Upload V6 classify_blocks/State_LastCommand_Joint/raw/base.pt
Browse files
NewModel/V6/classify_blocks/State_LastCommand_Joint/raw/base.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:197a1326b77e11ec5e8e8e5a7f3f53e2aa9c6fb8e7fe01bd395bb5799f7e7b26
|
| 3 |
+
size 349773015
|
NewModel/V6/classify_blocks/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/classify_blocks/cache/prepared/State_LastCommand_Joint/raw",
|
| 4 |
+
"task_instruction": "Classify the blocks.",
|
| 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/classify_blocks/State_LastCommand_Joint/raw/base.training.json
ADDED
|
@@ -0,0 +1,239 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_representation": "raw",
|
| 3 |
+
"best_validation_action_mse": 0.023536131165647612,
|
| 4 |
+
"completed_updates": 135000,
|
| 5 |
+
"dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/ActionJoint/State_LastCommand_Joint/classify_blocks_30hz_cleanup",
|
| 6 |
+
"images_per_example": 2,
|
| 7 |
+
"job": "classify_blocks/State_LastCommand_Joint/raw",
|
| 8 |
+
"maximum_finite_gradient_norm": 6.846428871154785,
|
| 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": "197a1326b77e11ec5e8e8e5a7f3f53e2aa9c6fb8e7fe01bd395bb5799f7e7b26",
|
| 19 |
+
"selected_epoch": 60.0,
|
| 20 |
+
"selected_update": 81000,
|
| 21 |
+
"source_checkpoint_sha256_before_promotion": "fbc6aee45c38e23805e9ecfad14984d009e72799d76323df656fa1554a1890d8",
|
| 22 |
+
"stage": "base",
|
| 23 |
+
"state_dim": 14,
|
| 24 |
+
"state_layout": "current_joint_angle[0:7] + last_command[7:14]",
|
| 25 |
+
"updates_per_epoch": 1350,
|
| 26 |
+
"validation_history": [
|
| 27 |
+
{
|
| 28 |
+
"train": {
|
| 29 |
+
"action_mse": 0.004684994462877512,
|
| 30 |
+
"fm_mse": 0.01836406998336315,
|
| 31 |
+
"grad_norm": 0.23276665806770325,
|
| 32 |
+
"gradient_scale_fm": 0.01836406998336315,
|
| 33 |
+
"loss": 0.01836406998336315,
|
| 34 |
+
"lr": 9.771294764860706e-05,
|
| 35 |
+
"optimizer_step_skipped": 0.0,
|
| 36 |
+
"update": 13500
|
| 37 |
+
},
|
| 38 |
+
"update": 13500,
|
| 39 |
+
"validation": {
|
| 40 |
+
"action_mse": 0.025294115077810438,
|
| 41 |
+
"generation_action_mse": 0.025294115077810438,
|
| 42 |
+
"generation_control_mse": 0.025294115077810438,
|
| 43 |
+
"loss": 0.025294115077810438,
|
| 44 |
+
"samples": 9467.0
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
{
|
| 48 |
+
"train": {
|
| 49 |
+
"action_mse": 0.003066159086301923,
|
| 50 |
+
"fm_mse": 0.008758535608649254,
|
| 51 |
+
"grad_norm": 0.16066938638687134,
|
| 52 |
+
"gradient_scale_fm": 0.008758535608649254,
|
| 53 |
+
"loss": 0.008758535608649254,
|
| 54 |
+
"lr": 9.072434246797636e-05,
|
| 55 |
+
"optimizer_step_skipped": 0.0,
|
| 56 |
+
"update": 27000
|
| 57 |
+
},
|
| 58 |
+
"update": 27000,
|
| 59 |
+
"validation": {
|
| 60 |
+
"action_mse": 0.024068530900099878,
|
| 61 |
+
"generation_action_mse": 0.024068530900099878,
|
| 62 |
+
"generation_control_mse": 0.024068530900099878,
|
| 63 |
+
"loss": 0.024068530900099878,
|
| 64 |
+
"samples": 9467.0
|
| 65 |
+
}
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"train": {
|
| 69 |
+
"action_mse": 0.0014631663216277957,
|
| 70 |
+
"fm_mse": 0.007385600358247757,
