user": 0.9446427822113037,
148
- "collide_user": 0.03709428012371063,
149
- "heading_cos_composed": 0.9797316193580627,
150
- "collide_composed": 0.013137557543814182
151
- },
152
- {
153
- "step": 7000,
154
- "train": 0.08982874296605586,
155
- "skipped": 0,
156
- "val_fm": 0.09083276987075806,
157
- "chunk_collision_hidden": 0.015574302524328232,
158
- "chunk_collision_given": 0.005194805096834898,
159
- "chunk_collision_policy_hidden": 0.017521090805530548,
160
- "chunk_collision_policy_given": 0.01103896088898182,
161
- "heading_cos_none": 0.34196004271507263,
162
- "collide_none": 0.21691463887691498,
163
- "heading_cos_user": 0.9419410824775696,
164
- "collide_user": 0.0352388396859169,
165
- "heading_cos_composed": 0.9765533208847046,
166
- "collide_composed": 0.011746279895305634
167
- },
168
- {
169
- "step": 8000,
170
- "train": 0.08688610990345479,
171
- "skipped": 0,
172
- "val_fm": 0.08969929814338684,
173
- "chunk_collision_hidden": 0.006548788398504257,
174
- "chunk_collision_given": 0.003934426233172417,
175
- "chunk_collision_policy_hidden": 0.011787819676101208,
176
- "chunk_collision_policy_given": 0.010491803288459778,
177
- "heading_cos_none": 0.3446235656738281,
178
- "collide_none": 0.22706066071987152,
179
- "heading_cos_user": 0.9394791722297668,
180
- "collide_user": 0.03654743358492851,
181
- "heading_cos_composed": 0.983994722366333,
182
- "collide_composed": 0.012441679835319519
183
- },
184
- {
185
- "step": 9000,
186
- "train": 0.08432904981076718,
187
- "skipped": 0,
188
- "val_fm": 0.08864482492208481,
189
- "chunk_collision_hidden": 0.006506181322038174,
190
- "chunk_collision_given": 0.011082137934863567,
191
- "chunk_collision_policy_hidden": 0.012361744418740273,
192
- "chunk_collision_policy_given": 0.016949152573943138,
193
- "heading_cos_none": 0.36665618419647217,
194
- "collide_none": 0.246317520737648,
195
- "heading_cos_user": 0.9315829277038574,
196
- "collide_user": 0.04009820148348808,
197
- "heading_cos_composed": 0.9694260954856873,
198
- "collide_composed": 0.01391162071377039
199
- },
200
- {
201
- "step": 10000,
202
- "train": 0.08238620387017727,
203
- "skipped": 0,
204
- "val_fm": 0.09731177985668182,
205
- "chunk_collision_hidden": 0.006439150311052799,
206
- "chunk_collision_given": 0.01239399891346693,
207
- "chunk_collision_policy_hidden": 0.012234386056661606,
208
- "chunk_collision_policy_given": 0.015003262087702751,
209
- "heading_cos_none": 0.3621668517589569,
210
- "collide_none": 0.22506183385849,
211
- "heading_cos_user": 0.9422292113304138,
212
- "collide_user": 0.035449299961328506,
213
- "heading_cos_composed": 0.9780775904655457,
214
- "collide_composed": 0.014014839194715023
215
- },
216
- {
217
- "step": 11000,
218
- "train": 0.08011703047156334,
219
- "skipped": 0,
220
- "val_fm": 0.09393864870071411,
221
- "chunk_collision_hidden": 0.00853018369525671,
222
- "chunk_collision_given": 0.0038659791462123394,
223
- "chunk_collision_policy_hidden": 0.018372703343629837,
224
- "chunk_collision_policy_given": 0.01417525764554739,
225
- "heading_cos_none": 0.34604933857917786,
226
- "collide_none": 0.22169438004493713,
227
- "heading_cos_user": 0.9322993159294128,
228
- "collide_user": 0.0467141717672348,
229
- "heading_cos_composed": 0.9721024632453918,
230
- "collide_composed": 0.01821061037480831
231
- },
232
- {
233
- "step": 12000,
234
- "train": 0.07837557682394981,
235
- "skipped": 0,
236
- "val_fm": 0.09401243925094604,
237
- "chunk_collision_hidden": 0.007208388298749924,
238
- "chunk_collision_given": 0.005769230891019106,
239
- "chunk_collision_policy_hidden": 0.01834862492978573,
240
- "chunk_collision_policy_given": 0.014102564193308353,
241
- "heading_cos_none": 0.35380756855010986,
242
- "collide_none": 0.21132376790046692,
243
- "heading_cos_user": 0.9430222511291504,
244
- "collide_user": 0.03748006373643875,
245
- "heading_cos_composed": 0.9830610156059265,
246
- "collide_composed": 0.020733652636408806
247
- },
248
- {
249
- "step": 13000,
250
- "train": 0.0763699652440846,
251
- "skipped": 0,
252
- "val_fm": 0.09493900090456009,
253
- "chunk_collision_hidden": 0.003947368822991848,
254
- "chunk_collision_given": 0.005821474827826023,
255
- "chunk_collision_policy_hidden": 0.015131579712033272,
256
- "chunk_collision_policy_given": 0.0071151359006762505,
257
- "heading_cos_none": 0.35790562629699707,
258
- "collide_none": 0.22283901274204254,
259
- "heading_cos_user": 0.9434391260147095,
260
- "collide_user": 0.04203013330698013,
261
- "heading_cos_composed": 0.9776312708854675,
262
