Add V5 hanging mug base checkpoints and metadata
Browse files- NewModel/V5Full/hanging_mug/fm_bspline_h2/base.pt +3 -0
- NewModel/V5Full/hanging_mug/fm_bspline_h2/base.pt.wandb.json +9 -0
- NewModel/V5Full/hanging_mug/fm_bspline_h2/checkpoint_manifest.json +1039 -0
- NewModel/V5Full/hanging_mug/fm_raw_h2/base.pt +3 -0
- NewModel/V5Full/hanging_mug/fm_raw_h2/base.pt.wandb.json +9 -0
- NewModel/V5Full/hanging_mug/fm_raw_h2/checkpoint_manifest.json +726 -0
NewModel/V5Full/hanging_mug/fm_bspline_h2/base.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9b20606428176ce4a2fecab995f5aba88f618bc7aa563e9c328d38b615792677
|
| 3 |
+
size 1436047475
|
NewModel/V5Full/hanging_mug/fm_bspline_h2/base.pt.wandb.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"project": "robot-policy-bsp-unet-v5-state-command-100e",
|
| 3 |
+
"entity": "401910710-university-of-california-berkeley",
|
| 4 |
+
"run_id": "gb0et8i7",
|
| 5 |
+
"run_name": "bsp_unet_fm-base-v5-hanging-mug-bspline-h2-state-command-batch64-100epochs",
|
| 6 |
+
"url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v5-state-command-100e/runs/gb0et8i7",
|
| 7 |
+
"mode": "online",
|
| 8 |
+
"output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/checkpoints/fm_bspline_h2/base.pt"
|
| 9 |
+
}
|
NewModel/V5Full/hanging_mug/fm_bspline_h2/checkpoint_manifest.json
ADDED
|
@@ -0,0 +1,1039 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoints": [
|
| 3 |
+
{
|
| 4 |
+
"architecture": "bsp_unet_fm",
|
| 5 |
+
"training_type": "base",
|
| 6 |
+
"parent_checkpoint": null,
|
| 7 |
+
"file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/checkpoints/fm_bspline_h2/base.pt",
|
| 8 |
+
"sha256": "9b20606428176ce4a2fecab995f5aba88f618bc7aa563e9c328d38b615792677",
|
| 9 |
+
"configuration": {
|
| 10 |
+
"data": {
|
| 11 |
+
"dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/Processed/hanging_mug_30hz_cleanup",
|
| 12 |
+
"prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/cache/prepared/bspline",
|
| 13 |
+
"action_representation": "bspline",
|
| 14 |
+
"vision_cache_path": null,
|
| 15 |
+
"camera_keys": [
|
| 16 |
+
"observation.images.global",
|
| 17 |
+
"observation.images.hand"
|
| 18 |
+
],
|
| 19 |
+
"state_key": "observation.state",
|
| 20 |
+
"action_key": "action",
|
| 21 |
+
"state_dim": 14,
|
| 22 |
+
"observation_horizon": 2,
|
| 23 |
+
"observation_source": "rgb",
|
| 24 |
+
"rgb_cache_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/cache/rgb84",
|
| 25 |
+
"parent_prediction_cache_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/cache/parent_predictions",
|
| 26 |
+
"action_horizon": 30,
|
| 27 |
+
"frequency_hz": 30.0,
|
| 28 |
+
"split_seed": 20260915,
|
| 29 |
+
"train_episodes": 55,
|
| 30 |
+
"val_episodes": 6,
|
| 31 |
+
"test_episodes": 0
|
| 32 |
+
},
|
| 33 |
+
"spline": {
|
| 34 |
+
"degree": 3,
|
| 35 |
+
"span_length_steps": 2,
|
| 36 |
+
"num_basis": 18,
|
| 37 |
+
"vocab_size": 256,
|
| 38 |
+
"regularization": 0.0001,
|
| 39 |
+
"implementation_version": "uniform_left_direct_fit_v1"
|
| 40 |
+
},
|
| 41 |
+
"vision": {
|
| 42 |
+
"image_size": 84,
|
| 43 |
+
"pooled_grid": 4,
|
| 44 |
+
"tokenizer": "dinov2_siglip",
|
| 45 |
+
"feature_dim": 2176,
|
| 46 |
+
"resampler_tokens_per_camera": null,
|
| 47 |
+
"dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
|
| 48 |
+
"siglip_model": "vit_so400m_patch14_siglip_224",
|
| 49 |
+
"extraction_layer_offset": -2,
|
| 50 |
+
"pretrained": false,
|
| 51 |
+
"cache_dtype": "float16",
|
| 52 |
+
"crop_size": 76,
|
| 53 |
+
"spatial_keypoints": 32,
|
| 54 |
+
"bsp_encoder_weights": null,
|
| 55 |
+
"bsp_encoder_norm": "group",
|
| 56 |
+
"bsp_rgb_normalization": "minus_one_one"
|
| 57 |
+
},
|
| 58 |
+
"policy": {
|
| 59 |
+
"architecture": "bsp_unet_fm",
|
| 60 |
+
"model_size": "BSP-UNet",
|
| 61 |
+
"hidden_dim": 192,
|
| 62 |
+
"depth": 6,
|
| 63 |
+
"heads": 6,
|
| 64 |
+
"mlp_ratio": 4.0,
|
| 65 |
+
"dropout": 0.0,
|
| 66 |
+
"discrete_rounds": 8,
|
| 67 |
+
"block_size": 21,
|
| 68 |
+
"discrete_full_mask_probability": 0.0,
|
| 69 |
+
"fm_steps": 12,
|
| 70 |
+
"unet_down_dims": [
|
| 71 |
+
256,
|
| 72 |
+
512,
|
| 73 |
+
1024
|
| 74 |
+
],
|
| 75 |
+
"unet_time_dim": 128,
|
| 76 |
+
"unet_kernel_size": 5,
|
| 77 |
+
"unet_groups": 8,
|
| 78 |
+
"discrete_embed_dim": 32
|
| 79 |
+
},
|
| 80 |
+
"train": {
|
| 81 |
+
"seed": 42,
|
| 82 |
+
"updates": 37700,
|
| 83 |
+
"rtc_updates": 5000,
|
| 84 |
+
"batch_size": 64,
|
| 85 |
+
"effective_batch_size": 64,
|
| 86 |
+
"learning_rate": 0.0001,
|
| 87 |
+
"rtc_learning_rate": 0.0001,
|
| 88 |
+
"optimizer_beta1": 0.95,
|
| 89 |
+
"optimizer_beta2": 0.999,
|
