Hugging Face's logo

Datasets:
DiscreteRTC
/
dRTC

Dataset card Files
xet
 Community
1
outsider86 commited on
Commit
49a009f
·
verified ·
1 Parent(s): c827f2b

Upload V6 stacking_cup/LastCommand_Joint/raw/base.pt

Browse files
Files changed (3) hide show
  1. NewModel/V6/stacking_cup/LastCommand_Joint/raw/base.pt +3 -0
  2. NewModel/V6/stacking_cup/LastCommand_Joint/raw/base.server.json +18 -0
  3. NewModel/V6/stacking_cup/LastCommand_Joint/raw/base.training.json +239 -0
NewModel/V6/stacking_cup/LastCommand_Joint/raw/base.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ae91f8bc191e88ebc89cc12dc4b4aeec0d7102bee0441c0e7959cd9020bb823
3
+ size 349371479
NewModel/V6/stacking_cup/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/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": 7,
13
+ "camera_keys": [
14
+ "observation.images.global",
15
+ "observation.images.hand"
16
+ ]
17
+ }
18
+ }
NewModel/V6/stacking_cup/LastCommand_Joint/raw/base.training.json ADDED
@@ -0,0 +1,239 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_representation": "raw",
3
+ "best_validation_action_mse": 0.01876369744845131,
4
+ "completed_updates": 58600,
5
+ "dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionJoint/LastCommand_Joint/stacking_cup_30hz_cleanup",
6
+ "images_per_example": 2,
7
+ "job": "stacking_cup/LastCommand_Joint/raw",
8
+ "maximum_finite_gradient_norm": 9.321064949035645,
9
+ "observation_horizon": 1,
10
+ "optimizer_steps_skipped": 0,
11
+ "parameter_counts": {
12
+ "action_backbone": 64925319,
13
+ "embedding_output": 0,
14
+ "observation_projector_state": 22394176,
15
+ "total": 87319495,
16
+ "total_trainable": 87319495
17
+ },
18
+ "published_sha256": "6ae91f8bc191e88ebc89cc12dc4b4aeec0d7102bee0441c0e7959cd9020bb823",
19
+ "selected_epoch": 70.0,
20
+ "selected_update": 41020,
21
+ "source_checkpoint_sha256_before_promotion": "c5b4cb8c3b064954fb144413e1b2e4876527e56667d7cfd8473fca43f1231403",
22
+ "stage": "base",
23
+ "state_dim": 7,
24
+ "state_layout": "last_command[0:7]",
25
+ "updates_per_epoch": 586,
26
+ "validation_history": [
27
+ {
28
+ "train": {
29
+ "action_mse": 0.0069076791405677795,
30
+ "fm_mse": 0.018974026665091515,
31
+ "grad_norm": 0.31853941082954407,
32
+ "gradient_scale_fm": 0.018974026665091515,
33
+ "loss": 0.018974026665091515,
34
+ "lr": 9.791544209955937e-05,
35
+ "optimizer_step_skipped": 0.0,
36
+ "update": 5860
37
+ },
38
+ "update": 5860,
39
+ "validation": {
40
+ "action_mse": 0.022247289291049334,
41
+ "generation_action_mse": 0.022247289291049334,
42
+ "generation_control_mse": 0.022247289291049334,
43
+ "loss": 0.022247289291049334,
44
+ "samples": 4211.0
45
+ }
46
+ },
47
+ {
48
+ "train": {
49
+ "action_mse": 0.0030942359007894993,
50
+ "fm_mse": 0.014058373868465424,
51
+ "grad_norm": 0.2184688001871109,
52
+ "gradient_scale_fm": 0.014058373868465424,
53
+ "loss": 0.014058373868465424,
54
+ "lr": 9.107853671722462e-05,
55
+ "optimizer_step_skipped": 0.0,
56
+ "update": 11720
57
+ },
58
+ "update": 11720,
59
+ "validation": {
60
+ "action_mse": 0.02128651491593573,
61
+ "generation_action_mse": 0.02128651491593573,
62
+ "generation_control_mse": 0.02128651491593573,
63
+ "loss": 0.02128651491593573,
64
+ "samples": 4211.0
65
+ }
66
+ },
67
+ {
68
+ "train": {
69
+ "action_mse": 0.0016439835308119655,
70
+ "fm_mse": 0.00849190540611744,
71
+ "grad_norm": 0.1455637365579605,
72
+ "gradient_scale_fm": 0.00849190540611744,
73
+ "loss": 0.00849190540611744,
74
+ "lr": 8.015165344707659e-05,
75
+ "optimizer_step_skipped": 0.0,
76
+ "update": 17580
77
+ },
78
+ "update": 17580,
79
+ "validation": {
80
+ "action_mse": 0.020184135154800633,
81
+ "generation_action_mse": 0.020184135154800633,
82
+ "generation_control_mse": 0.020184135154800633,
83
+ "loss": 0.020184135154800633,
84
+ "samples": 4211.0
85
+ }
86
+ },
87
+ {
88
+ "train": {
89
+ "action_mse": 0.0010527799604460597,
90
+ "fm_mse": 0.00540878577157855,
91
+ "grad_norm": 0.19331131875514984,
92
+ "gradient_scale_fm": 0.00540878577157855,
93
+ "loss": 0.00540878577157855,
94
+ "lr": 6.622272566087246e-05,
95
+ "optimizer_step_skipped": 0.0,
96
+ "update": 23440
97
+ },
98
+ "update": 23440,
99
+ "validation": {
100
+ "action_mse": 0.019338839563527402,
101
