| { |
| "action_representation": "bspline", |
| "best_validation_action_mse": 0.0175009139301377, |
| "completed_updates": 58600, |
| "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionJoint/LastCommand_Joint/stacking_cup_30hz_cleanup", |
| "images_per_example": 2, |
| "job": "stacking_cup/LastCommand_Joint/bspline", |
| "maximum_finite_gradient_norm": 9.662790298461914, |
| "observation_horizon": 1, |
| "optimizer_steps_skipped": 0, |
| "parameter_counts": { |
| "action_backbone": 64925319, |
| "embedding_output": 0, |
| "observation_projector_state": 22394176, |
| "total": 87319495, |
| "total_trainable": 87319495 |
| }, |
| "published_sha256": "97ed20409867f606bd75fc665918ed99eea0d491b2598478a565d6a51438b667", |
| "selected_epoch": 100.0, |
| "selected_update": 58600, |
| "source_checkpoint_sha256_before_promotion": "e91a64be7474fba1df12b02963356af08430148a2c7fe3a5054e2421f95f8b5a", |
| "stage": "base", |
| "state_dim": 7, |
| "state_layout": "last_command[0:7]", |
| "updates_per_epoch": 586, |
| "validation_history": [ |
| { |
| "train": { |
| "action_mse": 0.007655486464500427, |
| "fm_mse": 0.02294480986893177, |
| "grad_norm": 0.34575146436691284, |
| "gradient_scale_fm": 0.02294480986893177, |
| "loss": 0.02294480986893177, |
| "lr": 9.791544209955937e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 5860 |
| }, |
| "update": 5860, |
| "validation": { |
| "action_mse": 0.020365073561844884, |
| "generation_action_mse": 0.020365073561844884, |
| "generation_control_mse": 0.019414623013886217, |
| "loss": 0.020365073561844884, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0027308303397148848, |
| "fm_mse": 0.01743505895137787, |
| "grad_norm": 0.1704356074333191, |
| "gradient_scale_fm": 0.01743505895137787, |
| "loss": 0.01743505895137787, |
| "lr": 9.107853671722462e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 11720 |
| }, |
| "update": 11720, |
| "validation": { |
| "action_mse": 0.019352381601715134, |
| "generation_action_mse": 0.019352381601715134, |
| "generation_control_mse": 0.01852742457529917, |
| "loss": 0.019352381601715134, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0016797037096694112, |
| "fm_mse": 0.011150654405355453, |
| "grad_norm": 0.1934925615787506, |
| "gradient_scale_fm": 0.011150654405355453, |
| "loss": 0.011150654405355453, |
| "lr": 8.015165344707659e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 17580 |
| }, |
| "update": 17580, |
| "validation": { |
| "action_mse": 0.018790515036249414, |
| "generation_action_mse": 0.018790515036249414, |
| "generation_control_mse": 0.01803421709349021, |
| "loss": 0.018790515036249414, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0009839675622060895, |
| "fm_mse": 0.00787170697003603, |
| "grad_norm": 0.13754665851593018, |
| "gradient_scale_fm": 0.00787170697003603, |
| "loss": 0.00787170697003603, |
| "lr": 6.622272566087246e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 23440 |
| }, |
| "update": 23440, |
| "validation": { |
| "action_mse": 0.018495577695206464, |
| "generation_action_mse": 0.018495577695206464, |
| "generation_control_mse": 0.01777249379096784, |
| "loss": 0.018495577695206464, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.001103872200474143, |
| "fm_mse": 0.006048340350389481, |
| "grad_norm": 0.15482501685619354, |
| "gradient_scale_fm": 0.006048340350389481, |
| "loss": 0.006048340350389481, |
| "lr": 5.0678584808785014e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 29300 |
| }, |