| 90 |
+
"optimizer_epsilon": 1e-08,
|
| 91 |
+
"weight_decay": 1e-06,
|
| 92 |
+
"warmup_updates": 500,
|
| 93 |
+
"min_lr_ratio": 0.0,
|
| 94 |
+
"grad_clip": 1.0,
|
| 95 |
+
"fm_grad_skip_threshold": 100.0,
|
| 96 |
+
"fm_rtc_grad_skip_threshold": 100.0,
|
| 97 |
+
"fm_grad_skip_after_updates": 500,
|
| 98 |
+
"fm_math_sdp_training": true,
|
| 99 |
+
"eval_every": 377,
|
| 100 |
+
"validation_max_batches": 64,
|
| 101 |
+
"validation_batch_size": 64,
|
| 102 |
+
"save_every": 3770,
|
| 103 |
+
"keep_periodic_checkpoints": false,
|
| 104 |
+
"updates_per_epoch": 377,
|
| 105 |
+
"best_checkpoint_every_epochs": 10,
|
| 106 |
+
"num_workers": 8,
|
| 107 |
+
"precision": "bf16",
|
| 108 |
+
"lambda_l1": 1.0,
|
| 109 |
+
"deterministic": true,
|
| 110 |
+
"use_ema": true,
|
| 111 |
+
"ema_update_after_step": 0,
|
| 112 |
+
"ema_inv_gamma": 1.0,
|
| 113 |
+
"ema_power": 0.75,
|
| 114 |
+
"ema_min_value": 0.0,
|
| 115 |
+
"ema_max_value": 0.9999
|
| 116 |
+
},
|
| 117 |
+
"rtc": {
|
| 118 |
+
"spline_delay_min": 1,
|
| 119 |
+
"spline_delay_max": 5,
|
| 120 |
+
"raw_delay_min": 1,
|
| 121 |
+
"raw_delay_max": 10,
|
| 122 |
+
"delay_distribution": "truncated_decreasing_exponential_reference",
|
| 123 |
+
"zero_delay_eval": true
|
| 124 |
+
},
|
| 125 |
+
"wandb": {
|
| 126 |
+
"enabled": true,
|
| 127 |
+
"mode": "online",
|
| 128 |
+
"entity": "401910710-university-of-california-berkeley",
|
| 129 |
+
"base_project": "robot-policy-bsp-unet-v5-state-command-100e",
|
| 130 |
+
"rtc_project": "robot-policy-bsp-unet-v5-state-command-100e-ttrtc",
|
| 131 |
+
"run_suffix": "v5-hanging-mug-bspline-h2-state-command-batch64-100epochs",
|
| 132 |
+
"output_dir": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/wandb"
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"code_commit": "root repository has no commit",
|
| 136 |
+
"code_snapshot_sha256": "f3914f1c7b2637650acaa4103760893a10371a02204091255b7774ee60521437",
|
| 137 |
+
"data_split": {
|
| 138 |
+
"train": [
|
| 139 |
+
0,
|
| 140 |
+
1,
|
| 141 |
+
2,
|
| 142 |
+
3,
|
| 143 |
+
4,
|
| 144 |
+
5,
|
| 145 |
+
6,
|
| 146 |
+
7,
|
| 147 |
+
9,
|
| 148 |
+
10,
|
| 149 |
+
11,
|
| 150 |
+
12,
|
| 151 |
+
13,
|
| 152 |
+
14,
|
| 153 |
+
15,
|
| 154 |
+
16,
|
| 155 |
+
17,
|
| 156 |
+
20,
|
| 157 |
+
21,
|
| 158 |
+
23,
|
| 159 |
+
24,
|
| 160 |
+
25,
|
| 161 |
+
26,
|
| 162 |
+
27,
|
| 163 |
+
28,
|
| 164 |
+
29,
|
| 165 |
+
30,
|
| 166 |
+
31,
|
| 167 |
+
32,
|
| 168 |
+
33,
|
| 169 |
+
35,
|
| 170 |
+
36,
|
| 171 |
+
37,
|
| 172 |
+
38,
|
| 173 |
+
39,
|
| 174 |
+
40,
|
| 175 |
+
41,
|
| 176 |
+
42,
|
| 177 |
+
43,
|
| 178 |
+
44,
|
| 179 |
+
45,
|
| 180 |
+
46,
|
| 181 |
+
47,
|
| 182 |
+
48,
|
| 183 |
+
49,
|
| 184 |
+
50,
|
| 185 |
+
51,
|
| 186 |
+
52,
|
| 187 |
+
53,
|
| 188 |
+
55,
|
| 189 |
+
56,
|
| 190 |
+
57,
|
| 191 |
+
58,
|
| 192 |
+
59,
|
| 193 |
+
60
|
| 194 |
+
],
|
| 195 |
+
"val": [
|
| 196 |
+
8,
|
| 197 |
+
18,
|
| 198 |
+
19,
|
| 199 |
+
22,
|
| 200 |
+
34,
|
| 201 |
+
54
|
| 202 |
+
],
|
| 203 |
+
"test": []
|
| 204 |
+
},
|
| 205 |
+
"encoder_version": {
|
| 206 |
+
"type": "UniformLeftBSplineConfig",
|
| 207 |
+
"config": {
|
| 208 |
+
"action_dim": 7,
|
| 209 |
+
"chunk_size": 30,
|
| 210 |
+
"frequency_hz": 30.0,
|
| 211 |
+
"degree": 3,
|
| 212 |
+
"num_basis": 18,
|
| 213 |
+
"span_length_steps": 2,
|
| 214 |
+
"vocab_size": 256,
|
| 215 |
+
"regularization": 0.0001,
|
| 216 |
+
"end_padding": true,
|
| 217 |
+
"mode": "uniform_left",
|
| 218 |
+
"implementation_version": "uniform_left_direct_fit_v1"
|
| 219 |
+
},
|
| 220 |
+
"tokenizer_id": "3282a6009a52b9a0",
|
| 221 |
+
"calibration": {
|
| 222 |
+
"low": [
|
| 223 |
+
[
|
| 224 |
+
-1.0002634809310869,
|
| 225 |
+
-1.0000269749874897,
|
| 226 |
+
-1.0000185216200168,
|
| 227 |
+
-1.0003521551830465,
|
| 228 |
+
-1.000090882616418,
|
| 229 |
+
-0.9999175344058577,
|
| 230 |
+
-1.0042025941838026
|
| 231 |
+
],
|
| 232 |
+
[
|
| 233 |
+
-1.0269821248126245,
|
| 234 |
+
-1.0253642472041147,
|
| 235 |
+
-1.0097577432674665,
|
| 236 |
+
-1.0407389638678644,
|
| 237 |
+
-1.0091940283520644,
|
| 238 |
+
-1.0012207844224819,
|
| 239 |
+
-1.2155415533599336
|
| 240 |
+
],
|
| 241 |
+
[
|
| 242 |
+
-1.047677208244651,
|
| 243 |
+
-1.0413459878789657,
|
| 244 |
+
-1.0249295104611782,
|
| 245 |
+
-1.0403246885959982,
|
| 246 |
+
-1.009370058844907,
|
| 247 |
+
-1.0031526247615903,
|
| 248 |
+
-1.2466073517735514
|
| 249 |
+
],
|
| 250 |
+
[
|
| 251 |
+
-1.0346762853821996,
|
| 252 |
+
-1.0275661540139498,
|
| 253 |
+
-1.0192270683040547,
|
| 254 |
+
-1.0322509514554885,
|
| 255 |
+
-1.0064458568512193,
|
| 256 |
+
-1.0045248265588949,
|
