Upload V6 stacking_cup/State_LastCommand_Joint/raw/base.pt
Browse files
NewModel/V6/stacking_cup/State_LastCommand_Joint/raw/base.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0125c4f9e8c61b74e4c428fabca4e2079363abbcf8687a1bf59b9fc7a56080b9
|
| 3 |
+
size 349772951
|
NewModel/V6/stacking_cup/State_LastCommand_Joint/raw/base.server.json
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/stacking_cup/cache/prepared/State_LastCommand_Joint/raw",
|
| 4 |
+
"task_instruction": "Stack the cups.",
|
| 5 |
+
"precision": "bf16",
|
| 6 |
+
"binary_gripper": true,
|
| 7 |
+
"gripper_threshold": 0.3,
|
| 8 |
+
"expected": {
|
| 9 |
+
"architecture": "bsp_unet_fm",
|
| 10 |
+
"action_representation": "raw",
|
| 11 |
+
"observation_horizon": 1,
|
| 12 |
+
"state_dim": 14,
|
| 13 |
+
"camera_keys": [
|
| 14 |
+
"observation.images.global",
|
| 15 |
+
"observation.images.hand"
|
| 16 |
+
]
|
| 17 |
+
}
|
| 18 |
+
}
|
NewModel/V6/stacking_cup/State_LastCommand_Joint/raw/base.training.json
ADDED
|
@@ -0,0 +1,239 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_representation": "raw",
|
| 3 |
+
"best_validation_action_mse": 0.01864015763195117,
|
| 4 |
+
"completed_updates": 58600,
|
| 5 |
+
"dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionJoint/State_LastCommand_Joint/stacking_cup_30hz_cleanup",
|
| 6 |
+
"images_per_example": 2,
|
| 7 |
+
"job": "stacking_cup/State_LastCommand_Joint/raw",
|
| 8 |
+
"maximum_finite_gradient_norm": 7.277584552764893,
|
| 9 |
+
"observation_horizon": 1,
|
| 10 |
+
"optimizer_steps_skipped": 0,
|
| 11 |
+
"parameter_counts": {
|
| 12 |
+
"action_backbone": 65025671,
|
| 13 |
+
"embedding_output": 0,
|
| 14 |
+
"observation_projector_state": 22394176,
|
| 15 |
+
"total": 87419847,
|
| 16 |
+
"total_trainable": 87419847
|
| 17 |
+
},
|
| 18 |
+
"published_sha256": "0125c4f9e8c61b74e4c428fabca4e2079363abbcf8687a1bf59b9fc7a56080b9",
|
| 19 |
+
"selected_epoch": 60.0,
|
| 20 |
+
"selected_update": 35160,
|
| 21 |
+
"source_checkpoint_sha256_before_promotion": "69c4a8ac348f7982240f3530eddd07ae410ecb50779cce294aef08781e11ac93",
|
| 22 |
+
"stage": "base",
|
| 23 |
+
"state_dim": 14,
|
| 24 |
+
"state_layout": "current_joint_angle[0:7] + last_command[7:14]",
|
| 25 |
+
"updates_per_epoch": 586,
|
| 26 |
+
"validation_history": [
|
| 27 |
+
{
|
| 28 |
+
"train": {
|
| 29 |
+
"action_mse": 0.007384787779301405,
|
| 30 |
+
"fm_mse": 0.019071845337748528,
|
| 31 |
+
"grad_norm": 0.3099669814109802,
|
| 32 |
+
"gradient_scale_fm": 0.019071845337748528,
|
| 33 |
+
"loss": 0.019071845337748528,
|
| 34 |
+
"lr": 9.791544209955937e-05,
|
| 35 |
+
"optimizer_step_skipped": 0.0,
|
| 36 |
+
"update": 5860
|
| 37 |
+
},
|
| 38 |
+
"update": 5860,
|
| 39 |
+
"validation": {
|
| 40 |
+
"action_mse": 0.022518545017398344,
|
| 41 |
+
"generation_action_mse": 0.022518545017398344,
|
| 42 |
+
"generation_control_mse": 0.022518545017398344,
|
| 43 |
+
"loss": 0.022518545017398344,
|
| 44 |
+
"samples": 4211.0
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
{
|
| 48 |
+
"train": {
|
| 49 |
+
"action_mse": 0.0025559894274920225,
|
| 50 |
+
"fm_mse": 0.013327258639037609,
|
| 51 |
+
"grad_norm": 0.17342357337474823,
|
| 52 |
+
"gradient_scale_fm": 0.013327258639037609,
|
| 53 |
+
"loss": 0.013327258639037609,
|
| 54 |
+
"lr": 9.107853671722462e-05,
|
| 55 |
+
"optimizer_step_skipped": 0.0,
|
| 56 |
+
"update": 11720
|
