File size: 4,767 Bytes
18aa2dd
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
{
  "action_representation": "raw",
  "best_validation_action_mse": 0.018761305658868178,
  "completed_updates": 2930,
  "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionJoint/State_LastCommand_Joint/stacking_cup_30hz_cleanup",
  "images_per_example": 2,
  "job": "stacking_cup/State_LastCommand_Joint/raw",
  "maximum_finite_gradient_norm": 0.8688424825668335,
  "observation_horizon": 1,
  "optimizer_steps_skipped": 0,
  "parameter_counts": {
    "action_backbone": 65025671,
    "embedding_output": 0,
    "observation_projector_state": 22394176,
    "total": 87419847,
    "total_trainable": 87419847
  },
  "published_sha256": "b9140e771871e826eb029430b0ba6d215a8db628ba724827940361f27fcdb46d",
  "selected_epoch": 5.0,
  "selected_update": 2930,
  "source_checkpoint_sha256_before_promotion": "3ffea2cb2270093933001fb1e1cbb4a5bc05b46083d9a58bee0a5d022b0b6bfd",
  "stage": "ttrtc",
  "state_dim": 14,
  "state_layout": "current_joint_angle[0:7] + last_command[7:14]",
  "updates_per_epoch": 586,
  "validation_history": [
    {
      "train": {
        "action_mse": 0.0021055759862065315,
        "fm_mse": 0.009334084577858448,
        "grad_norm": 0.11944091320037842,
        "gradient_scale_fm": 0.009334084577858448,
        "loss": 0.009334084577858448,
        "lr": 9.969840234022749e-05,
        "optimizer_step_skipped": 0.0,
        "update": 586
      },
      "update": 586,
      "validation": {
        "action_mse": 0.018884504921516488,
        "generation_action_mse": 0.018884504921516488,
        "generation_control_mse": 0.018884504921516488,
        "loss": 0.018884504921516488,
        "samples": 4211.0
      }
    },
    {
      "train": {
        "action_mse": 0.001412470475770533,
        "fm_mse": 0.008947602473199368,
        "grad_norm": 0.1512306034564972,
        "gradient_scale_fm": 0.008947602473199368,
        "loss": 0.008947602473199368,
        "lr": 8.233702389435581e-05,
        "optimizer_step_skipped": 0.0,
        "update": 1172
      },
      "update": 1172,
      "validation": {
        "action_mse": 0.019115588183547284,
        "generation_action_mse": 0.019115588183547284,
        "generation_control_mse": 0.019115588183547284,
        "loss": 0.019115588183547284,
        "samples": 4211.0
      }
    },
    {
      "train": {
        "action_mse": 0.0008720534387975931,
        "fm_mse": 0.004152510315179825,
        "grad_norm": 0.11117873340845108,
        "gradient_scale_fm": 0.004152510315179825,
        "loss": 0.004152510315179825,
        "lr": 4.728637731688832e-05,
        "optimizer_step_skipped": 0.0,
        "update": 1758
      },
      "update": 1758,
      "validation": {
        "action_mse": 0.019011956174175403,
        "generation_action_mse": 0.019011956174175403,
        "generation_control_mse": 0.019011956174175403,
        "loss": 0.019011956174175403,
        "samples": 4211.0
      }
    },
    {
      "train": {
        "action_mse": 0.00040641328087076545,
        "fm_mse": 0.002938356716185808,
        "grad_norm": 0.08930685371160507,
        "gradient_scale_fm": 0.002938356716185808,
        "loss": 0.002938356716185808,
        "lr": 1.372015922011109e-05,
        "optimizer_step_skipped": 0.0,
        "update": 2344
      },
      "update": 2344,
      "validation": {
        "action_mse": 0.01880348682679688,
        "generation_action_mse": 0.01880348682679688,
        "generation_control_mse": 0.01880348682679688,
        "loss": 0.01880348682679688,
        "samples": 4211.0
      }
    },
    {
      "train": {
        "action_mse": 0.00037372353835962713,
        "fm_mse": 0.002434138208627701,
        "grad_norm": 0.0810142382979393,
        "gradient_scale_fm": 0.002434138208627701,
        "loss": 0.002434138208627701,
        "lr": 4.178564846912814e-11,
        "optimizer_step_skipped": 0.0,
        "update": 2930
      },
      "update": 2930,
      "validation": {
        "action_mse": 0.018761305658868178,
        "generation_action_mse": 0.018761305658868178,
        "generation_control_mse": 0.018761305658868178,
        "loss": 0.018761305658868178,
        "samples": 4211.0
      }
    }
  ],
  "validation_points": 5,
  "wall_seconds": 150.97878217697144,
  "wandb": {
    "entity": "401910710-university-of-california-berkeley",
    "mode": "online",
    "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/stacking_cup/State_LastCommand_Joint/raw/ttrtc.pt",
    "project": "robot-policy-bsp-unet-v6-stacking-cup",
    "run_id": "70voznr7",
    "run_name": "bsp_unet_fm-ttrtc-v6-stacking_cup-state_lastcommand_joint-raw-h1-ttrtc",
    "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v6-stacking-cup/runs/70voznr7"
  }
}