+ "generation_action_mse": 0.019338839563527402,
102
+ "generation_control_mse": 0.019338839563527402,
103
+ "loss": 0.019338839563527402,
104
+ "samples": 4211.0
105
+ }
106
+ },
107
+ {
108
+ "train": {
109
+ "action_mse": 0.0012961123138666153,
110
+ "fm_mse": 0.004861039575189352,
111
+ "grad_norm": 0.13417993485927582,
112
+ "gradient_scale_fm": 0.004861039575189352,
113
+ "loss": 0.004861039575189352,
114
+ "lr": 5.0678584808785014e-05,
115
+ "optimizer_step_skipped": 0.0,
116
+ "update": 29300
117
+ },
118
+ "update": 29300,
119
+ "validation": {
120
+ "action_mse": 0.01884512356151253,
121
+ "generation_action_mse": 0.01884512356151253,
122
+ "generation_control_mse": 0.01884512356151253,
123
+ "loss": 0.01884512356151253,
124
+ "samples": 4211.0
125
+ }
126
+ },
127
+ {
128
+ "train": {
129
+ "action_mse": 0.000831149984151125,
130
+ "fm_mse": 0.004125118721276522,
131
+ "grad_norm": 0.11217287182807922,
132
+ "gradient_scale_fm": 0.004125118721276522,
133
+ "loss": 0.004125118721276522,
134
+ "lr": 3.506688076957526e-05,
135
+ "optimizer_step_skipped": 0.0,
136
+ "update": 35160
137
+ },
138
+ "update": 35160,
139
+ "validation": {
140
+ "action_mse": 0.018796666640862627,
141
+ "generation_action_mse": 0.018796666640862627,
142
+ "generation_control_mse": 0.018796666640862627,
143
+ "loss": 0.018796666640862627,
144
+ "samples": 4211.0
145
+ }
146
+ },
147
+ {
148
+ "train": {
149
+ "action_mse": 0.0003532414557412267,
150
+ "fm_mse": 0.004051512572914362,
151
+ "grad_norm": 0.19816024601459503,
152
+ "gradient_scale_fm": 0.004051512572914362,
153
+ "loss": 0.004051512572914362,
154
+ "lr": 2.09419903398412e-05,
155
+ "optimizer_step_skipped": 0.0,
156
+ "update": 41020
157
+ },
158
+ "update": 41020,
159
+ "validation": {
160
+ "action_mse": 0.01876369744845131,
161
+ "generation_action_mse": 0.01876369744845131,
162
+ "generation_control_mse": 0.01876369744845131,
163
+ "loss": 0.01876369744845131,
164
+ "samples": 4211.0
165
+ }
166
+ },
167
+ {
168
+ "train": {
169
+ "action_mse": 0.0004671877541113645,
170
+ "fm_mse": 0.001924547366797924,
171
+ "grad_norm": 0.114122174680233,
172
+ "gradient_scale_fm": 0.001924547366797924,
173
+ "loss": 0.001924547366797924,
174
+ "lr": 9.710255958776232e-06,
175
+ "optimizer_step_skipped": 0.0,
176
+ "update": 46880
177
+ },
178
+ "update": 46880,
179
+ "validation": {
180
+ "action_mse": 0.018850678352569854,
181
+ "generation_action_mse": 0.018850678352569854,
182
+ "generation_control_mse": 0.018850678352569854,
183
+ "loss": 0.018850678352569854,
184
+ "samples": 4211.0
185
+ }
186
+ },
187
+ {
188
+ "train": {
189
+ "action_mse": 0.00022752101358491927,
190
+ "fm_mse": 0.0017240040469914675,
191
+ "grad_norm": 0.0827111303806305,
192
+ "gradient_scale_fm": 0.0017240040469914675,
193
+ "loss": 0.0017240040469914675,
194
+ "lr": 2.489963449864574e-06,
195
+ "optimizer_step_skipped": 0.0,
196
+ "update": 52740
197
+ },
198
+ "update": 52740,
199
+ "validation": {
200
+ "action_mse": 0.018866748047222492,
201
+ "generation_action_mse": 0.018866748047222492,
202
+ "generation_control_mse": 0.018866748047222492,
203
+ "loss": 0.018866748047222492,
204
+ "samples": 4211.0
205
+ }
206
+ },
207
+ {
208
+ "train": {
209
+ "action_mse": 0.00020837504416704178,
210
+ "fm_mse": 0.0007039711344987154,
211
+ "grad_norm": 0.05138221010565758,
212
+ "gradient_scale_fm": 0.0007039711344987154,
213
+ "loss": 0.0007039711344987154,
214
+ "lr": 7.30949689664584e-14,
215
+ "optimizer_step_skipped": 0.0,
216
+ "update": 58600
217
+ },
218
+ "update": 58600,
219
+ "validation": {
220
+ "action_mse": 0.018838950036151318,
221
+ "generation_action_mse": 0.018838950036151318,
222
+ "generation_control_mse": 0.018838950036151318,
223
+ "loss": 0.018838950036151318,
224
+ "samples": 4211.0
225
+ }
226
+ }
227
+ ],
228
+ "validation_points": 10,
229
+ "wall_seconds": 2254.6685194969177,
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/LastCommand_Joint/raw/base.pt",
234
+ "project": "robot-policy-bsp-unet-v6-stacking-cup",
235
+ "run_id": "61fr8332",
236
+ "run_name": "bsp_unet_fm-base-v6-stacking_cup-lastcommand_joint-raw-h1-base",
237
+ "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v6-stacking-cup/runs/61fr8332"
238
+ }
239
+ }