| 257 |
+
-1.190451309740057
|
| 258 |
+
],
|
| 259 |
+
[
|
| 260 |
+
-1.0311559331202378,
|
| 261 |
+
-1.0300307584471426,
|
| 262 |
+
-1.017544614408942,
|
| 263 |
+
-1.0296711540923706,
|
| 264 |
+
-1.005736021153649,
|
| 265 |
+
-1.0045047239433051,
|
| 266 |
+
-1.1735795786126566
|
| 267 |
+
],
|
| 268 |
+
[
|
| 269 |
+
-1.0301497370948882,
|
| 270 |
+
-1.0290353166620825,
|
| 271 |
+
-1.0170573335748243,
|
| 272 |
+
-1.0289055817516006,
|
| 273 |
+
-1.005518909047995,
|
| 274 |
+
-1.0048320318645028,
|
| 275 |
+
-1.1687762119425749
|
| 276 |
+
],
|
| 277 |
+
[
|
| 278 |
+
-1.0298810056481633,
|
| 279 |
+
-1.0284900246601998,
|
| 280 |
+
-1.0169084384593687,
|
| 281 |
+
-1.02871076721853,
|
| 282 |
+
-1.0054687546225782,
|
| 283 |
+
-1.004679329052127,
|
| 284 |
+
-1.1674223011177405
|
| 285 |
+
],
|
| 286 |
+
[
|
| 287 |
+
-1.029820087804269,
|
| 288 |
+
-1.0284085257890407,
|
| 289 |
+
-1.0168568520507857,
|
| 290 |
+
-1.0286346746903359,
|
| 291 |
+
-1.0054444916075318,
|
| 292 |
+
-1.0042950826058648,
|
| 293 |
+
-1.1670451590553848
|
| 294 |
+
],
|
| 295 |
+
[
|
| 296 |
+
-1.0297320226557385,
|
| 297 |
+
-1.028417149995718,
|
| 298 |
+
-1.0165997558530926,
|
| 299 |
+
-1.0286533612049822,
|
| 300 |
+
-1.0054069041242295,
|
| 301 |
+
-1.0049116893014367,
|
| 302 |
+
-1.1668658327640398
|
| 303 |
+
],
|
| 304 |
+
[
|
| 305 |
+
-1.0297934092952827,
|
| 306 |
+
-1.0282952114173234,
|
| 307 |
+
-1.0155983394850336,
|
| 308 |
+
-1.0286616939190172,
|
| 309 |
+
-1.005402708934638,
|
| 310 |
+
-1.0049965061208175,
|
| 311 |
+
-1.1667366821102048
|
| 312 |
+
],
|
| 313 |
+
[
|
| 314 |
+
-1.0298110138528196,
|
| 315 |
+
-1.0284741981138124,
|
| 316 |
+
-1.0135488792662946,
|
| 317 |
+
-1.028707309724993,
|
| 318 |
+
-1.0052360205449082,
|
| 319 |
+
-1.0051631760866269,
|
| 320 |
+
-1.1660598317463298
|
| 321 |
+
],
|
| 322 |
+
[
|
| 323 |
+
-1.0302587402705272,
|
| 324 |
+
-1.0283359143219803,
|
| 325 |
+
-1.0145768567481108,
|
| 326 |
+
-1.0286286417177914,
|
| 327 |
+
-1.0064275005804053,
|
| 328 |
+
-1.0049660934078373,
|
| 329 |
+
-1.1642995671292855
|
| 330 |
+
],
|
| 331 |
+
[
|
| 332 |
+
-1.0308418830301684,
|
| 333 |
+
-1.0289858067183655,
|
| 334 |
+
-1.014532786813734,
|
| 335 |
+
-1.0294156383884627,
|
| 336 |
+
-1.0077063316545296,
|
| 337 |
+
-1.0053884122757482,
|
| 338 |
+
-1.165894821621741
|
| 339 |
+
],
|
| 340 |
+
[
|
| 341 |
+
-1.0346774943296688,
|
| 342 |
+
-1.029078363341514,
|
| 343 |
+
-1.0147786850653322,
|
| 344 |
+
-1.0308267466514696,
|
| 345 |
+
-1.005972573055207,
|
| 346 |
+
-1.0047842367140392,
|
| 347 |
+
-1.1707009326919755
|
| 348 |
+
],
|
| 349 |
+
[
|
| 350 |
+
-1.0184558109688313,
|
| 351 |
+
-1.0355618057528708,
|
| 352 |
+
-1.014079375775578,
|
| 353 |
+
-1.0365879879034836,
|
| 354 |
+
-1.0072576584227422,
|
| 355 |
+
-1.0067218326118685,
|
| 356 |
+
-1.1922019179604444
|
| 357 |
+
],
|
| 358 |
+
[
|
| 359 |
+
-1.0165391255303653,
|
| 360 |
+
-1.0479885388830317,
|
| 361 |
+
-1.015881584264582,
|
| 362 |
+
-1.0215943500555826,
|
| 363 |
+
-1.0027857986148097,
|
| 364 |
+
-1.005543876674721,
|
| 365 |
+
-1.264775566085263
|
| 366 |
+
],
|
| 367 |
+
[
|
| 368 |
+
-1.0413581641729925,
|
| 369 |
+
-1.111041280859676,
|
| 370 |
+
-1.0462674467983826,
|
| 371 |
+
-1.0267203396640001,
|
| 372 |
+
-1.013319174652889,
|
| 373 |
+
-1.0170712891592344,
|
| 374 |
+
-1.8236417681219732
|
| 375 |
+
],
|
| 376 |
+
[
|
| 377 |
+
-1.4668274214167443,
|
| 378 |
+
-1.2644820038183888,
|
| 379 |
+
-1.165129393676029,
|
| 380 |
+
-1.2751324797527732,
|
| 381 |
+
-1.2474521227127453,
|
| 382 |
+
-1.0931092487319998,
|
| 383 |
+
-3.5994888699536096
|
| 384 |
+
]
|
| 385 |
+
],
|
| 386 |
+
"high": [
|
| 387 |
+
[
|
| 388 |
+
1.0003401370683631,
|
| 389 |
+
1.0001101386175781,
|
| 390 |
+
0.9999674822811284,
|
| 391 |
+
1.0000591891728075,
|
| 392 |
+
1.0000792376399221,
|
| 393 |
+
1.0001300892622709,
|
| 394 |
+
1.0073268464598082
|
| 395 |
+
],
|
| 396 |
+
[
|
| 397 |
+
1.0235412323162352,
|
| 398 |
+
1.0177909606001907,
|
| 399 |
+
1.0275720326110793,
|
| 400 |
+
1.0072817649348345,
|
| 401 |
+
1.0248800615180018,
|
| 402 |
+
1.0155894483577828,
|
| 403 |
+
1.46487534594618
|
| 404 |
+
],
|
| 405 |
+
[
|
| 406 |
+
1.0560841068854117,
|
| 407 |
+
1.0193100534516828,
|
| 408 |
+
1.0296010675032605,
|
| 409 |
+
1.0134885396424307,
|
| 410 |
+
1.060399276843892,
|
| 411 |
+
1.0308379206547416,
|
| 412 |
+
1.5892296866852944
|
| 413 |
+
],
|
| 414 |
+
[
|
| 415 |
+
1.041944081517138,
|
| 416 |
+
1.0142519283795677,
|
| 417 |
+
1.0112012426701142,
|
| 418 |
+
1.0046191901224384,
|
| 419 |
+
1.0366870781437278,
|
| 420 |
+
1.0227535630314744,
