| { |
| "runtime_version": "2.2.0", |
| "scope": "Real-data paired numerical checks with identical weights/RNG and deterministic algorithms; no LIBERO rollout or convergence claim.", |
| "torch_version": "2.9.1+cu128", |
| "gpu": "NVIDIA GeForce RTX 4090 D", |
| "repository_tests": { |
| "runtime_version": "2.2.0", |
| "exit_code": 0, |
| "passed": 372, |
| "skipped": 2, |
| "failed": 0, |
| "all_package_imports_from_wheel": true, |
| "imported_package_modules": 75, |
| "counts_verified_against_pytest_terminal_summary": true |
| }, |
| "bundled_wheel_inference": { |
| "strict_reload": true, |
| "image_preprocessing_device": "cpu", |
| "parameter_tensors": 373, |
| "checkpoint_calls_during_inference": 0, |
| "normalized_actions": [ |
| [ |
| 0.9841869473457336, |
| -0.41350317001342773, |
| -0.5998168587684631, |
| -0.03017718531191349, |
| 0.766321063041687, |
| 0.037291303277015686, |
| 1.0 |
| ] |
| ], |
| "gripper_mode": "continuous", |
| "unbound_actions_rejected": true, |
| "previous_runtime_action_parity": "exact", |
| "policy_preprocessing_inference_finite": true, |
| "policy_preprocessing_max_action_difference": 0.004982650279998779 |
| }, |
| "default_image_preprocessing_device": "cpu", |
| "model_weights_changed": false, |
| "processor_statistics_changed": false, |
| "numerical_comparison": { |
| "strict_checkpoint_load": true, |
| "data": { |
| "repo_id": "albus2024/so101_merged", |
| "sample_indices": [ |
| 100, |
| 400 |
| ], |
| "batch_size": 2, |
| "chunk_size": 100 |
| }, |
| "precisions": { |
| "float32": { |
| "legacy_cpu": { |
| "loss": 0.5049855709075928, |
| "gradients": { |
| "tensor_count": 372, |
| "all_finite": true |
| }, |
| "action_shape": [ |
| 2, |
| 100, |
| 7 |
| ], |
| "actions_finite": true |
| }, |
| "legacy_repeat": { |
| "loss": 0.5049855709075928, |
| "loss_difference": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "gradients": { |
| "tensor_count": 372, |
| "max_abs": 0.0, |
| "relative_l2": 0.0, |
| "changed_tensors": 0, |
| "missing_gradients": [], |
| "all_finite": true, |
| "exact": true |
| }, |
| "normalized_actions": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "restored_actions": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "binary_gripper_flips": null |
| }, |
| "cpu": { |
| "loss": 0.5049855709075928, |
| "loss_difference": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "gradients": { |
| "tensor_count": 372, |
| "max_abs": 0.0, |
| "relative_l2": 0.0, |
| "changed_tensors": 0, |
| "missing_gradients": [], |
| "all_finite": true, |
| "exact": true |
| }, |
| "normalized_actions": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "restored_actions": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "binary_gripper_flips": null |
| }, |
| "policy": { |
| "loss": 0.5049856305122375, |
| "loss_difference": { |
| "max_abs": 5.960464477539063e-08, |
| "mean_abs": 5.960464477539063e-08, |
| "relative_l2": 1.1803237203048257e-07, |
| "exact": false, |
| "finite": true |
| }, |
| "gradients": { |
| "tensor_count": 372, |
| "max_abs": 1.1071562767028809e-05, |
| "relative_l2": 8.571378625033512e-06, |
| "changed_tensors": 372, |
| "missing_gradients": [], |
| "all_finite": true, |
| "exact": false |
| }, |
| "normalized_actions": { |
| "max_abs": 1.043081283569336e-06, |
| "mean_abs": 8.989613499060006e-08, |
| "relative_l2": 1.2382391983360533e-06, |
| "exact": false, |
| "finite": true |
| }, |
| "restored_actions": { |
| "max_abs": 2.288818359375e-05, |
| "mean_abs": 5.171926958220345e-07, |
| "relative_l2": 2.1403434078210714e-07, |
| "exact": false, |
| "finite": true |
| }, |
| "binary_gripper_flips": null |
| } |
| }, |
| "bfloat16": { |
| "legacy_cpu": { |
| "loss": 0.49442991614341736, |
| "gradients": { |
| "tensor_count": 372, |
| "all_finite": true |
| }, |
| "action_shape": [ |
| 2, |
| 100, |
| 7 |
| ], |
| "actions_finite": true |
| }, |
| "legacy_repeat": { |
| "loss": 0.49442991614341736, |
| "loss_difference": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "gradients": { |
| "tensor_count": 372, |
| "max_abs": 0.0, |
| "relative_l2": 0.0, |