- "collide_composed": 0.011895321309566498
263
- },
264
- {
265
- "step": 14000,
266
- "train": 0.07528345236554741,
267
- "skipped": 0,
268
- "val_fm": 0.11457809805870056,
269
- "chunk_collision_hidden": 0.0025889966636896133,
270
- "chunk_collision_given": 0.006485084071755409,
271
- "chunk_collision_policy_hidden": 0.016828477382659912,
272
- "chunk_collision_policy_given": 0.01750972680747509,
273
- "heading_cos_none": 0.36473748087882996,
274
- "collide_none": 0.21978022158145905,
275
- "heading_cos_user": 0.9449869394302368,
276
- "collide_user": 0.051020409911870956,
277
- "heading_cos_composed": 0.9781630635261536,
278
- "collide_composed": 0.013343799859285355
279
- },
280
- {
281
- "step": 15000,
282
- "train": 0.07386254997178912,
283
- "skipped": 0,
284
- "val_fm": 0.11536374688148499,
285
- "chunk_collision_hidden": 0.00324886292219162,
286
- "chunk_collision_given": 0.008408796973526478,
287
- "chunk_collision_policy_hidden": 0.017543859779834747,
288
- "chunk_collision_policy_given": 0.012936610728502274,
289
- "heading_cos_none": 0.337869256734848,
290
- "collide_none": 0.24428683519363403,
291
- "heading_cos_user": 0.9425271153450012,
292
- "collide_user": 0.03703703731298447,
293
- "heading_cos_composed": 0.980288565158844,
294
- "collide_composed": 0.007092198356986046
295
- },
296
- {
297
- "step": 16000,
298
- "train": 0.07254930471628904,
299
- "skipped": 0,
300
- "val_fm": 0.1169898509979248,
301
- "chunk_collision_hidden": 0.005154639016836882,
302
- "chunk_collision_given": 0.0032552084885537624,
303
- "chunk_collision_policy_hidden": 0.012886597774922848,
304
- "chunk_collision_policy_given": 0.013671875,
305
- "heading_cos_none": 0.37449392676353455,
306
- "collide_none": 0.2618492543697357,
307
- "heading_cos_user": 0.9391176700592041,
308
- "collide_user": 0.03885003924369812,
309
- "heading_cos_composed": 0.9778679013252258,
310
- "collide_composed": 0.015540015883743763
311
- },
312
- {
313
- "step": 17000,
314
- "train": 0.07145699251443148,
315
- "skipped": 0,
316
- "val_fm": 0.10645567625761032,
317
- "chunk_collision_hidden": 0.005905511789023876,
318
- "chunk_collision_given": 0.009150327183306217,
319
- "chunk_collision_policy_hidden": 0.01706036739051342,
320
- "chunk_collision_policy_given": 0.014379085041582584,
321
- "heading_cos_none": 0.33664825558662415,
322
- "collide_none": 0.21957039833068848,
323
- "heading_cos_user": 0.9447875618934631,
324
- "collide_user": 0.0397772453725338,
325
- "heading_cos_composed": 0.9797664284706116,
326
- "collide_composed": 0.012728719040751457
327
- },
328
- {
329
- "step": 18000,
330
- "train": 0.07106041805818678,
331
- "skipped": 0,
332
- "val_fm": 0.11695575714111328,
333
- "chunk_collision_hidden": 0.0071013555862009525,
334
- "chunk_collision_given": 0.004521964117884636,
335
- "chunk_collision_policy_hidden": 0.016785021871328354,
336
- "chunk_collision_policy_given": 0.016149871051311493,
337
- "heading_cos_none": 0.3419898450374603,
338
- "collide_none": 0.22990353405475616,
339
- "heading_cos_user": 0.9395627975463867,
340
- "collide_user": 0.036173634231090546,
341
- "heading_cos_composed": 0.9775120615959167,
342
- "collide_composed": 0.009646302089095116
343
- },
344
- {
345
- "step": 19000,
346
- "train": 0.07015879559144378,
347
- "skipped": 0,
348
- "val_fm": 0.12254644185304642,
349
- "chunk_collision_hidden": 0.006418485194444656,
350
- "chunk_collision_given": 0.004581151995807886,
351
- "chunk_collision_policy_hidden": 0.01604621298611164,
352
- "chunk_collision_policy_given": 0.014397906139492989,
353
- "heading_cos_none": 0.37307053804397583,
354
- "collide_none": 0.2168387621641159,
355
- "heading_cos_user": 0.9361550807952881,
356
- "collide_user": 0.041302621364593506,
357
- "heading_cos_composed": 0.9725520014762878,
358
- "collide_composed": 0.016679905354976654
359
- },
360
- {
361
- "step": 20000,
362
- "train": 0.07026002050936223,
363
- "skipped": 0,
364
- "val_fm": 0.11745535582304001,
365
- "chunk_collision_hidden": 0.0038885287940502167,
366
- "chunk_collision_given": 0.005319148767739534,
367
- "chunk_collision_policy_hidden": 0.01296176202595234,
368
- "chunk_collision_policy_given": 0.019946807995438576,
369
- "heading_cos_none": 0.37298232316970825,
370
- "collide_none": 0.2167721539735794,
371
- "heading_cos_user": 0.9411281943321228,
372
- "collide_user": 0.032436709851026535,
373
- "heading_cos_composed": 0.9794301986694336,
374
- "collide_composed": 0.009493671357631683
375
- }
376
- ]
377