| 57 |
+
},
|
| 58 |
+
"update": 11720,
|
| 59 |
+
"validation": {
|
| 60 |
+
"action_mse": 0.020312957115296865,
|
| 61 |
+
"generation_action_mse": 0.020312957115296865,
|
| 62 |
+
"generation_control_mse": 0.020312957115296865,
|
| 63 |
+
"loss": 0.020312957115296865,
|
| 64 |
+
"samples": 4211.0
|
| 65 |
+
}
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"train": {
|
| 69 |
+
"action_mse": 0.001957957400009036,
|
| 70 |
+
"fm_mse": 0.009790982119739056,
|
| 71 |
+
"grad_norm": 0.20088590681552887,
|
| 72 |
+
"gradient_scale_fm": 0.009790982119739056,
|
| 73 |
+
"loss": 0.009790982119739056,
|
| 74 |
+
"lr": 8.015165344707659e-05,
|
| 75 |
+
"optimizer_step_skipped": 0.0,
|
| 76 |
+
"update": 17580
|
| 77 |
+
},
|
| 78 |
+
"update": 17580,
|
| 79 |
+
"validation": {
|
| 80 |
+
"action_mse": 0.019583878978894242,
|
| 81 |
+
"generation_action_mse": 0.019583878978894242,
|
| 82 |
+
"generation_control_mse": 0.019583878978894242,
|
| 83 |
+
"loss": 0.019583878978894242,
|
| 84 |
+
"samples": 4211.0
|
| 85 |
+
}
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"train": {
|
| 89 |
+
"action_mse": 0.0010713115334510803,
|
| 90 |
+
"fm_mse": 0.005219112150371075,
|
| 91 |
+
"grad_norm": 0.18332518637180328,
|
| 92 |
+
"gradient_scale_fm": 0.005219112150371075,
|
| 93 |
+
"loss": 0.005219112150371075,
|
| 94 |
+
"lr": 6.622272566087246e-05,
|
| 95 |
+
"optimizer_step_skipped": 0.0,
|
| 96 |
+
"update": 23440
|
| 97 |
+
},
|
| 98 |
+
"update": 23440,
|
| 99 |
+
"validation": {
|
| 100 |
+
"action_mse": 0.019102356327750494,
|
| 101 |
+
"generation_action_mse": 0.019102356327750494,
|
| 102 |
+
"generation_control_mse": 0.019102356327750494,
|
| 103 |
+
"loss": 0.019102356327750494,
|
| 104 |
+
"samples": 4211.0
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"train": {
|
| 109 |
+
"action_mse": 0.0010935025056824088,
|
| 110 |
+
"fm_mse": 0.00430453522130847,
|
| 111 |
+
"grad_norm": 0.11928009241819382,
|
| 112 |
+
"gradient_scale_fm": 0.00430453522130847,
|
| 113 |
+
"loss": 0.00430453522130847,
|
| 114 |
+
"lr": 5.0678584808785014e-05,
|
| 115 |
+
"optimizer_step_skipped": 0.0,
|
| 116 |
+
"update": 29300
|
| 117 |
+
},
|
| 118 |
+
"update": 29300,
|
| 119 |
+
"validation": {
|
| 120 |
+
"action_mse": 0.01878797579437275,
|
| 121 |
+
"generation_action_mse": 0.01878797579437275,
|
| 122 |
+
"generation_control_mse": 0.01878797579437275,
|
| 123 |
+
"loss": 0.01878797579437275,
|
| 124 |
+
"samples": 4211.0
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"train": {
|
| 129 |
+
"action_mse": 0.0008852930041030049,
|
| 130 |
+
"fm_mse": 0.004330254625529051,
|
| 131 |
+
"grad_norm": 0.16911813616752625,
|
| 132 |
+
"gradient_scale_fm": 0.004330254625529051,
|
| 133 |
+
"loss": 0.004330254625529051,
|
| 134 |
+
"lr": 3.506688076957526e-05,
|
| 135 |
+
"optimizer_step_skipped": 0.0,
|
| 136 |
+
"update": 35160
|
| 137 |
+
},
|
| 138 |
+
"update": 35160,
|
| 139 |
+
"validation": {
|
| 140 |
+
"action_mse": 0.01864015763195117,
|
| 141 |
+
"generation_action_mse": 0.01864015763195117,
|
| 142 |
+
"generation_control_mse": 0.01864015763195117,
|
| 143 |
+
"loss": 0.01864015763195117,
|
| 144 |
+
"samples": 4211.0
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"train": {
|
| 149 |
+
"action_mse": 0.0003178120241500437,
|
| 150 |
+
"fm_mse": 0.003389923367649317,
|
| 151 |
+
"grad_norm": 0.18242576718330383,
|
| 152 |
+