| "changed_tensors": 0, |
| "missing_gradients": [], |
| "all_finite": true, |
| "exact": true |
| }, |
| "normalized_actions": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "restored_actions": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "binary_gripper_flips": null |
| }, |
| "cpu": { |
| "loss": 0.49442991614341736, |
| "loss_difference": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "gradients": { |
| "tensor_count": 372, |
| "max_abs": 0.0, |
| "relative_l2": 0.0, |
| "changed_tensors": 0, |
| "missing_gradients": [], |
| "all_finite": true, |
| "exact": true |
| }, |
| "normalized_actions": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "restored_actions": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "binary_gripper_flips": null |
| }, |
| "policy": { |
| "loss": 0.4944813847541809, |
| "loss_difference": { |
| "max_abs": 5.1468610763549805e-05, |
| "mean_abs": 5.1468610763549805e-05, |
| "relative_l2": 0.00010409687820876216, |
| "exact": false, |
| "finite": true |
| }, |
| "gradients": { |
| "tensor_count": 372, |
| "max_abs": 0.0078125, |
| "relative_l2": 0.007287681714816547, |
| "changed_tensors": 372, |
| "missing_gradients": [], |
| "all_finite": true, |
| "exact": false |
| }, |
| "normalized_actions": { |
| "max_abs": 0.006594214588403702, |
| "mean_abs": 0.0005812947194150248, |
| "relative_l2": 0.008386491661988679, |
| "exact": false, |
| "finite": true |
| }, |
| "restored_actions": { |
| "max_abs": 0.1552734375, |
| "mean_abs": 0.003048965292317527, |
| "relative_l2": 0.001165605578255326, |
| "exact": false, |
| "finite": true |
| }, |
| "binary_gripper_flips": null |
| } |
| }, |
| "float16": { |
| "legacy_cpu": { |
| "loss": 0.4962117075920105, |
| "gradients": { |
| "tensor_count": 372, |
| "all_finite": true |
| }, |
| "action_shape": [ |
| 2, |
| 100, |
| 7 |
| ], |
| "actions_finite": true |
| }, |
| "legacy_repeat": { |
| "loss": 0.4962117075920105, |
| "loss_difference": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "gradients": { |
| "tensor_count": 372, |
| "max_abs": 0.0, |
| "relative_l2": 0.0, |
| "changed_tensors": 0, |
| "missing_gradients": [], |
| "all_finite": true, |
| "exact": true |
| }, |
| "normalized_actions": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "restored_actions": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "binary_gripper_flips": null |
| }, |
| "cpu": { |
| "loss": 0.4962117075920105, |
| "loss_difference": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "gradients": { |
| "tensor_count": 372, |
| "max_abs": 0.0, |
| "relative_l2": 0.0, |
| "changed_tensors": 0, |
| "missing_gradients": [], |
| "all_finite": true, |
| "exact": true |
| }, |
| "normalized_actions": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "restored_actions": { |
| "max_abs": 0.0, |
| "mean_abs": 0.0, |
| "relative_l2": 0.0, |
| "exact": true, |
| "finite": true |
| }, |
| "binary_gripper_flips": null |
| }, |
| "policy": { |
| "loss": 0.49623534083366394, |
| "loss_difference": { |
| "max_abs": 2.3633241653442383e-05, |
| "mean_abs": 2.3633241653442383e-05, |
| "relative_l2": 4.762733585656112e-05, |
| "exact": false, |
| "finite": true |
| }, |
| "gradients": { |
| "tensor_count": 372, |
| "max_abs": 0.0015869140625, |
| "relative_l2": 0.0023703940626239707, |
| "changed_tensors": 372, |
| "missing_gradients": [], |
| "all_finite": true, |
| "exact": false |
| }, |
| "normalized_actions": { |
| "max_abs": 0.0008216798305511475, |
| "mean_abs": 7.322864319771075e-05, |
| "relative_l2": 0.0010394073713255456, |
| "exact": false, |
| "finite": true |
| }, |
| "restored_actions": { |
| "max_abs": 0.01934814453125, |
| "mean_abs": 0.0004211211098091943, |
| "relative_l2": 0.00015302893900614778, |
| "exact": false, |
| "finite": true |
| }, |
| "binary_gripper_flips": null |
| } |
| } |
| }, |
| "cpu_initialization_policy_finetune": { |
| "steps": 2, |
| "losses": [ |
| 0.44404295086860657, |
| 0.0317918099462986 |
| ], |
| "saved_preprocessing_device": "policy", |
| "reloaded_action_parity": "exact" |
| } |
| } |
| } |
|
|