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s1/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:ab536e9070b203801ddfa466accb6d3af99f0ae718311cffe0517bb8569337a6
3
- size 432377
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s1/train_log.json DELETED
@@ -1,117 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "user",
4
- "name": "grid_seeds/user_curl20_expert_n100_s1",
5
- "model": null,
6
- "corruption": {
7
- "curl": 20,
8
- "tau": 0.1
9
- },
10
- "obstacle": null,
11
- "user_module": null,
12
- "lambda_field": 0.03,
13
- "sigma_min": 1.0,
14
- "sigma_max": 1.0,
15
- "closed_loop": null,
16
- "closed_loop_trials": 2000,
17
- "closed_loop_noise": 1.0,
18
- "closed_loop_depth": 6,
19
- "closed_loop_arm": "condition_grid.yaml",
20
- "closed_loop_time_limit": 5.0,
21
- "closed_loop_mix": 0.5,
22
- "p_free": 0.25,
23
- "goal_dropout": 0.25,
24
- "lambda_id": 0.001,
25
- "d": 128,
26
- "layers": 2,
27
- "targets": [
28
- 4,
29
- 4
30
- ],
31
- "reach": [
32
- 0.35,
33
- 0.5
34
- ],
35
- "n_demos": 100,
36
- "frozen_noise": true,
37
- "val_demos": 2000,
38
- "flow_steps": 10,
39
- "steps": 500,
40
- "batch": 512,
41
- "lr": 0.001,
42
- "log_every": 50,
43
- "seed": 1
44
- },
45
- "log": [
46
- {
47
- "step": 50,
48
- "train": 2.6820472145080565,
49
- "skipped": 0,
50
- "heading_cos_none": 0.22130583226680756,
51
- "heading_cos_user": 0.9473508596420288
52
- },
53
- {
54
- "step": 100,
55
- "train": 1.7837070322036743,
56
- "skipped": 0,
57
- "heading_cos_none": 0.18875418603420258,
58
- "heading_cos_user": 0.9620261192321777
59
- },
60
- {
61
- "step": 150,
62
- "train": 1.7375988101959228,
63
- "skipped": 0,
64
- "heading_cos_none": 0.1949770599603653,
65
- "heading_cos_user": 0.9604933261871338
66
- },
67
- {
68
- "step": 200,
69
- "train": 1.6812953758239746,
70
- "skipped": 0,
71
- "heading_cos_none": 0.20191451907157898,
72
- "heading_cos_user": 0.9617041349411011
73
- },
74
- {
75
- "step": 250,
76
- "train": 1.6417303609848022,
77
- "skipped": 0,
78
- "heading_cos_none": 0.19047904014587402,
79
- "heading_cos_user": 0.9653880000114441
80
- },
81
- {
82
- "step": 300,
83
- "train": 1.6208370518684387,
84
- "skipped": 0,
85
- "heading_cos_none": 0.18663927912712097,
86
- "heading_cos_user": 0.9595578908920288
87
- },
88
- {
89
- "step": 350,
90
- "train": 1.6049990940093994,
91
- "skipped": 0,
92
- "heading_cos_none": 0.19834516942501068,
93
- "heading_cos_user": 0.9627862572669983
94
- },
95
- {
96
- "step": 400,
97
- "train": 1.5992667579650879,
98
- "skipped": 0,
99
- "heading_cos_none": 0.2023240476846695,
100
- "heading_cos_user": 0.9667535424232483
101
- },
102
- {
103
- "step": 450,
104
- "train": 1.6061451387405397,
105
- "skipped": 0,
106
- "heading_cos_none": 0.2193833738565445,
107
- "heading_cos_user": 0.9704192280769348
108
- },
109
- {
110
- "step": 500,
111
- "train": 1.585502016544342,
112
- "skipped": 0,
113
- "heading_cos_none": 0.18743996322155,
114
- "heading_cos_user": 0.9716836214065552
115
- }
116
- ]
117
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s1_on_disc_large/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:2f82ef9e0c9b6fd7daf1b55fac25f4a9bc3369c915adba53cb6234039d89f243
3
- size 432441
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s1_on_disc_large/train_log.json DELETED
@@ -1,117 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "user",
4
- "name": "grid_seeds/user_curl20_expert_n100_s1_on_disc_large",
5
- "model": "flow_goaldrop_disc_large",
6
- "corruption": {
7
- "curl": 20,
8
- "tau": 0.1
9
- },
10
- "obstacle": null,
11
- "user_module": null,
12
- "lambda_field": 0.03,
13
- "sigma_min": 1.0,
14
- "sigma_max": 1.0,
15
- "closed_loop": null,
16
- "closed_loop_trials": 2000,
17
- "closed_loop_noise": 1.0,
18
- "closed_loop_depth": 6,
19
- "closed_loop_arm": "condition_grid.yaml",
20
- "closed_loop_time_limit": 5.0,
21
- "closed_loop_mix": 0.5,
22
- "p_free": 0.25,
23
- "goal_dropout": 0.25,
24
- "lambda_id": 0.001,
25
- "d": 128,
26
- "layers": 2,
27
- "targets": [
28
- 4,
29
- 4
30
- ],
31
- "reach": [
32
- 0.35,
33
- 0.5
34
- ],
35
- "n_demos": 100,
36
- "frozen_noise": true,
37
- "val_demos": 2000,
38
- "flow_steps": 10,
39
- "steps": 500,
40
- "batch": 512,
41
- "lr": 0.001,
42
- "log_every": 50,
43
- "seed": 1
44
- },
45
- "log": [
46
- {
47
- "step": 50,
48
- "train": 3.5806227636337282,
49
- "skipped": 0,
50
- "heading_cos_none": 0.20659494400024414,
51
- "heading_cos_user": 0.6121340990066528
52
- },
53
- {
54
- "step": 100,
55
- "train": 2.871457028388977,
56
- "skipped": 0,
57
- "heading_cos_none": 0.1786479949951172,
58
- "heading_cos_user": 0.6034185886383057
59
- },