|
| 421 |
+
1.4508493897632748
|
| 422 |
+
],
|
| 423 |
+
[
|
| 424 |
+
1.0379546687067769,
|
| 425 |
+
1.0133363717805761,
|
| 426 |
+
1.015664757607602,
|
| 427 |
+
1.0059059257502907,
|
| 428 |
+
1.041949357584283,
|
| 429 |
+
1.0205294039511912,
|
| 430 |
+
1.4099270868907492
|
| 431 |
+
],
|
| 432 |
+
[
|
| 433 |
+
1.0372647324662123,
|
| 434 |
+
1.0130406129098326,
|
| 435 |
+
1.017106591446909,
|
| 436 |
+
1.0062375538171129,
|
| 437 |
+
1.0437707428821956,
|
| 438 |
+
1.0198694705047398,
|
| 439 |
+
1.3983353422737104
|
| 440 |
+
],
|
| 441 |
+
[
|
| 442 |
+
1.037732809877094,
|
| 443 |
+
1.0129605360462492,
|
| 444 |
+
1.0174600668658202,
|
| 445 |
+
1.0063112252840096,
|
| 446 |
+
1.0442186810345429,
|
| 447 |
+
1.0196938548257364,
|
| 448 |
+
1.3950776500474686
|
| 449 |
+
],
|
| 450 |
+
[
|
| 451 |
+
1.038012053608131,
|
| 452 |
+
1.0129159950877942,
|
| 453 |
+
1.0175701225176546,
|
| 454 |
+
1.0063665156899217,
|
| 455 |
+
1.0443919989270993,
|
| 456 |
+
1.0161518897507849,
|
| 457 |
+
1.3941951643228554
|
| 458 |
+
],
|
| 459 |
+
[
|
| 460 |
+
1.0381395583400188,
|
| 461 |
+
1.0129290598670715,
|
| 462 |
+
1.017621041739,
|
| 463 |
+
1.0064579888170093,
|
| 464 |
+
1.0444930757694408,
|
| 465 |
+
1.0132495088417623,
|
| 466 |
+
1.3940222952492822
|
| 467 |
+
],
|
| 468 |
+
[
|
| 469 |
+
1.0381255041635775,
|
| 470 |
+
1.0129251817202,
|
| 471 |
+
1.017549463932927,
|
| 472 |
+
1.006371719226843,
|
| 473 |
+
1.044445128340612,
|
| 474 |
+
1.0129879766489909,
|
| 475 |
+
1.3940131498019195
|
| 476 |
+
],
|
| 477 |
+
[
|
| 478 |
+
1.038079555417129,
|
| 479 |
+
1.0129434664030008,
|
| 480 |
+
1.0176517636245015,
|
| 481 |
+
1.0064896346619443,
|
| 482 |
+
1.0446017418710298,
|
| 483 |
+
1.0102909530007191,
|
| 484 |
+
1.3937844409948812
|
| 485 |
+
],
|
| 486 |
+
[
|
| 487 |
+
1.0382403448505857,
|
| 488 |
+
1.0128730232984111,
|
| 489 |
+
1.0175256488274778,
|
| 490 |
+
1.0062864248805325,
|
| 491 |
+
1.044482268718008,
|
| 492 |
+
1.0101541012884054,
|
| 493 |
+
1.3941460635384313
|
| 494 |
+
],
|
| 495 |
+
[
|
| 496 |
+
1.0383999101741503,
|
| 497 |
+
1.0130071438715103,
|
| 498 |
+
1.0180784914010184,
|
| 499 |
+
1.006728501686952,
|
| 500 |
+
1.0453359234093174,
|
| 501 |
+
1.010695919394729,
|
| 502 |
+
1.3942924044954428
|
| 503 |
+
],
|
| 504 |
+
[
|
| 505 |
+
1.040203593741554,
|
| 506 |
+
1.0130597558549186,
|
| 507 |
+
1.0178930719511499,
|
| 508 |
+
1.0061724688399505,
|
| 509 |
+
1.046130202419453,
|
| 510 |
+
1.0098824188410116,
|
| 511 |
+
1.3918372079176682
|
| 512 |
+
],
|
| 513 |
+
[
|
| 514 |
+
1.0465485179336271,
|
| 515 |
+
1.0138214973434978,
|
| 516 |
+
1.0213276893783498,
|
| 517 |
+
1.008276637663781,
|
| 518 |
+
1.0531615085872144,
|
| 519 |
+
1.0118200158653226,
|
| 520 |
+
1.442893336247343
|
| 521 |
+
],
|
| 522 |
+
[
|
| 523 |
+
1.0624167332812389,
|
| 524 |
+
1.0158090306407885,
|
| 525 |
+
1.0256802574323673,
|
| 526 |
+
1.0077312515454317,
|
| 527 |
+
1.0715655987419117,
|
| 528 |
+
1.0118890267550955,
|
| 529 |
+
1.4076889506491317
|
| 530 |
+
],
|
| 531 |
+
[
|
| 532 |
+
1.1514016616685558,
|
| 533 |
+
1.0209512482511676,
|
| 534 |
+
1.0736956507415152,
|
| 535 |
+
1.0224535993053525,
|
| 536 |
+
1.0661818005424006,
|
| 537 |
+
1.0130499612561137,
|
| 538 |
+
2.1170039860880587
|
| 539 |
+
],
|
| 540 |
+
[
|
| 541 |
+
1.3204889381654954,
|
| 542 |
+
1.112052271131271,
|
| 543 |
+
1.0951529147644135,
|
| 544 |
+
1.114575919136867,
|
| 545 |
+
1.3156388818899007,
|
| 546 |
+
1.168400389535289,
|
| 547 |
+
4.911022377361099
|
| 548 |
+
]
|
| 549 |
+
]
|
| 550 |
+
},
|
| 551 |
+
"predicted_fields": "18x7 control points or ordered bins",
|
| 552 |
+
"fixed_fields": "knots, span length, degree, sample period, phase",
|
| 553 |
+
"rtc_history_steps": [
|
| 554 |
+
2,
|
| 555 |
+
4,
|
| 556 |
+
6,
|
| 557 |
+
8,
|
| 558 |
+
10
|
| 559 |
+
]
|
| 560 |
+
},
|
| 561 |
+
"vision_weight_versions": {
|
| 562 |
+
"bsp_rgb_cache": {
|
| 563 |
+
"format": "uint8_rgb_chw",
|
| 564 |
+
"image_size": 84,
|
| 565 |
+
"camera_keys": [
|
| 566 |
+
"observation.images.global",
|
| 567 |
+
"observation.images.hand"
|
| 568 |
+
],
|
| 569 |
+
"episodes": 61,
|
| 570 |
+
"frames": 26888,
|
| 571 |
+
"episode_shapes": {
|
| 572 |
+
"0": [
|
| 573 |
+
471,
|
| 574 |
+
2,
|
| 575 |
+
3,
|
| 576 |
+
84,
|
| 577 |
+
84
|
| 578 |
+
],
|
| 579 |
+
"1": [
|
| 580 |
+
453,
|
| 581 |
+
2,
|
| 582 |
+
3,
|
| 583 |
+
84,
|
| 584 |
+
84
|
| 585 |
+
],
|
| 586 |
+
"2": [
|
| 587 |
+
517,
|
| 588 |
+
2,
|
| 589 |
+
3,
|
| 590 |
+
84,
|
| 591 |
+
84
|
| 592 |
+
],
|
| 593 |
+
"3": [
|
| 594 |
+
535,
|
| 595 |
+
2,
|
| 596 |
+
3,
|
| 597 |
+