|
| 71 |
+
"grad_norm": 0.1123260036110878,
|
| 72 |
+
"gradient_scale_fm": 0.007385600358247757,
|
| 73 |
+
"loss": 0.007385600358247757,
|
| 74 |
+
"lr": 7.971990772146738e-05,
|
| 75 |
+
"optimizer_step_skipped": 0.0,
|
| 76 |
+
"update": 40500
|
| 77 |
+
},
|
| 78 |
+
"update": 40500,
|
| 79 |
+
"validation": {
|
| 80 |
+
"action_mse": 0.023944953874101206,
|
| 81 |
+
"generation_action_mse": 0.023944953874101206,
|
| 82 |
+
"generation_control_mse": 0.023944953874101206,
|
| 83 |
+
"loss": 0.023944953874101206,
|
| 84 |
+
"samples": 9467.0
|
| 85 |
+
}
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"train": {
|
| 89 |
+
"action_mse": 0.0011543506989255548,
|
| 90 |
+
"fm_mse": 0.003625171957537532,
|
| 91 |
+
"grad_norm": 0.07945719361305237,
|
| 92 |
+
"gradient_scale_fm": 0.003625171957537532,
|
| 93 |
+
"loss": 0.003625171957537532,
|
| 94 |
+
"lr": 6.578479130178238e-05,
|
| 95 |
+
"optimizer_step_skipped": 0.0,
|
| 96 |
+
"update": 54000
|
| 97 |
+
},
|
| 98 |
+
"update": 54000,
|
| 99 |
+
"validation": {
|
| 100 |
+
"action_mse": 0.023727583215165944,
|
| 101 |
+
"generation_action_mse": 0.023727583215165944,
|
| 102 |
+
"generation_control_mse": 0.023727583215165944,
|
| 103 |
+
"loss": 0.023727583215165944,
|
| 104 |
+
"samples": 9467.0
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"train": {
|
| 109 |
+
"action_mse": 0.0012802337296307087,
|
| 110 |
+
"fm_mse": 0.007386230397969484,
|
| 111 |
+
"grad_norm": 0.10454414784908295,
|
| 112 |
+
"gradient_scale_fm": 0.007386230397969484,
|
| 113 |
+
"loss": 0.007386230397969484,
|
| 114 |
+
"lr": 5.029313577650562e-05,
|
| 115 |
+
"optimizer_step_skipped": 0.0,
|
| 116 |
+
"update": 67500
|
| 117 |
+
},
|
| 118 |
+
"update": 67500,
|
| 119 |
+
"validation": {
|
| 120 |
+
"action_mse": 0.023715633081619118,
|
| 121 |
+
"generation_action_mse": 0.023715633081619118,
|
| 122 |
+
"generation_control_mse": 0.023715633081619118,
|
| 123 |
+
"loss": 0.023715633081619118,
|
| 124 |
+
"samples": 9467.0
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"train": {
|
| 129 |
+
"action_mse": 0.0005849500885233283,
|
| 130 |
+
"fm_mse": 0.0015478652203455567,
|
| 131 |
+
"grad_norm": 0.05486456677317619,
|
| 132 |
+
"gradient_scale_fm": 0.0015478652203455567,
|
| 133 |
+
"loss": 0.0015478652203455567,
|
| 134 |
+
"lr": 3.4772574116795044e-05,
|
| 135 |
+
"optimizer_step_skipped": 0.0,
|
| 136 |
+
"update": 81000
|
| 137 |
+
},
|
| 138 |
+
"update": 81000,
|
| 139 |
+
"validation": {
|
| 140 |
+
"action_mse": 0.023536131165647612,
|
| 141 |
+
"generation_action_mse": 0.023536131165647612,
|
| 142 |
+
"generation_control_mse": 0.023536131165647612,
|
| 143 |
+
"loss": 0.023536131165647612,
|
| 144 |
+
"samples": 9467.0
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"train": {
|
| 149 |
+
"action_mse": 0.0002277717721881345,
|
| 150 |
+
"fm_mse": 0.0030201682820916176,
|
| 151 |
+
"grad_norm": 0.08730270713567734,
|
| 152 |
+
"gradient_scale_fm": 0.0030201682820916176,
|
| 153 |
+
"loss": 0.0030201682820916176,
|
| 154 |
+
"lr": 2.0753589729254812e-05,
|
| 155 |
+
"optimizer_step_skipped": 0.0,
|
| 156 |
+
"update": 94500
|
| 157 |
+
},
|
| 158 |
+