60
- {
61
- "step": 150,
62
- "train": 2.8032716608047483,
63
- "skipped": 0,
64
- "heading_cos_none": 0.18360795080661774,
65
- "heading_cos_user": 0.6438625454902649
66
- },
67
- {
68
- "step": 200,
69
- "train": 2.724787893295288,
70
- "skipped": 0,
71
- "heading_cos_none": 0.18661870062351227,
72
- "heading_cos_user": 0.6697269678115845
73
- },
74
- {
75
- "step": 250,
76
- "train": 2.700332384109497,
77
- "skipped": 0,
78
- "heading_cos_none": 0.17506366968154907,
79
- "heading_cos_user": 0.6656084060668945
80
- },
81
- {
82
- "step": 300,
83
- "train": 2.6981365489959717,
84
- "skipped": 0,
85
- "heading_cos_none": 0.17534053325653076,
86
- "heading_cos_user": 0.6667613387107849
87
- },
88
- {
89
- "step": 350,
90
- "train": 2.6669178867340086,
91
- "skipped": 0,
92
- "heading_cos_none": 0.18412421643733978,
93
- "heading_cos_user": 0.6796112656593323
94
- },
95
- {
96
- "step": 400,
97
- "train": 2.6656190156936646,
98
- "skipped": 0,
99
- "heading_cos_none": 0.19235368072986603,
100
- "heading_cos_user": 0.72640061378479
101
- },
102
- {
103
- "step": 450,
104
- "train": 2.6674655866622925,
105
- "skipped": 0,
106
- "heading_cos_none": 0.2011066973209381,
107
- "heading_cos_user": 0.7123358249664307
108
- },
109
- {
110
- "step": 500,
111
- "train": 2.6445586252212525,
112
- "skipped": 0,
113
- "heading_cos_none": 0.1748408079147339,
114
- "heading_cos_user": 0.6938213109970093
115
- }
116
- ]
117
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s1_on_ring_goal/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:c009052ba5df872b76930e0bf664b44db8688f68e030700afae0e98e621e0c27
3
- size 432441
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s1_on_ring_goal/train_log.json DELETED
@@ -1,117 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "user",
4
- "name": "grid_seeds/user_curl20_expert_n100_s1_on_ring_goal",
5
- "model": "flow_goaldrop_ring_goal",
6
- "corruption": {
7
- "curl": 20,
8
- "tau": 0.1
9
- },
10
- "obstacle": null,
11
- "user_module": null,
12
- "lambda_field": 0.03,
13
- "sigma_min": 1.0,
14
- "sigma_max": 1.0,
15
- "closed_loop": null,
16
- "closed_loop_trials": 2000,
17
- "closed_loop_noise": 1.0,
18
- "closed_loop_depth": 6,
19
- "closed_loop_arm": "condition_grid.yaml",
20
- "closed_loop_time_limit": 5.0,
21
- "closed_loop_mix": 0.5,
22
- "p_free": 0.25,
23
- "goal_dropout": 0.25,
24
- "lambda_id": 0.001,
25
- "d": 128,
26
- "layers": 2,
27
- "targets": [
28
- 4,
29
- 4
30
- ],
31
- "reach": [
32
- 0.35,
33
- 0.5
34
- ],
35
- "n_demos": 100,
36
- "frozen_noise": true,
37
- "val_demos": 2000,
38
- "flow_steps": 10,
39
- "steps": 500,
40
- "batch": 512,
41
- "lr": 0.001,
42
- "log_every": 50,
43
- "seed": 1
44
- },
45
- "log": [
46
- {
47
- "step": 50,
48
- "train": 3.3619397926330565,
49
- "skipped": 0,
50
- "heading_cos_none": 0.22979100048542023,
51
- "heading_cos_user": 0.8644920587539673
52
- },
53
- {
54
- "step": 100,
55
- "train": 2.454150891304016,
56
- "skipped": 0,
57
- "heading_cos_none": 0.20033444464206696,
58
- "heading_cos_user": 0.8682886958122253
59
- },
60
- {
61
- "step": 150,
62
- "train": 2.384919366836548,
63
- "skipped": 0,
64
- "heading_cos_none": 0.19999264180660248,
65
- "heading_cos_user": 0.9003289341926575
66
- },
67
- {
68
- "step": 200,
69
- "train": 2.2900576782226563,
70
- "skipped": 0,
71
- "heading_cos_none": 0.20700731873512268,
72
- "heading_cos_user": 0.9142784476280212
73
- },
74
- {
75
- "step": 250,
76
- "train": 2.239709944725037,
77
- "skipped": 0,
78
- "heading_cos_none": 0.19289742410182953,
79
- "heading_cos_user": 0.9294599890708923
80
- },
81
- {
82
- "step": 300,
83
- "train": 2.236136727333069,
84
- "skipped": 0,
85
- "heading_cos_none": 0.19540607929229736,
86
- "heading_cos_user": 0.9220514297485352
87
- },
88
- {
89
- "step": 350,
90
- "train": 2.222921762466431,
91
- "skipped": 0,
92
- "heading_cos_none": 0.2090158611536026,
93
- "heading_cos_user": 0.9221855998039246
94
- },
95
- {
96
- "step": 400,
97
- "train": 2.2117520809173583,
98
- "skipped": 0,
99
- "heading_cos_none": 0.2132752239704132,
100
- "heading_cos_user": 0.933313250541687
101
- },
102
- {
103
- "step": 450,
104
- "train": 2.2048688340187073,
105
- "skipped": 0,
106
- "heading_cos_none": 0.2196497619152069,
107
- "heading_cos_user": 0.9318711161613464
108
- },
109
- {
110
- "step": 500,
111
- "train": 2.179218556880951,
112
- "skipped": 0,
113
- "heading_cos_none": 0.19101299345493317,
114
- "heading_cos_user": 0.9356929659843445
115
- }
116
- ]
117
