Hugging Face's logo

Datasets:
DiscreteRTC
/
dRTC

Dataset card Files
xet
 Community
1
dRTC
File size: 5,099 Bytes
5107db5
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
141
142
143
144
{
  "action_dim": 7,
  "action_layout": "absolute_measured_joint_position[t+1,0:6] + measured_gripper[t+1,6:7]",
  "action_representation": "raw",
  "best_validation_action_mse": 0.026775868322889102,
  "completed_updates": 13035,
  "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/StateAbsJoint/classify_blocks_30hz_cleanup",
  "images_per_example": 2,
  "job": "classify_blocks/StateAbsJoint/raw",
  "maximum_finite_gradient_norm": 0.32903972268104553,
  "observation_horizon": 1,
  "optimizer_steps_skipped": 0,
  "parameter_counts": {
    "action_backbone": 64925319,
    "embedding_output": 0,
    "observation_projector_state": 22394176,
    "total": 87319495,
    "total_trainable": 87319495
  },
  "parent_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/V8Full/classify_blocks/StateAbsJoint/raw/base.pt",
  "parent_checkpoint_sha256": "7d68ba4f940d27b3fe94f33851f86f81cf57121151ad9af6a37a39d618a62a0b",
  "published_sha256": "3033314d230ee5a5d8dbbbcdae45f405bbca675dde43dfa3ee6c6572f426543d",
  "selected_epoch": 5.0,
  "selected_update": 13035,
  "source_checkpoint_sha256_before_promotion": "a8bc7d58a7ca3b71173683bb2493a3b65705dd6196b9086cf681ca6c5bc605b5",
  "stage": "ttrtc",
  "state_dim": 7,
  "state_layout": "measured_joint_position[0:6] + measured_gripper[6:7]",
  "updates_per_epoch": 2607,
  "validation_history": [
    {
      "train": {
        "action_mse": 0.0013768529752269387,
        "fm_mse": 0.008389750495553017,
        "grad_norm": 0.13596273958683014,
        "gradient_scale_fm": 0.008389750495553017,
        "loss": 0.008389750495553017,
        "lr": 9.319541351472106e-05,
        "optimizer_step_skipped": 0.0,
        "update": 2607
      },
      "update": 2607,
      "validation": {
        "action_mse": 0.0272246832300939,
        "generation_action_mse": 0.0272246832300939,
        "generation_control_mse": 0.0272246832300939,
        "loss": 0.0272246832300939,
        "samples": 19038.0
      }
    },
    {
      "train": {
        "action_mse": 0.0007376042194664478,
        "fm_mse": 0.00491645373404026,
        "grad_norm": 0.09696948528289795,
        "gradient_scale_fm": 0.00491645373404026,
        "loss": 0.00491645373404026,
        "lr": 6.899080954550961e-05,
        "optimizer_step_skipped": 0.0,
        "update": 5214
      },
      "update": 5214,
      "validation": {
        "action_mse": 0.02683015231579242,
        "generation_action_mse": 0.02683015231579242,
        "generation_control_mse": 0.02683015231579242,
        "loss": 0.02683015231579242,
        "samples": 19038.0
      }
    },
    {
      "train": {
        "action_mse": 0.0005976930842734873,
        "fm_mse": 0.0036478210240602493,
        "grad_norm": 0.11014322191476822,
        "gradient_scale_fm": 0.0036478210240602493,
        "loss": 0.0036478210240602493,
        "lr": 3.696324765183211e-05,
        "optimizer_step_skipped": 0.0,
        "update": 7821
      },
      "update": 7821,
      "validation": {
        "action_mse": 0.026839369252921932,
        "generation_action_mse": 0.026839369252921932,
        "generation_control_mse": 0.026839369252921932,
        "loss": 0.026839369252921932,
        "samples": 19038.0
      }
    },
    {
      "train": {
        "action_mse": 0.000572094286326319,
        "fm_mse": 0.004065642133355141,
        "grad_norm": 0.09424544870853424,
        "gradient_scale_fm": 0.004065642133355141,
        "loss": 0.004065642133355141,
        "lr": 1.0305965779498733e-05,
        "optimizer_step_skipped": 0.0,
        "update": 10428
      },
      "update": 10428,
      "validation": {
        "action_mse": 0.026779401459164458,
        "generation_action_mse": 0.026779401459164458,
        "generation_control_mse": 0.026779401459164458,
        "loss": 0.026779401459164458,
        "samples": 19038.0
      }
    },
    {
      "train": {
        "action_mse": 0.001022735727019608,
        "fm_mse": 0.0032489264849573374,
        "grad_norm": 0.09001404047012329,
        "gradient_scale_fm": 0.0032489264849573374,
        "loss": 0.0032489264849573374,
        "lr": 1.570330532274511e-12,
        "optimizer_step_skipped": 0.0,
        "update": 13035
      },
      "update": 13035,
      "validation": {
        "action_mse": 0.026775868322889102,
        "generation_action_mse": 0.026775868322889102,
        "generation_control_mse": 0.026775868322889102,
        "loss": 0.026775868322889102,
        "samples": 19038.0
      }
    }
  ],
  "validation_points": 5,
  "wall_seconds": 613.5616884231567,
  "wandb": {
    "entity": "401910710-university-of-california-berkeley",
    "mode": "online",
    "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/V8Full/classify_blocks/StateAbsJoint/raw/ttrtc.pt",
    "project": "robot-policy-bsp-unet-v8-classify-blocks",
    "run_id": "vtp6x350",
    "run_name": "bsp_unet_fm-ttrtc-v8-classify_blocks-stateabsjoint-raw-h1-ttrtc",
    "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v8-classify-blocks/runs/vtp6x350"
  }
}