84,
|
| 598 |
+
84
|
| 599 |
+
],
|
| 600 |
+
"4": [
|
| 601 |
+
438,
|
| 602 |
+
2,
|
| 603 |
+
3,
|
| 604 |
+
84,
|
| 605 |
+
84
|
| 606 |
+
],
|
| 607 |
+
"5": [
|
| 608 |
+
440,
|
| 609 |
+
2,
|
| 610 |
+
3,
|
| 611 |
+
84,
|
| 612 |
+
84
|
| 613 |
+
],
|
| 614 |
+
"6": [
|
| 615 |
+
418,
|
| 616 |
+
2,
|
| 617 |
+
3,
|
| 618 |
+
84,
|
| 619 |
+
84
|
| 620 |
+
],
|
| 621 |
+
"7": [
|
| 622 |
+
513,
|
| 623 |
+
2,
|
| 624 |
+
3,
|
| 625 |
+
84,
|
| 626 |
+
84
|
| 627 |
+
],
|
| 628 |
+
"8": [
|
| 629 |
+
521,
|
| 630 |
+
2,
|
| 631 |
+
3,
|
| 632 |
+
84,
|
| 633 |
+
84
|
| 634 |
+
],
|
| 635 |
+
"9": [
|
| 636 |
+
471,
|
| 637 |
+
2,
|
| 638 |
+
3,
|
| 639 |
+
84,
|
| 640 |
+
84
|
| 641 |
+
],
|
| 642 |
+
"10": [
|
| 643 |
+
490,
|
| 644 |
+
2,
|
| 645 |
+
3,
|
| 646 |
+
84,
|
| 647 |
+
84
|
| 648 |
+
],
|
| 649 |
+
"11": [
|
| 650 |
+
408,
|
| 651 |
+
2,
|
| 652 |
+
3,
|
| 653 |
+
84,
|
| 654 |
+
84
|
| 655 |
+
],
|
| 656 |
+
"12": [
|
| 657 |
+
503,
|
| 658 |
+
2,
|
| 659 |
+
3,
|
| 660 |
+
84,
|
| 661 |
+
84
|
| 662 |
+
],
|
| 663 |
+
"13": [
|
| 664 |
+
477,
|
| 665 |
+
2,
|
| 666 |
+
3,
|
| 667 |
+
84,
|
| 668 |
+
84
|
| 669 |
+
],
|
| 670 |
+
"14": [
|
| 671 |
+
408,
|
| 672 |
+
2,
|
| 673 |
+
3,
|
| 674 |
+
84,
|
| 675 |
+
84
|
| 676 |
+
],
|
| 677 |
+
"15": [
|
| 678 |
+
434,
|
| 679 |
+
2,
|
| 680 |
+
3,
|
| 681 |
+
84,
|
| 682 |
+
84
|
| 683 |
+
],
|
| 684 |
+
"16": [
|
| 685 |
+
375,
|
| 686 |
+
2,
|
| 687 |
+
3,
|
| 688 |
+
84,
|
| 689 |
+
84
|
| 690 |
+
],
|
| 691 |
+
"17": [
|
| 692 |
+
368,
|
| 693 |
+
2,
|
| 694 |
+
3,
|
| 695 |
+
84,
|
| 696 |
+
84
|
| 697 |
+
],
|
| 698 |
+
"18": [
|
| 699 |
+
437,
|
| 700 |
+
2,
|
| 701 |
+
3,
|
| 702 |
+
84,
|
| 703 |
+
84
|
| 704 |
+
],
|
| 705 |
+
"19": [
|
| 706 |
+
489,
|
| 707 |
+
2,
|
| 708 |
+
3,
|
| 709 |
+
84,
|
| 710 |
+
84
|
| 711 |
+
],
|
| 712 |
+
"20": [
|
| 713 |
+
428,
|
| 714 |
+
2,
|
| 715 |
+
3,
|
| 716 |
+
84,
|
| 717 |
+
84
|
| 718 |
+
],
|
| 719 |
+
"21": [
|
| 720 |
+
393,
|
| 721 |
+
2,
|
| 722 |
+
3,
|
| 723 |
+
84,
|
| 724 |
+
84
|
| 725 |
+
],
|
| 726 |
+
"22": [
|
| 727 |
+
371,
|
| 728 |
+
2,
|
| 729 |
+
3,
|
| 730 |
+
84,
|
| 731 |
+
84
|
| 732 |
+
],
|
| 733 |
+
"23": [
|
| 734 |
+
373,
|
| 735 |
+
2,
|
| 736 |
+
3,
|
| 737 |
+
84,
|
| 738 |
+
84
|
| 739 |
+
],
|
| 740 |
+
"24": [
|
| 741 |
+
420,
|
| 742 |
+
2,
|
| 743 |
+
3,
|
| 744 |
+
84,
|
| 745 |
+
84
|
| 746 |
+
],
|
| 747 |
+
"25": [
|
| 748 |
+
423,
|
| 749 |
+
2,
|
| 750 |
+
3,
|
| 751 |
+
84,
|
| 752 |
+
84
|
| 753 |
+
],
|
| 754 |
+
"26": [
|
| 755 |
+
379,
|
| 756 |
+
2,
|
| 757 |
+
3,
|
| 758 |
+
84,
|
| 759 |
+
84
|
| 760 |
+
],
|
| 761 |
+
"27": [
|
| 762 |
+
422,
|
| 763 |
+
2,
|
| 764 |
+
3,
|
| 765 |
+
84,
|
| 766 |
+
84
|
| 767 |
+
],
|
| 768 |
+
"28": [
|
| 769 |
+
435,
|
| 770 |
+
2,
|
| 771 |
+
3,
|
| 772 |
+
84,
|
| 773 |
+
84
|
| 774 |
+
],
|
| 775 |
+
"29": [
|
| 776 |
+
391,
|
| 777 |
+
2,
|
| 778 |
+
3,
|
| 779 |
+
84,
|
| 780 |
+
84
|
| 781 |
+
],
|
| 782 |
+
"30": [
|
| 783 |
+
443,
|
| 784 |
+
2,
|
| 785 |
+
3,
|
| 786 |
+
84,
|
| 787 |
+
84
|
| 788 |
+
],
|
| 789 |
+
"31": [
|
| 790 |
+
418,
|
| 791 |
+
2,
|
| 792 |
+
3,
|
| 793 |
+
84,
|
| 794 |
+
84
|
| 795 |
+
],
|
| 796 |
+
"32": [
|
| 797 |
+
360,
|
| 798 |
+
2,
|
| 799 |
+
3,
|
| 800 |
+
84,
|
| 801 |
+
84
|
| 802 |
+
],
|
| 803 |
+
"33": [
|
| 804 |
+
429,
|
| 805 |
+
2,
|
| 806 |
+
3,
|
| 807 |
+
84,
|
| 808 |
+
84
|
| 809 |
+
],
|
| 810 |
+
"34": [
|
| 811 |
+
453,
|
| 812 |
+
2,
|
| 813 |
+
3,
|
| 814 |
+
84,
|
| 815 |
+
84
|
| 816 |
+
],
|
| 817 |
+
"35": [
|
| 818 |
+
438,
|
| 819 |
+
2,
|
| 820 |
+
3,
|
| 821 |
+
84,
|
| 822 |
+
84
|
| 823 |
+
],
|
| 824 |
+
"36": [
|
| 825 |
+
449,
|
| 826 |
+
2,
|
| 827 |
+
3,
|
| 828 |
+
84,
|
| 829 |
+
84
|
| 830 |
+
],
|
| 831 |
+
"37": [
|
| 832 |
+
440,
|
| 833 |
+
2,
|
| 834 |
+
3,
|
| 835 |
+
84,
|
| 836 |
+
84
|
| 837 |
+
],
|
| 838 |
+
"38": [
|
| 839 |
+
520,
|
| 840 |
+
2,
|
| 841 |
+
3,
|
| 842 |
+
84,
|
| 843 |
+
84
|
| 844 |
+
],
|
| 845 |
+
"39": [
|
| 846 |
+
429,
|
| 847 |
+
2,
|
| 848 |
+
3,
|
| 849 |
+
84,
|
| 850 |
+
84
|
| 851 |
+
],
|
| 852 |
+
"40": [
|
| 853 |
+
466,
|
| 854 |
+
2,
|
| 855 |
+
3,
|
| 856 |
+
84,
|
| 857 |
+
84
|
| 858 |
+
],
|
| 859 |
+
"41": [
|
| 860 |
+
457,
|
| 861 |
+
2,
|
| 862 |
+
3,
|
| 863 |
+
84,
|
| 864 |
+
84
|
| 865 |
+
],
|
| 866 |
+
"42": [
|
| 867 |
+
421,
|
| 868 |
+
2,
|
| 869 |
+
3,
|
| 870 |
+
84,
|
| 871 |
+
84
|
| 872 |
+
],
|
| 873 |
+
"43": [
|
| 874 |
+
421,
|
| 875 |
+
2,
|
| 876 |
+
3,
|
| 877 |
+
84,
|
| 878 |
+
84
|
| 879 |
+
],
|
| 880 |
+
"44": [
|
| 881 |
+
459,
|
| 882 |
+
2,
|
| 883 |
+
3,
|
| 884 |
+
84,
|
| 885 |