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s1_on_ring_start/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:23fa58c7afb2b7c9035f377255db6adc43bd71ac38a7f3b5f578b27adbab8cee
3
- size 432441
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s1_on_ring_start/train_log.json DELETED
@@ -1,117 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "user",
4
- "name": "grid_seeds/user_curl20_expert_n100_s1_on_ring_start",
5
- "model": "flow_goaldrop_ring_start",
6
- "corruption": {
7
- "curl": 20,
8
- "tau": 0.1
9
- },
10
- "obstacle": null,
11
- "user_module": null,
12
- "lambda_field": 0.03,
13
- "sigma_min": 1.0,
14
- "sigma_max": 1.0,
15
- "closed_loop": null,
16
- "closed_loop_trials": 2000,
17
- "closed_loop_noise": 1.0,
18
- "closed_loop_depth": 6,
19
- "closed_loop_arm": "condition_grid.yaml",
20
- "closed_loop_time_limit": 5.0,
21
- "closed_loop_mix": 0.5,
22
- "p_free": 0.25,
23
- "goal_dropout": 0.25,
24
- "lambda_id": 0.001,
25
- "d": 128,
26
- "layers": 2,
27
- "targets": [
28
- 4,
29
- 4
30
- ],
31
- "reach": [
32
- 0.35,
33
- 0.5
34
- ],
35
- "n_demos": 100,
36
- "frozen_noise": true,
37
- "val_demos": 2000,
38
- "flow_steps": 10,
39
- "steps": 500,
40
- "batch": 512,
41
- "lr": 0.001,
42
- "log_every": 50,
43
- "seed": 1
44
- },
45
- "log": [
46
- {
47
- "step": 50,
48
- "train": 3.2980982780456545,
49
- "skipped": 0,
50
- "heading_cos_none": 0.21166229248046875,
51
- "heading_cos_user": 0.7745699882507324
52
- },
53
- {
54
- "step": 100,
55
- "train": 2.430912194252014,
56
- "skipped": 0,
57
- "heading_cos_none": 0.18785753846168518,
58
- "heading_cos_user": 0.7708653211593628
59
- },
60
- {
61
- "step": 150,
62
- "train": 2.3770239782333373,
63
- "skipped": 0,
64
- "heading_cos_none": 0.1859193593263626,
65
- "heading_cos_user": 0.7859776616096497
66
- },
67
- {
68
- "step": 200,
69
- "train": 2.318023042678833,
70
- "skipped": 0,
71
- "heading_cos_none": 0.19496914744377136,
72
- "heading_cos_user": 0.8053346872329712
73
- },
74
- {
75
- "step": 250,
76
- "train": 2.276538372039795,
77
- "skipped": 0,
78
- "heading_cos_none": 0.1803881675004959,
79
- "heading_cos_user": 0.8072904944419861
80
- },
81
- {
82
- "step": 300,
83
- "train": 2.2617239856719973,
84
- "skipped": 0,
85
- "heading_cos_none": 0.18554195761680603,
86
- "heading_cos_user": 0.7997340559959412
87
- },
88
- {
89
- "step": 350,
90
- "train": 2.24672278881073,
91
- "skipped": 0,
92
- "heading_cos_none": 0.19446851313114166,
93
- "heading_cos_user": 0.820878803730011
94
- },
95
- {
96
- "step": 400,
97
- "train": 2.2404172611236572,
98
- "skipped": 0,
99
- "heading_cos_none": 0.19900080561637878,
100
- "heading_cos_user": 0.8386409282684326
101
- },
102
- {
103
- "step": 450,
104
- "train": 2.2372442579269407,
105
- "skipped": 0,
106
- "heading_cos_none": 0.2102578729391098,
107
- "heading_cos_user": 0.842998743057251
108
- },
109
- {
110
- "step": 500,
111
- "train": 2.2238882064819334,
112
- "skipped": 0,
113
- "heading_cos_none": 0.17889077961444855,
114
- "heading_cos_user": 0.8260906338691711
115
- }
116
- ]
117
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s1_on_wall_gap/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:e7917b309d080120b4e765321af95424b8db1cde22be785ccacc1269da3c8d91
3
- size 432441
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s1_on_wall_gap/train_log.json DELETED
@@ -1,117 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "user",
4
- "name": "grid_seeds/user_curl20_expert_n100_s1_on_wall_gap",
5
- "model": "flow_goaldrop_wall_gap",
6
- "corruption": {
7
- "curl": 20,
8
- "tau": 0.1
9
- },
10
- "obstacle": null,
11
- "user_module": null,
12
- "lambda_field": 0.03,
13
- "sigma_min": 1.0,
14
- "sigma_max": 1.0,
15
- "closed_loop": null,
16
- "closed_loop_trials": 2000,
17
- "closed_loop_noise": 1.0,
18
- "closed_loop_depth": 6,
19
- "closed_loop_arm": "condition_grid.yaml",
20
- "closed_loop_time_limit": 5.0,
21
- "closed_loop_mix": 0.5,
22
- "p_free": 0.25,
23
- "goal_dropout": 0.25,
24
- "lambda_id": 0.001,
25
- "d": 128,
26
- "layers": 2,
27
- "targets": [
28
- 4,
29
- 4
30
- ],
31
- "reach": [
32
- 0.35,
33
- 0.5
34
- ],
35
- "n_demos": 100,
36
- "frozen_noise": true,
37
- "val_demos": 2000,
38
- "flow_steps": 10,
39
- "steps": 500,
40
- "batch": 512,
41
- "lr": 0.001,
42
- "log_every": 50,
43
- "seed": 1
44
- },
45
- "log": [
46
- {
47
- "step": 50,
48
- "train": 3.9222169971466063,
49
- "skipped": 0,
50
- "heading_cos_none": 0.22192071378231049,
51
- "heading_cos_user": 0.8287568688392639
52
- },
53
- {
54
- "step": 100,
55
- "train": 2.9736359214782713,
56
- "skipped": 0,
57
- "heading_cos_none": 0.1899706870317459,
