outsider86's picture
Upload V6 stacking_cup/State_LastCommand_Joint/bspline/base.pt
8543c58 verified
Raw History Blame Contribute Delete
7.92 kB
{
"action_representation": "bspline",
"best_validation_action_mse": 0.017634598391896458,
"completed_updates": 58600,
"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/bspline",
"maximum_finite_gradient_norm": 7.398468494415283,
"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": "14aad2190f70a4fc29321a7e28ba7c43b7915493ac5adcc62677723c0a618e6b",
"selected_epoch": 100.0,
"selected_update": 58600,
"source_checkpoint_sha256_before_promotion": "054d6ef27d186f69f5b75afdbde4c7263742c616d315ec7f4d015e28d1345dc5",
"stage": "base",
"state_dim": 14,
"state_layout": "current_joint_angle[0:7] + last_command[7:14]",
"updates_per_epoch": 586,
"validation_history": [
{
"train": {
"action_mse": 0.007876332849264145,
"fm_mse": 0.023288406431674957,
"grad_norm": 0.3196415901184082,
"gradient_scale_fm": 0.023288406431674957,
"loss": 0.023288406431674957,
"lr": 9.791544209955937e-05,
"optimizer_step_skipped": 0.0,
"update": 5860
},
"update": 5860,
"validation": {
"action_mse": 0.020920460539737486,
"generation_action_mse": 0.020920460539737486,
"generation_control_mse": 0.019910595780961715,
"loss": 0.020920460539737486,
"samples": 4211.0
}
},
{
"train": {
"action_mse": 0.002465121913701296,
"fm_mse": 0.016805391758680344,
"grad_norm": 0.21051336824893951,
"gradient_scale_fm": 0.016805391758680344,
"loss": 0.016805391758680344,
"lr": 9.107853671722462e-05,
"optimizer_step_skipped": 0.0,
"update": 11720
},
"update": 11720,
"validation": {
"action_mse": 0.019606362735355865,
"generation_action_mse": 0.019606362735355865,
"generation_control_mse": 0.018748809288507334,
"loss": 0.019606362735355865,
"samples": 4211.0
}
},
{
"train": {
"action_mse": 0.0010686706518754363,
"fm_mse": 0.010117276571691036,
"grad_norm": 0.20220696926116943,
"gradient_scale_fm": 0.010117276571691036,
"loss": 0.010117276571691036,
"lr": 8.015165344707659e-05,
"optimizer_step_skipped": 0.0,
"update": 17580
},
"update": 17580,
"validation": {
"action_mse": 0.018622054290150278,
"generation_action_mse": 0.018622054290150278,
"generation_control_mse": 0.017843554481660282,
"loss": 0.018622054290150278,
"samples": 4211.0
}
},
{
"train": {
"action_mse": 0.0010843328200280666,
"fm_mse": 0.007085508666932583,
"grad_norm": 0.13077285885810852,
"gradient_scale_fm": 0.007085508666932583,
"loss": 0.007085508666932583,
"lr": 6.622272566087246e-05,
"optimizer_step_skipped": 0.0,
"update": 23440
},
"update": 23440,
"validation": {
"action_mse": 0.01829565655881536,
"generation_action_mse": 0.01829565655881536,
"generation_control_mse": 0.017556289648516642,
"loss": 0.01829565655881536,
"samples": 4211.0
}
},
{
"train": {
"action_mse": 0.0008727851090952754,
"fm_mse": 0.00560758775100112,
"grad_norm": 0.1308177262544632,
"gradient_scale_fm": 0.00560758775100112,
"loss": 0.00560758775100112,
"lr": 5.0678584808785014e-05,
"optimizer_step_skipped": 0.0,
"update": 29300
},
"update": 29300,
"validation": {
"action_mse": 0.01804815035494612,
"generation_action_mse": 0.01804815035494612,
"generation_control_mse": 0.017357723528250116,
"loss": 0.01804815035494612,
"samples": 4211.0
}
},
{
"train": {
"action_mse": 0.000741346797440201,
"fm_mse": 0.0047147455625236034,
"grad_norm": 0.11920739710330963,
"gradient_scale_fm": 0.0047147455625236034,
"loss": 0.0047147455625236034,
"lr": 3.506688076957526e-05,
"optimizer_step_skipped": 0.0,
"update": 35160
},
"update": 35160,
"validation": {
"action_mse": 0.017709456897448864,
"generation_action_mse": 0.017709456897448864,
"generation_control_mse": 0.017045025688224955,
"loss": 0.017709456897448864,
"samples": 4211.0
}
},
{
"train": {
"action_mse": 0.0004731197841465473,
"fm_mse": 0.005092262756079435,
"grad_norm": 0.16284187138080597,
"gradient_scale_fm": 0.005092262756079435,
"loss": 0.005092262756079435,
"lr": 2.09419903398412e-05,
"optimizer_step_skipped": 0.0,
"update": 41020
},
"update": 41020,
"validation": {
"action_mse": 0.01770904160556862,
"generation_action_mse": 0.01770904160556862,
"generation_control_mse": 0.017053908115990214,
"loss": 0.01770904160556862,
"samples": 4211.0
}
},
{
"train": {
"action_mse": 0.0003152159333694726,
"fm_mse": 0.0017758492613211274,
"grad_norm": 0.0860244408249855,
"gradient_scale_fm": 0.0017758492613211274,
"loss": 0.0017758492613211274,
"lr": 9.710255958776232e-06,
"optimizer_step_skipped": 0.0,
"update": 46880
},
"update": 46880,
"validation": {
"action_mse": 0.017704584596343994,
"generation_action_mse": 0.017704584596343994,
"generation_control_mse": 0.017073939872068063,
"loss": 0.017704584596343994,
"samples": 4211.0
}
},
{
"train": {
"action_mse": 0.00029642885783687234,
"fm_mse": 0.002263325732201338,
"grad_norm": 0.10288866609334946,
"gradient_scale_fm": 0.002263325732201338,
"loss": 0.002263325732201338,
"lr": 2.489963449864574e-06,
"optimizer_step_skipped": 0.0,
"update": 52740
},
"update": 52740,
"validation": {
"action_mse": 0.017657965648895237,
"generation_action_mse": 0.017657965648895237,
"generation_control_mse": 0.017041818303402404,
"loss": 0.017657965648895237,
"samples": 4211.0
}
},
{
"train": {
"action_mse": 0.00018761417595669627,
"fm_mse": 0.0008363288943655789,
"grad_norm": 0.0637797936797142,
"gradient_scale_fm": 0.0008363288943655789,
"loss": 0.0008363288943655789,
"lr": 7.30949689664584e-14,
"optimizer_step_skipped": 0.0,
"update": 58600
},
"update": 58600,
"validation": {
"action_mse": 0.017634598391896458,
"generation_action_mse": 0.017634598391896458,
"generation_control_mse": 0.017022223761805046,
"loss": 0.017634598391896458,
"samples": 4211.0
}
}
],
"validation_points": 10,
"wall_seconds": 2216.027323484421,
"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/bspline/base.pt",
"project": "robot-policy-bsp-unet-v6-stacking-cup",
"run_id": "dy3reyls",
"run_name": "bsp_unet_fm-base-v6-stacking_cup-state_lastcommand_joint-bspline-h1-base",
"url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v6-stacking-cup/runs/dy3reyls"
}
}