+
84
|
| 886 |
+
],
|
| 887 |
+
"45": [
|
| 888 |
+
443,
|
| 889 |
+
2,
|
| 890 |
+
3,
|
| 891 |
+
84,
|
| 892 |
+
84
|
| 893 |
+
],
|
| 894 |
+
"46": [
|
| 895 |
+
409,
|
| 896 |
+
2,
|
| 897 |
+
3,
|
| 898 |
+
84,
|
| 899 |
+
84
|
| 900 |
+
],
|
| 901 |
+
"47": [
|
| 902 |
+
464,
|
| 903 |
+
2,
|
| 904 |
+
3,
|
| 905 |
+
84,
|
| 906 |
+
84
|
| 907 |
+
],
|
| 908 |
+
"48": [
|
| 909 |
+
477,
|
| 910 |
+
2,
|
| 911 |
+
3,
|
| 912 |
+
84,
|
| 913 |
+
84
|
| 914 |
+
],
|
| 915 |
+
"49": [
|
| 916 |
+
452,
|
| 917 |
+
2,
|
| 918 |
+
3,
|
| 919 |
+
84,
|
| 920 |
+
84
|
| 921 |
+
],
|
| 922 |
+
"50": [
|
| 923 |
+
502,
|
| 924 |
+
2,
|
| 925 |
+
3,
|
| 926 |
+
84,
|
| 927 |
+
84
|
| 928 |
+
],
|
| 929 |
+
"51": [
|
| 930 |
+
453,
|
| 931 |
+
2,
|
| 932 |
+
3,
|
| 933 |
+
84,
|
| 934 |
+
84
|
| 935 |
+
],
|
| 936 |
+
"52": [
|
| 937 |
+
436,
|
| 938 |
+
2,
|
| 939 |
+
3,
|
| 940 |
+
84,
|
| 941 |
+
84
|
| 942 |
+
],
|
| 943 |
+
"53": [
|
| 944 |
+
383,
|
| 945 |
+
2,
|
| 946 |
+
3,
|
| 947 |
+
84,
|
| 948 |
+
84
|
| 949 |
+
],
|
| 950 |
+
"54": [
|
| 951 |
+
467,
|
| 952 |
+
2,
|
| 953 |
+
3,
|
| 954 |
+
84,
|
| 955 |
+
84
|
| 956 |
+
],
|
| 957 |
+
"55": [
|
| 958 |
+
386,
|
| 959 |
+
2,
|
| 960 |
+
3,
|
| 961 |
+
84,
|
| 962 |
+
84
|
| 963 |
+
],
|
| 964 |
+
"56": [
|
| 965 |
+
395,
|
| 966 |
+
2,
|
| 967 |
+
3,
|
| 968 |
+
84,
|
| 969 |
+
84
|
| 970 |
+
],
|
| 971 |
+
"57": [
|
| 972 |
+
464,
|
| 973 |
+
2,
|
| 974 |
+
3,
|
| 975 |
+
84,
|
| 976 |
+
84
|
| 977 |
+
],
|
| 978 |
+
"58": [
|
| 979 |
+
426,
|
| 980 |
+
2,
|
| 981 |
+
3,
|
| 982 |
+
84,
|
| 983 |
+
84
|
| 984 |
+
],
|
| 985 |
+
"59": [
|
| 986 |
+
522,
|
| 987 |
+
2,
|
| 988 |
+
3,
|
| 989 |
+
84,
|
| 990 |
+
84
|
| 991 |
+
],
|
| 992 |
+
"60": [
|
| 993 |
+
405,
|
| 994 |
+
2,
|
| 995 |
+
3,
|
| 996 |
+
84,
|
| 997 |
+
84
|
| 998 |
+
]
|
| 999 |
+
},
|
| 1000 |
+
"source": "/scratch/wangpc/B-Spline-Inpainting/Data/Processed/hanging_mug_30hz_cleanup",
|
| 1001 |
+
"rank": 0,
|
| 1002 |
+
"world_size": 1,
|
| 1003 |
+
"complete": true
|
| 1004 |
+
}
|
| 1005 |
+
},
|
| 1006 |
+
"training_update_count": 37700,
|
| 1007 |
+
"checkpoint_selection_metric": {
|
| 1008 |
+
"name": "from-scratch normalized generation action MSE",
|
| 1009 |
+
"value": 0.01305681182229905,
|
| 1010 |
+
"split": "val",
|
| 1011 |
+
"best_observed_value": 0.01305681182229905,
|
| 1012 |
+
"selected_update": 25636,
|
| 1013 |
+
"final_observed_value": 0.01314353059604917
|
| 1014 |
+
},
|
| 1015 |
+
"resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli train_base --config /scratch/wangpc/B-Spline-Inpainting/robot_policy/configs/bsp_unet_v5/hanging_mug/fm_bspline_h2.yaml --architecture bsp_unet_fm --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/checkpoints/fm_bspline_h2/base.pt",
|
| 1016 |
+
"parameter_counts": {
|
| 1017 |
+
"observation_projector_state": 22394176,
|
| 1018 |
+
"action_backbone": 67061383,
|
| 1019 |
+
"embedding_output": 0,
|
| 1020 |
+
"total_trainable": 89455559,
|
| 1021 |
+
"total": 89455559
|
| 1022 |
+
},
|
| 1023 |
+
"wandb": {
|
| 1024 |
+
"project": "robot-policy-bsp-unet-v5-state-command-100e",
|
| 1025 |
+
"entity": "401910710-university-of-california-berkeley",
|
| 1026 |
+
"run_id": "gb0et8i7",
|
| 1027 |
+
"run_name": "bsp_unet_fm-base-v5-hanging-mug-bspline-h2-state-command-batch64-100epochs",
|
| 1028 |
+
"url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v5-state-command-100e/runs/gb0et8i7",
|
| 1029 |
+
"mode": "online",
|
| 1030 |
+
"output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/checkpoints/fm_bspline_h2/base.pt"
|
| 1031 |
+
},
|
| 1032 |
+
"determinism": {
|
| 1033 |
+
"enabled": true,
|
| 1034 |
+
"seed": 42,
|
| 1035 |
+
"cublas_workspace_config": ":4096:8"
|
| 1036 |
+
}
|
| 1037 |
+
}
|
| 1038 |
+
]
|
| 1039 |
+
}
|
NewModel/V5Full/hanging_mug/fm_raw_h2/base.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0859276c99406b6f70eaa2cc321140c2bf2a2b3246573f10d71c2db25896385e
|
| 3 |
+
size 1436047411
|
NewModel/V5Full/hanging_mug/fm_raw_h2/base.pt.wandb.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"project": "robot-policy-bsp-unet-v5-state-command-100e",
|
| 3 |
+
"entity": "401910710-university-of-california-berkeley",
|
| 4 |
+
"run_id": "rwnzg4hv",
|
| 5 |
+
"run_name": "bsp_unet_fm-base-v5-hanging-mug-raw-h2-state-command-batch64-100epochs",
|
| 6 |
+
"url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v5-state-command-100e/runs/rwnzg4hv",
|
| 7 |
+
"mode": "online",
|
| 8 |
+
"output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/checkpoints/fm_raw_h2/base.pt"
|
| 9 |
+
}
|
NewModel/V5Full/hanging_mug/fm_raw_h2/checkpoint_manifest.json