"update": 94500,
|
| 159 |
+
"validation": {
|
| 160 |
+
"action_mse": 0.023609904517572413,
|
| 161 |
+
"generation_action_mse": 0.023609904517572413,
|
| 162 |
+
"generation_control_mse": 0.023609904517572413,
|
| 163 |
+
"loss": 0.023609904517572413,
|
| 164 |
+
"samples": 9467.0
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"train": {
|
| 169 |
+
"action_mse": 0.00035838448093272746,
|
| 170 |
+
"fm_mse": 0.0018391908379271626,
|
| 171 |
+
"grad_norm": 0.08744646608829498,
|
| 172 |
+
"gradient_scale_fm": 0.0018391908379271626,
|
| 173 |
+
"loss": 0.0018391908379271626,
|
| 174 |
+
"lr": 9.618595406217668e-06,
|
| 175 |
+
"optimizer_step_skipped": 0.0,
|
| 176 |
+
"update": 108000
|
| 177 |
+
},
|
| 178 |
+
"update": 108000,
|
| 179 |
+
"validation": {
|
| 180 |
+
"action_mse": 0.023655239308446336,
|
| 181 |
+
"generation_action_mse": 0.023655239308446336,
|
| 182 |
+
"generation_control_mse": 0.023655239308446336,
|
| 183 |
+
"loss": 0.023655239308446336,
|
| 184 |
+
"samples": 9467.0
|
| 185 |
+
}
|
| 186 |
+
},
|
| 187 |
+
{
|
| 188 |
+
"train": {
|
| 189 |
+
"action_mse": 0.0001388747914461419,
|
| 190 |
+
"fm_mse": 0.0021866117604076862,
|
| 191 |
+
"grad_norm": 0.06756642460823059,
|
| 192 |
+
"gradient_scale_fm": 0.0021866117604076862,
|
| 193 |
+
"loss": 0.0021866117604076862,
|
| 194 |
+
"lr": 2.465613527136429e-06,
|
| 195 |
+
"optimizer_step_skipped": 0.0,
|
| 196 |
+
"update": 121500
|
| 197 |
+
},
|
| 198 |
+
"update": 121500,
|
| 199 |
+
"validation": {
|
| 200 |
+
"action_mse": 0.02366767148256087,
|
| 201 |
+
"generation_action_mse": 0.02366767148256087,
|
| 202 |
+
"generation_control_mse": 0.02366767148256087,
|
| 203 |
+
"loss": 0.02366767148256087,
|
| 204 |
+
"samples": 9467.0
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
{
|
| 208 |
+
"train": {
|
| 209 |
+
"action_mse": 0.00020688863878604025,
|
| 210 |
+
"fm_mse": 0.003281842451542616,
|
| 211 |
+
"grad_norm": 0.1794205754995346,
|
| 212 |
+
"gradient_scale_fm": 0.003281842451542616,
|
| 213 |
+
"loss": 0.003281842451542616,
|
| 214 |
+
"lr": 1.363939516885182e-14,
|
| 215 |
+
"optimizer_step_skipped": 0.0,
|
| 216 |
+
"update": 135000
|
| 217 |
+
},
|
| 218 |
+
"update": 135000,
|
| 219 |
+
"validation": {
|
| 220 |
+
"action_mse": 0.02368727459006005,
|
| 221 |
+
"generation_action_mse": 0.02368727459006005,
|
| 222 |
+
"generation_control_mse": 0.02368727459006005,
|
| 223 |
+
"loss": 0.02368727459006005,
|
| 224 |
+
"samples": 9467.0
|
| 225 |
+
}
|
| 226 |
+
}
|
| 227 |
+
],
|
| 228 |
+
"validation_points": 10,
|
| 229 |
+
"wall_seconds": 5132.026513338089,
|
| 230 |
+
"wandb": {
|
| 231 |
+
"entity": "401910710-university-of-california-berkeley",
|
| 232 |
+
"mode": "online",
|
| 233 |
+
"output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/classify_blocks/State_LastCommand_Joint/raw/base.pt",
|
| 234 |
+
"project": "robot-policy-bsp-unet-v6-classify-blocks",
|
| 235 |
+
"run_id": "u3wslwni",
|
| 236 |
+
"run_name": "bsp_unet_fm-base-v6-classify_blocks-state_lastcommand_joint-raw-h1-base",
|
| 237 |
+
"url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v6-classify-blocks/runs/u3wslwni"
|
| 238 |
+
}
|
| 239 |
+
}
|