58
- "heading_cos_user": 0.8390403389930725
59
- },
60
- {
61
- "step": 150,
62
- "train": 2.8756469297409057,
63
- "skipped": 0,
64
- "heading_cos_none": 0.1912759691476822,
65
- "heading_cos_user": 0.879209578037262
66
- },
67
- {
68
- "step": 200,
69
- "train": 2.7585082626342774,
70
- "skipped": 0,
71
- "heading_cos_none": 0.20280931890010834,
72
- "heading_cos_user": 0.8927874565124512
73
- },
74
- {
75
- "step": 250,
76
- "train": 2.720419421195984,
77
- "skipped": 0,
78
- "heading_cos_none": 0.18886889517307281,
79
- "heading_cos_user": 0.8946154117584229
80
- },
81
- {
82
- "step": 300,
83
- "train": 2.722742419242859,
84
- "skipped": 0,
85
- "heading_cos_none": 0.1852097362279892,
86
- "heading_cos_user": 0.8954492211341858
87
- },
88
- {
89
- "step": 350,
90
- "train": 2.704655590057373,
91
- "skipped": 0,
92
- "heading_cos_none": 0.19472071528434753,
93
- "heading_cos_user": 0.9074571132659912
94
- },
95
- {
96
- "step": 400,
97
- "train": 2.6868659925460814,
98
- "skipped": 0,
99
- "heading_cos_none": 0.20351900160312653,
100
- "heading_cos_user": 0.9112272262573242
101
- },
102
- {
103
- "step": 450,
104
- "train": 2.6922262477874757,
105
- "skipped": 0,
106
- "heading_cos_none": 0.21374636888504028,
107
- "heading_cos_user": 0.9203479290008545
108
- },
109
- {
110
- "step": 500,
111
- "train": 2.6598151445388796,
112
- "skipped": 0,
113
- "heading_cos_none": 0.18234862387180328,
114
- "heading_cos_user": 0.9117584824562073
115
- }
116
- ]
117
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s2/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:ebf141fd36794d8689de3a2e80e4f7e84a9d8474f4e30aad63c111ea53d94fd8
3
- size 432377
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s2/train_log.json DELETED
@@ -1,117 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "user",
4
- "name": "grid_seeds/user_curl20_expert_n100_s2",
5
- "model": null,
6
- "corruption": {
7
- "curl": 20,
8
- "tau": 0.1
9
- },
10
- "obstacle": null,
11
- "user_module": null,
12
- "lambda_field": 0.03,
13
- "sigma_min": 1.0,
14
- "sigma_max": 1.0,
15
- "closed_loop": null,
16
- "closed_loop_trials": 2000,
17
- "closed_loop_noise": 1.0,
18
- "closed_loop_depth": 6,
19
- "closed_loop_arm": "condition_grid.yaml",
20
- "closed_loop_time_limit": 5.0,
21
- "closed_loop_mix": 0.5,
22
- "p_free": 0.25,
23
- "goal_dropout": 0.25,
24
- "lambda_id": 0.001,
25
- "d": 128,
26
- "layers": 2,
27
- "targets": [
28
- 4,
29
- 4
30
- ],
31
- "reach": [
32
- 0.35,
33
- 0.5
34
- ],
35
- "n_demos": 100,
36
- "frozen_noise": true,
37
- "val_demos": 2000,
38
- "flow_steps": 10,
39
- "steps": 500,
40
- "batch": 512,
41
- "lr": 0.001,
42
- "log_every": 50,
43
- "seed": 2
44
- },
45
- "log": [
46
- {
47
- "step": 50,
48
- "train": 2.7752675223350525,
49
- "skipped": 0,
50
- "heading_cos_none": 0.16498669981956482,
51
- "heading_cos_user": 0.9603407979011536
52
- },
53
- {
54
- "step": 100,
55
- "train": 1.780648889541626,
56
- "skipped": 0,
57
- "heading_cos_none": 0.20281757414340973,
58
- "heading_cos_user": 0.9432907700538635
59
- },
60
- {
61
- "step": 150,
62
- "train": 1.730183391571045,
63
- "skipped": 0,
64
- "heading_cos_none": 0.17233054339885712,
65
- "heading_cos_user": 0.9569674134254456
66
- },
67
- {
68
- "step": 200,
69
- "train": 1.6638463854789733,
70
- "skipped": 0,
71
- "heading_cos_none": 0.1869438886642456,
72
- "heading_cos_user": 0.9647426009178162
73
- },
74
- {
75
- "step": 250,
76
- "train": 1.6323648619651794,
77
- "skipped": 0,
78
- "heading_cos_none": 0.19588600099086761,
79
- "heading_cos_user": 0.9757800698280334
80
- },
81
- {
82
- "step": 300,
83
- "train": 1.6138427615165711,
84
- "skipped": 0,
85
- "heading_cos_none": 0.20168080925941467,
86
- "heading_cos_user": 0.9593112468719482
87
- },
88
- {
89
- "step": 350,
90
- "train": 1.592862570285797,
91
- "skipped": 0,
92
- "heading_cos_none": 0.2118028849363327,
93
- "heading_cos_user": 0.9699540138244629
94
- },
95
- {
96
- "step": 400,
97
- "train": 1.5758615159988403,
98
- "skipped": 0,
99
- "heading_cos_none": 0.18303298950195312,
100
- "heading_cos_user": 0.9686499834060669
101
- },
102
- {
103
- "step": 450,
104
- "train": 1.5899892115592957,
105
- "skipped": 0,
106
- "heading_cos_none": 0.1768377721309662,
107
- "heading_cos_user": 0.9700000882148743
108
- },
109
- {
110
- "step": 500,
111
- "train": 1.5826536369323732,
112
- "skipped": 0,
113
- "heading_cos_none": 0.17479947209358215,
114
- "heading_cos_user": 0.9709562659263611
115
- }
116
- ]
117