ADDED
|
@@ -0,0 +1,726 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoints": [
|
| 3 |
+
{
|
| 4 |
+
"architecture": "bsp_unet_fm",
|
| 5 |
+
"training_type": "base",
|
| 6 |
+
"parent_checkpoint": null,
|
| 7 |
+
"file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/checkpoints/fm_raw_h2/base.pt",
|
| 8 |
+
"sha256": "0859276c99406b6f70eaa2cc321140c2bf2a2b3246573f10d71c2db25896385e",
|
| 9 |
+
"configuration": {
|
| 10 |
+
"data": {
|
| 11 |
+
"dataset_path": "/scratch/wangpc/B-Spline-Inpainting/Data/Processed/hanging_mug_30hz_cleanup",
|
| 12 |
+
"prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/cache/prepared/raw",
|
| 13 |
+
"action_representation": "raw",
|
| 14 |
+
"vision_cache_path": null,
|
| 15 |
+
"camera_keys": [
|
| 16 |
+
"observation.images.global",
|
| 17 |
+
"observation.images.hand"
|
| 18 |
+
],
|
| 19 |
+
"state_key": "observation.state",
|
| 20 |
+
"action_key": "action",
|
| 21 |
+
"state_dim": 14,
|
| 22 |
+
"observation_horizon": 2,
|
| 23 |
+
"observation_source": "rgb",
|
| 24 |
+
"rgb_cache_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/cache/rgb84",
|
| 25 |
+
"parent_prediction_cache_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/cache/parent_predictions",
|
| 26 |
+
"action_horizon": 30,
|
| 27 |
+
"frequency_hz": 30.0,
|
| 28 |
+
"split_seed": 20260915,
|
| 29 |
+
"train_episodes": 55,
|
| 30 |
+
"val_episodes": 6,
|
| 31 |
+
"test_episodes": 0
|
| 32 |
+
},
|
| 33 |
+
"spline": {
|
| 34 |
+
"degree": 3,
|
| 35 |
+
"span_length_steps": 2,
|
| 36 |
+
"num_basis": 18,
|
| 37 |
+
"vocab_size": 256,
|
| 38 |
+
"regularization": 0.0001,
|
| 39 |
+
"implementation_version": "uniform_left_direct_fit_v1"
|
| 40 |
+
},
|
| 41 |
+
"vision": {
|
| 42 |
+
"image_size": 84,
|
| 43 |
+
"pooled_grid": 4,
|
| 44 |
+
"tokenizer": "dinov2_siglip",
|
| 45 |
+
"feature_dim": 2176,
|
| 46 |
+
"resampler_tokens_per_camera": null,
|
| 47 |
+
"dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
|
| 48 |
+
"siglip_model": "vit_so400m_patch14_siglip_224",
|
| 49 |
+
"extraction_layer_offset": -2,
|
| 50 |
+
"pretrained": false,
|
| 51 |
+
"cache_dtype": "float16",
|
| 52 |
+
"crop_size": 76,
|
| 53 |
+
"spatial_keypoints": 32,
|
| 54 |
+
"bsp_encoder_weights": null,
|
| 55 |
+
"bsp_encoder_norm": "group",
|
| 56 |
+
"bsp_rgb_normalization": "minus_one_one"
|
| 57 |
+
},
|
| 58 |
+
"policy": {
|
| 59 |
+
"architecture": "bsp_unet_fm",
|
| 60 |
+
"model_size": "BSP-UNet",
|
| 61 |
+
"hidden_dim": 192,
|
| 62 |
+
"depth": 6,
|
| 63 |
+
"heads": 6,
|
| 64 |
+
"mlp_ratio": 4.0,
|
| 65 |
+
"dropout": 0.0,
|
| 66 |
+
"discrete_rounds": 8,
|
| 67 |
+
"block_size": 21,
|
| 68 |
+
"discrete_full_mask_probability": 0.0,
|
| 69 |
+
"fm_steps": 12,
|
| 70 |
+
"unet_down_dims": [
|
| 71 |
+
256,
|
| 72 |
+
512,
|
| 73 |
+
1024
|
| 74 |
+
],
|
| 75 |
+
"unet_time_dim": 128,
|
| 76 |
+
"unet_kernel_size": 5,
|
| 77 |
+
"unet_groups": 8,
|
| 78 |
+
"discrete_embed_dim": 32
|
| 79 |
+
},
|
| 80 |
+
"train": {
|
| 81 |
+
"seed": 42,
|
| 82 |
+
"updates": 37700,
|
| 83 |
+
"rtc_updates": 5000,
|
| 84 |
+
"batch_size": 64,
|
| 85 |
+
"effective_batch_size": 64,
|
| 86 |
+
"learning_rate": 0.0001,
|
| 87 |
+
"rtc_learning_rate": 0.0001,
|
| 88 |
+
"optimizer_beta1": 0.95,
|
| 89 |
+
"optimizer_beta2": 0.999,
|
| 90 |
+
"optimizer_epsilon": 1e-08,
|
| 91 |
+
"weight_decay": 1e-06,
|
| 92 |
+
"warmup_updates": 500,
|
| 93 |
+
"min_lr_ratio": 0.0,
|
| 94 |
+
"grad_clip": 1.0,
|
| 95 |
+
"fm_grad_skip_threshold": 100.0,
|
| 96 |
+
"fm_rtc_grad_skip_threshold": 100.0,
|
| 97 |
+
"fm_grad_skip_after_updates": 500,
|
| 98 |
+
"fm_math_sdp_training": true,
|
| 99 |
+
"eval_every": 377,
|
| 100 |
+
"validation_max_batches": 64,
|
| 101 |
+
"validation_batch_size": 64,
|
| 102 |
+
"save_every": 3770,
|
| 103 |
+
"keep_periodic_checkpoints": false,
|
| 104 |
+
"updates_per_epoch": 377,
|
| 105 |
+
"best_checkpoint_every_epochs": 10,
|
| 106 |
+
"num_workers": 8,
|
| 107 |
+
"precision": "bf16",
|
| 108 |
+
"lambda_l1": 1.0,
|
| 109 |
+
"deterministic": true,
|
| 110 |
+
"use_ema": true,
|
| 111 |
+
"ema_update_after_step": 0,
|
| 112 |
+
"ema_inv_gamma": 1.0,
|
| 113 |
+
"ema_power": 0.75,
|
| 114 |
+
"ema_min_value": 0.0,
|
| 115 |
+
"ema_max_value": 0.9999
|
| 116 |
+
},
|
| 117 |
+
"rtc": {
|
| 118 |
+
"spline_delay_min": 1,
|
| 119 |
+
"spline_delay_max": 5,
|
| 120 |
+
"raw_delay_min": 1,
|
| 121 |
+
"raw_delay_max": 10,
|
| 122 |
+
"delay_distribution": "truncated_decreasing_exponential_reference",
|
| 123 |
+
"zero_delay_eval": true
|
| 124 |
+
},
|
| 125 |
+
"wandb": {
|
| 126 |
+
"enabled": true,
|
| 127 |
+
"mode": "online",