| "update": 29300, |
| "validation": { |
| "action_mse": 0.018308787123412707, |
| "generation_action_mse": 0.018308787123412707, |
| "generation_control_mse": 0.017622212187779172, |
| "loss": 0.018308787123412707, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0010542842792347074, |
| "fm_mse": 0.005470743402838707, |
| "grad_norm": 0.16639898717403412, |
| "gradient_scale_fm": 0.005470743402838707, |
| "loss": 0.005470743402838707, |
| "lr": 3.506688076957526e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 35160 |
| }, |
| "update": 35160, |
| "validation": { |
| "action_mse": 0.017702463350605553, |
| "generation_action_mse": 0.017702463350605553, |
| "generation_control_mse": 0.01705618618123965, |
| "loss": 0.017702463350605553, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0004786949430126697, |
| "fm_mse": 0.005304851569235325, |
| "grad_norm": 0.20303204655647278, |
| "gradient_scale_fm": 0.005304851569235325, |
| "loss": 0.005304851569235325, |
| "lr": 2.09419903398412e-05, |
| "optimizer_step_skipped": 0.0, |
| "update": 41020 |
| }, |
| "update": 41020, |
| "validation": { |
| "action_mse": 0.01767900201808387, |
| "generation_action_mse": 0.01767900201808387, |
| "generation_control_mse": 0.017038513215106556, |
| "loss": 0.01767900201808387, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.00042742208461277187, |
| "fm_mse": 0.002247471595183015, |
| "grad_norm": 0.11101974546909332, |
| "gradient_scale_fm": 0.002247471595183015, |
| "loss": 0.002247471595183015, |
| "lr": 9.710255958776232e-06, |
| "optimizer_step_skipped": 0.0, |
| "update": 46880 |
| }, |
| "update": 46880, |
| "validation": { |
| "action_mse": 0.017666741657768367, |
| "generation_action_mse": 0.017666741657768367, |
| "generation_control_mse": 0.017055902103083997, |
| "loss": 0.017666741657768367, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.0002444517449475825, |
| "fm_mse": 0.002284492366015911, |
| "grad_norm": 0.10733000189065933, |
| "gradient_scale_fm": 0.002284492366015911, |
| "loss": 0.002284492366015911, |
| "lr": 2.489963449864574e-06, |
| "optimizer_step_skipped": 0.0, |
| "update": 52740 |
| }, |
| "update": 52740, |
| "validation": { |
| "action_mse": 0.01752314970637175, |
| "generation_action_mse": 0.01752314970637175, |
| "generation_control_mse": 0.01692995025624387, |
| "loss": 0.01752314970637175, |
| "samples": 4211.0 |
| } |
| }, |
| { |
| "train": { |
| "action_mse": 0.00016850543033797294, |
| "fm_mse": 0.0008529328042641282, |
| "grad_norm": 0.06742438673973083, |
| "gradient_scale_fm": 0.0008529328042641282, |
| "loss": 0.0008529328042641282, |
| "lr": 7.30949689664584e-14, |
| "optimizer_step_skipped": 0.0, |
| "update": 58600 |
| }, |
| "update": 58600, |
| "validation": { |
| "action_mse": 0.0175009139301377, |
| "generation_action_mse": 0.0175009139301377, |
| "generation_control_mse": 0.016916042791328512, |
| "loss": 0.0175009139301377, |
| "samples": 4211.0 |
| } |
| } |
| ], |
| "validation_points": 10, |
| "wall_seconds": 2342.668612241745, |
| "wandb": { |
| "entity": "401910710-university-of-california-berkeley", |
| "mode": "online", |
| "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/stacking_cup/LastCommand_Joint/bspline/base.pt", |
| "project": "robot-policy-bsp-unet-v6-stacking-cup", |
| "run_id": "raooyo2n", |
| "run_name": "bsp_unet_fm-base-v6-stacking_cup-lastcommand_joint-bspline-h1-base", |
| "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v6-stacking-cup/runs/raooyo2n" |
| } |
| } |
|
|