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s2_on_disc_large/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:318be259233829acb1625313585d4422ae46949dcbb6fd9e88c4eca6c58f5439
3
- size 432441
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s2_on_disc_large/train_log.json DELETED
@@ -1,117 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "user",
4
- "name": "grid_seeds/user_curl20_expert_n100_s2_on_disc_large",
5
- "model": "flow_goaldrop_disc_large",
6
- "corruption": {
7
- "curl": 20,
8
- "tau": 0.1
9
- },
10
- "obstacle": null,
11
- "user_module": null,
12
- "lambda_field": 0.03,
13
- "sigma_min": 1.0,
14
- "sigma_max": 1.0,
15
- "closed_loop": null,
16
- "closed_loop_trials": 2000,
17
- "closed_loop_noise": 1.0,
18
- "closed_loop_depth": 6,
19
- "closed_loop_arm": "condition_grid.yaml",
20
- "closed_loop_time_limit": 5.0,
21
- "closed_loop_mix": 0.5,
22
- "p_free": 0.25,
23
- "goal_dropout": 0.25,
24
- "lambda_id": 0.001,
25
- "d": 128,
26
- "layers": 2,
27
- "targets": [
28
- 4,
29
- 4
30
- ],
31
- "reach": [
32
- 0.35,
33
- 0.5
34
- ],
35
- "n_demos": 100,
36
- "frozen_noise": true,
37
- "val_demos": 2000,
38
- "flow_steps": 10,
39
- "steps": 500,
40
- "batch": 512,
41
- "lr": 0.001,
42
- "log_every": 50,
43
- "seed": 2
44
- },
45
- "log": [
46
- {
47
- "step": 50,
48
- "train": 3.6980685234069823,
49
- "skipped": 0,
50
- "heading_cos_none": 0.1484440416097641,
51
- "heading_cos_user": 0.615039587020874
52
- },
53
- {
54
- "step": 100,
55
- "train": 2.8959762334823607,
56
- "skipped": 0,
57
- "heading_cos_none": 0.18946722149848938,
58
- "heading_cos_user": 0.6252905130386353
59
- },
60
- {
61
- "step": 150,
62
- "train": 2.811005711555481,
63
- "skipped": 0,
64
- "heading_cos_none": 0.16318106651306152,
65
- "heading_cos_user": 0.6402618288993835
66
- },
67
- {
68
- "step": 200,
69
- "train": 2.7887136697769166,
70
- "skipped": 0,
71
- "heading_cos_none": 0.16851799190044403,
72
- "heading_cos_user": 0.6722111105918884
73
- },
74
- {
75
- "step": 250,
76
- "train": 2.7391816568374634,
77
- "skipped": 0,
78
- "heading_cos_none": 0.18294073641300201,
79
- "heading_cos_user": 0.6964374780654907
80
- },
81
- {
82
- "step": 300,
83
- "train": 2.7058420276641844,
84
- "skipped": 0,
85
- "heading_cos_none": 0.18727272748947144,
86
- "heading_cos_user": 0.6700103282928467
87
- },
88
- {
89
- "step": 350,
90
- "train": 2.695281438827515,
91
- "skipped": 0,
92
- "heading_cos_none": 0.1981082409620285,
93
- "heading_cos_user": 0.7167393565177917
94
- },
95
- {
96
- "step": 400,
97
- "train": 2.6627039957046508,
98
- "skipped": 0,
99
- "heading_cos_none": 0.17112483084201813,
100
- "heading_cos_user": 0.6902993321418762
101
- },
102
- {
103
- "step": 450,
104
- "train": 2.6982550525665285,
105
- "skipped": 0,
106
- "heading_cos_none": 0.16561734676361084,
107
- "heading_cos_user": 0.686485767364502
108
- },
109
- {
110
- "step": 500,
111
- "train": 2.6763380479812624,
112
- "skipped": 0,
113
- "heading_cos_none": 0.16103875637054443,
114
- "heading_cos_user": 0.6999383568763733
115
- }
116
- ]
117
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s2_on_ring_goal/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:295d9d78ea27fed7f5904a154c1d3cd6dbc1ce978062935341f2c704b9e76dd3
3
- size 432441
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s2_on_ring_goal/train_log.json DELETED
@@ -1,117 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "user",
4
- "name": "grid_seeds/user_curl20_expert_n100_s2_on_ring_goal",
5
- "model": "flow_goaldrop_ring_goal",
6
- "corruption": {
7
- "curl": 20,
8
- "tau": 0.1
9
- },
10
- "obstacle": null,
11
- "user_module": null,
12
- "lambda_field": 0.03,
13
- "sigma_min": 1.0,
14
- "sigma_max": 1.0,
15
- "closed_loop": null,
16
- "closed_loop_trials": 2000,
17
- "closed_loop_noise": 1.0,
18
- "closed_loop_depth": 6,
19
- "closed_loop_arm": "condition_grid.yaml",
20
- "closed_loop_time_limit": 5.0,
21
- "closed_loop_mix": 0.5,
22
- "p_free": 0.25,
23
- "goal_dropout": 0.25,
24
- "lambda_id": 0.001,
25
- "d": 128,
26
- "layers": 2,
27
- "targets": [
28
- 4,
29
- 4
30
- ],
31
- "reach": [
32
- 0.35,
33
- 0.5
34
- ],
35
- "n_demos": 100,
36
- "frozen_noise": true,
37
- "val_demos": 2000,
38
- "flow_steps": 10,
39
- "steps": 500,
40
- "batch": 512,
41
- "lr": 0.001,
42
- "log_every": 50,
43
- "seed": 2
44
- },
45
- "log": [
46
- {
47
- "step": 50,
48
- "train": 3.498335633277893,
49
- "skipped": 0,
50
- "heading_cos_none": 0.173776313662529,
51
- "heading_cos_user": 0.888236939907074
52
- },
53
- {
54
- "step": 100,
55
- "train": 2.4495912694931032,
56
- "skipped": 0,
57
- "heading_cos_none": 0.20518694818019867,