"gradient_scale_fm": 0.003389923367649317,
|
| 153 |
+
"loss": 0.003389923367649317,
|
| 154 |
+
"lr": 2.09419903398412e-05,
|
| 155 |
+
"optimizer_step_skipped": 0.0,
|
| 156 |
+
"update": 41020
|
| 157 |
+
},
|
| 158 |
+
"update": 41020,
|
| 159 |
+
"validation": {
|
| 160 |
+
"action_mse": 0.018665885162768465,
|
| 161 |
+
"generation_action_mse": 0.018665885162768465,
|
| 162 |
+
"generation_control_mse": 0.018665885162768465,
|
| 163 |
+
"loss": 0.018665885162768465,
|
| 164 |
+
"samples": 4211.0
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"train": {
|
| 169 |
+
"action_mse": 0.000374570838175714,
|
| 170 |
+
"fm_mse": 0.0018098849104717374,
|
| 171 |
+
"grad_norm": 0.1027974858880043,
|
| 172 |
+
"gradient_scale_fm": 0.0018098849104717374,
|
| 173 |
+
"loss": 0.0018098849104717374,
|
| 174 |
+
"lr": 9.710255958776232e-06,
|
| 175 |
+
"optimizer_step_skipped": 0.0,
|
| 176 |
+
"update": 46880
|
| 177 |
+
},
|
| 178 |
+
"update": 46880,
|
| 179 |
+
"validation": {
|
| 180 |
+
"action_mse": 0.0187629052401958,
|
| 181 |
+
"generation_action_mse": 0.0187629052401958,
|
| 182 |
+
"generation_control_mse": 0.0187629052401958,
|
| 183 |
+
"loss": 0.0187629052401958,
|
| 184 |
+
"samples": 4211.0
|
| 185 |
+
}
|
| 186 |
+
},
|
| 187 |
+
{
|
| 188 |
+
"train": {
|
| 189 |
+
"action_mse": 0.000234116698266007,
|
| 190 |
+
"fm_mse": 0.001726952032186091,
|
| 191 |
+
"grad_norm": 0.08753518760204315,
|
| 192 |
+
"gradient_scale_fm": 0.001726952032186091,
|
| 193 |
+
"loss": 0.001726952032186091,
|
| 194 |
+
"lr": 2.489963449864574e-06,
|
| 195 |
+
"optimizer_step_skipped": 0.0,
|
| 196 |
+
"update": 52740
|
| 197 |
+
},
|
| 198 |
+
"update": 52740,
|
| 199 |
+
"validation": {
|
| 200 |
+
"action_mse": 0.01867930553970176,
|
| 201 |
+
"generation_action_mse": 0.01867930553970176,
|
| 202 |
+
"generation_control_mse": 0.01867930553970176,
|
| 203 |
+
"loss": 0.01867930553970176,
|
| 204 |
+
"samples": 4211.0
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
{
|
| 208 |
+
"train": {
|
| 209 |
+
"action_mse": 0.0002932983625214547,
|
| 210 |
+
"fm_mse": 0.0011071747867390513,
|
| 211 |
+
"grad_norm": 0.10846235603094101,
|
| 212 |
+
"gradient_scale_fm": 0.0011071747867390513,
|
| 213 |
+
"loss": 0.0011071747867390513,
|
| 214 |
+
"lr": 7.30949689664584e-14,
|
| 215 |
+
"optimizer_step_skipped": 0.0,
|
| 216 |
+
"update": 58600
|
| 217 |
+
},
|
| 218 |
+
"update": 58600,
|
| 219 |
+
"validation": {
|
| 220 |
+
"action_mse": 0.018702368019038126,
|
| 221 |
+
"generation_action_mse": 0.018702368019038126,
|
| 222 |
+
"generation_control_mse": 0.018702368019038126,
|
| 223 |
+
"loss": 0.018702368019038126,
|
| 224 |
+
"samples": 4211.0
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
],
|
| 228 |
+
"validation_points": 10,
|
| 229 |
+
"wall_seconds": 2224.6858043670654,
|
| 230 |
+
"wandb": {
|
| 231 |
+
"entity": "401910710-university-of-california-berkeley",
|
| 232 |
+
"mode": "online",
|
| 233 |
+
"output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/stacking_cup/State_LastCommand_Joint/raw/base.pt",
|
| 234 |
+
"project": "robot-policy-bsp-unet-v6-stacking-cup",
|
| 235 |
+
"run_id": "mnt9f9hy",
|
| 236 |
+
"run_name": "bsp_unet_fm-base-v6-stacking_cup-state_lastcommand_joint-raw-h1-base",
|
| 237 |
+
"url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v6-stacking-cup/runs/mnt9f9hy"
|
| 238 |
+
}
|
| 239 |
+
}
|