58
- "heading_cos_user": 0.8807239532470703
59
- },
60
- {
61
- "step": 150,
62
- "train": 2.372160801887512,
63
- "skipped": 0,
64
- "heading_cos_none": 0.17909236252307892,
65
- "heading_cos_user": 0.8981417417526245
66
- },
67
- {
68
- "step": 200,
69
- "train": 2.302748374938965,
70
- "skipped": 0,
71
- "heading_cos_none": 0.19450193643569946,
72
- "heading_cos_user": 0.920388400554657
73
- },
74
- {
75
- "step": 250,
76
- "train": 2.2663729333877565,
77
- "skipped": 0,
78
- "heading_cos_none": 0.2036060094833374,
79
- "heading_cos_user": 0.9340808391571045
80
- },
81
- {
82
- "step": 300,
83
- "train": 2.2357068920135497,
84
- "skipped": 0,
85
- "heading_cos_none": 0.20815056562423706,
86
- "heading_cos_user": 0.9096632599830627
87
- },
88
- {
89
- "step": 350,
90
- "train": 2.1974498724937437,
91
- "skipped": 0,
92
- "heading_cos_none": 0.2184864580631256,
93
- "heading_cos_user": 0.9318109154701233
94
- },
95
- {
96
- "step": 400,
97
- "train": 2.180844855308533,
98
- "skipped": 0,
99
- "heading_cos_none": 0.18886250257492065,
100
- "heading_cos_user": 0.928666353225708
101
- },
102
- {
103
- "step": 450,
104
- "train": 2.2039895629882813,
105
- "skipped": 0,
106
- "heading_cos_none": 0.18145634233951569,
107
- "heading_cos_user": 0.9278913140296936
108
- },
109
- {
110
- "step": 500,
111
- "train": 2.1816111731529237,
112
- "skipped": 0,
113
- "heading_cos_none": 0.18443787097930908,
114
- "heading_cos_user": 0.9316968321800232
115
- }
116
- ]
117
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s2_on_ring_start/adapter.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:497273e91f0836922b30d9e36076a64c7e70201f505a820fd1efb48ddd6e9043
3
- size 432441
 
 
 
 
adapters/grid_seeds/user_curl20_expert_n100_s2_on_ring_start/train_log.json DELETED
@@ -1,117 +0,0 @@
1
- {
2
- "args": {
3
- "kind": "user",
4
- "name": "grid_seeds/user_curl20_expert_n100_s2_on_ring_start",
5
- "model": "flow_goaldrop_ring_start",
6
- "corruption": {
7
- "curl": 20,
8
- "tau": 0.1
9
- },
10
- "obstacle": null,
11
- "user_module": null,
12
- "lambda_field": 0.03,
13
- "sigma_min": 1.0,
14
- "sigma_max": 1.0,
15
- "closed_loop": null,
16
- "closed_loop_trials": 2000,
17
- "closed_loop_noise": 1.0,
18
- "closed_loop_depth": 6,
19
- "closed_loop_arm": "condition_grid.yaml",
20
- "closed_loop_time_limit": 5.0,
21
- "closed_loop_mix": 0.5,
22
- "p_free": 0.25,
23
- "goal_dropout": 0.25,
24
- "lambda_id": 0.001,
25
- "d": 128,
26
- "layers": 2,
27
- "targets": [
28
- 4,
29
- 4
30
- ],
31
- "reach": [
32
- 0.35,
33
- 0.5
34
- ],
35
- "n_demos": 100,
36
- "frozen_noise": true,
37
- "val_demos": 2000,
38
- "flow_steps": 10,
39
- "steps": 500,
40
- "batch": 512,
41
- "lr": 0.001,
42
- "log_every": 50,
43
- "seed": 2
44
- },
45
- "log": [
46
- {
47
- "step": 50,
48
- "train": 3.422782344818115,
49
- "skipped": 0,
50
- "heading_cos_none": 0.15714457631111145,
51
- "heading_cos_user": 0.7718920111656189
52
- },
53
- {
54
- "step": 100,
55
- "train": 2.434728531837463,
56
- "skipped": 0,
57
- "heading_cos_none": 0.1975339651107788,
58
- "heading_cos_user": 0.7803979516029358
59
- },
60
- {
61
- "step": 150,
62
- "train": 2.357299289703369,
63
- "skipped": 0,
64
- "heading_cos_none": 0.16527095437049866,
65
- "heading_cos_user": 0.7839323878288269
66
- },
67
- {
68
- "step": 200,
69
- "train": 2.3244486665725708,
70
- "skipped": 0,
71
- "heading_cos_none": 0.178442120552063,
72
- "heading_cos_user": 0.8109930157661438
73
- },
74
- {
75
- "step": 250,
76
- "train": 2.2758792543411257,
77
- "skipped": 0,
78
- "heading_cos_none": 0.19195914268493652,
79
- "heading_cos_user": 0.8314831256866455
80
- },
81
- {
82
- "step": 300,
83
- "train": 2.2513424873352053,
84
- "skipped": 0,
85
- "heading_cos_none": 0.19720281660556793,
86
- "heading_cos_user": 0.8104555010795593
87
- },
88
- {
89
- "step": 350,
90
- "train": 2.227807755470276,
91
- "skipped": 0,
92
- "heading_cos_none": 0.20745141804218292,
93
- "heading_cos_user": 0.835394561290741
94
- },
95
- {
96
- "step": 400,
97
- "train": 2.207468018531799,
98
- "skipped": 0,
99
- "heading_cos_none": 0.17968109250068665,
100
- "heading_cos_user": 0.8289610743522644
101
- },
102
- {
103
- "step": 450,
104
- "train": 2.230445508956909,
105
- "skipped": 0,
106
- "heading_cos_none": 0.16924931108951569,
107
- "heading_cos_user": 0.8370994925498962
108
- },
109
- {
110
- "step": 500,
111
- "train": 2.216578092575073,
112
- "skipped": 0,
113
- "heading_cos_none": 0.17108385264873505,
114
- "heading_cos_user": 0.8375648856163025
115
- }
116
- ]
117
- }