|
| 128 |
+
"entity": "401910710-university-of-california-berkeley",
|
| 129 |
+
"base_project": "robot-policy-bsp-unet-v5-state-command-100e",
|
| 130 |
+
"rtc_project": "robot-policy-bsp-unet-v5-state-command-100e-ttrtc",
|
| 131 |
+
"run_suffix": "v5-hanging-mug-raw-h2-state-command-batch64-100epochs",
|
| 132 |
+
"output_dir": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/wandb"
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"code_commit": "root repository has no commit",
|
| 136 |
+
"code_snapshot_sha256": "f3914f1c7b2637650acaa4103760893a10371a02204091255b7774ee60521437",
|
| 137 |
+
"data_split": {
|
| 138 |
+
"train": [
|
| 139 |
+
0,
|
| 140 |
+
1,
|
| 141 |
+
2,
|
| 142 |
+
3,
|
| 143 |
+
4,
|
| 144 |
+
5,
|
| 145 |
+
6,
|
| 146 |
+
7,
|
| 147 |
+
9,
|
| 148 |
+
10,
|
| 149 |
+
11,
|
| 150 |
+
12,
|
| 151 |
+
13,
|
| 152 |
+
14,
|
| 153 |
+
15,
|
| 154 |
+
16,
|
| 155 |
+
17,
|
| 156 |
+
20,
|
| 157 |
+
21,
|
| 158 |
+
23,
|
| 159 |
+
24,
|
| 160 |
+
25,
|
| 161 |
+
26,
|
| 162 |
+
27,
|
| 163 |
+
28,
|
| 164 |
+
29,
|
| 165 |
+
30,
|
| 166 |
+
31,
|
| 167 |
+
32,
|
| 168 |
+
33,
|
| 169 |
+
35,
|
| 170 |
+
36,
|
| 171 |
+
37,
|
| 172 |
+
38,
|
| 173 |
+
39,
|
| 174 |
+
40,
|
| 175 |
+
41,
|
| 176 |
+
42,
|
| 177 |
+
43,
|
| 178 |
+
44,
|
| 179 |
+
45,
|
| 180 |
+
46,
|
| 181 |
+
47,
|
| 182 |
+
48,
|
| 183 |
+
49,
|
| 184 |
+
50,
|
| 185 |
+
51,
|
| 186 |
+
52,
|
| 187 |
+
53,
|
| 188 |
+
55,
|
| 189 |
+
56,
|
| 190 |
+
57,
|
| 191 |
+
58,
|
| 192 |
+
59,
|
| 193 |
+
60
|
| 194 |
+
],
|
| 195 |
+
"val": [
|
| 196 |
+
8,
|
| 197 |
+
18,
|
| 198 |
+
19,
|
| 199 |
+
22,
|
| 200 |
+
34,
|
| 201 |
+
54
|
| 202 |
+
],
|
| 203 |
+
"test": []
|
| 204 |
+
},
|
| 205 |
+
"encoder_version": {
|
| 206 |
+
"type": "RawActionSequenceConfig",
|
| 207 |
+
"config": {
|
| 208 |
+
"action_horizon": 30,
|
| 209 |
+
"action_dim": 7,
|
| 210 |
+
"vocab_size": 256
|
| 211 |
+
},
|
| 212 |
+
"tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
|
| 213 |
+
"calibration": {
|
| 214 |
+
"low": [
|
| 215 |
+
-1.0,
|
| 216 |
+
-1.0,
|
| 217 |
+
-1.0,
|
| 218 |
+
-1.0,
|
| 219 |
+
-1.0,
|
| 220 |
+
-1.0,
|
| 221 |
+
-1.0
|
| 222 |
+
],
|
| 223 |
+
"high": [
|
| 224 |
+
1.0,
|
| 225 |
+
1.0,
|
| 226 |
+
1.0,
|
| 227 |
+
1.0,
|
| 228 |
+
1.0,
|
| 229 |
+
1.0,
|
| 230 |
+
1.0
|
| 231 |
+
]
|
| 232 |
+
},
|
| 233 |
+
"predicted_fields": "30x7 normalized raw actions or ordered bins",
|
| 234 |
+
"fixed_fields": "action horizon, sample period, normalization quantiles",
|
| 235 |
+
"rtc_history_steps": [
|
| 236 |
+
1,
|
| 237 |
+
2,
|
| 238 |
+
3,
|
| 239 |
+
4,
|
| 240 |
+
5,
|
| 241 |
+
6,
|
| 242 |
+
7,
|
| 243 |
+
8,
|
| 244 |
+
9,
|
| 245 |
+
10
|
| 246 |
+
]
|
| 247 |
+
},
|
| 248 |
+
"vision_weight_versions": {
|
| 249 |
+
"bsp_rgb_cache": {
|
| 250 |
+
"format": "uint8_rgb_chw",
|
| 251 |
+
"image_size": 84,
|
| 252 |
+
"camera_keys": [
|
| 253 |
+
"observation.images.global",
|
| 254 |
+
"observation.images.hand"
|
| 255 |
+
],
|
| 256 |
+
"episodes": 61,
|
| 257 |
+
"frames": 26888,
|
| 258 |
+
"episode_shapes": {
|
| 259 |
+
"0": [
|
| 260 |
+
471,
|
| 261 |
+
2,
|
| 262 |
+
3,
|
| 263 |
+
84,
|
| 264 |
+
84
|
| 265 |
+
],
|
| 266 |
+
"1": [
|
| 267 |
+
453,
|
| 268 |
+
2,
|
| 269 |
+
3,
|
| 270 |
+
84,
|
| 271 |
+
84
|
| 272 |
+
],
|
| 273 |
+
"2": [
|
| 274 |
+
517,
|
| 275 |
+
2,
|
| 276 |
+
3,
|
| 277 |
+
84,
|
| 278 |
+
84
|
| 279 |
+
],
|
| 280 |
+
"3": [
|
| 281 |
+
535,
|
| 282 |
+
2,
|
| 283 |
+
3,
|
| 284 |
+
84,
|
| 285 |
+
84
|
| 286 |
+
],
|
| 287 |
+
"4": [
|
| 288 |
+
438,
|
| 289 |
+
2,
|
| 290 |
+
3,
|
| 291 |
+
84,
|
| 292 |
+
84
|
| 293 |
+
],
|
| 294 |
+
"5": [
|
| 295 |
+
440,
|
| 296 |
+
2,
|
| 297 |
+
3,
|
| 298 |
+
84,
|
| 299 |
+
84
|
| 300 |
+
],
|
| 301 |
+
"6": [
|
| 302 |
+
418,
|
| 303 |
+
2,
|
| 304 |
+
3,
|
| 305 |
+
84,
|
| 306 |
+
84
|
| 307 |
+
],
|
| 308 |
+
"7": [
|
| 309 |
+
513,
|
| 310 |
+
2,
|
| 311 |
+
3,
|
| 312 |
+
84,
|
| 313 |
+
84
|
| 314 |
+
],
|
| 315 |
+
"8": [
|
| 316 |
+
521,
|
| 317 |
+
2,
|
| 318 |
+
3,
|
| 319 |
+
84,
|
| 320 |
+
84
|
| 321 |
+
],
|
| 322 |
+
"9": [
|
| 323 |
+
471,
|
| 324 |
+
2,
|
| 325 |
+
3,
|
| 326 |
+
84,
|
| 327 |
+
84
|
| 328 |
+
],
|
| 329 |
+
"10": [
|
| 330 |
+
490,
|
| 331 |
+
2,
|
| 332 |
+
3,
|
| 333 |
+
84,
|
| 334 |
+
84
|
| 335 |
+
],
|
| 336 |
+
"11": [
|
| 337 |
+
408,
|
| 338 |
+
2,
|
| 339 |
+
3,
|
| 340 |
+
84,
|
| 341 |
+
84
|
| 342 |
+
],
|
| 343 |
+
"12": [
|
| 344 |
+
503,
|
| 345 |
+
2,
|
| 346 |
+
3,
|
| 347 |
+
84,
|
| 348 |
+
84
|
| 349 |
+
],
|
| 350 |
+
"13": [
|
| 351 |
+
477,
|
| 352 |
+
2,
|
| 353 |
+
3,
|
| 354 |
+
84,
|
| 355 |
+
84
|
| 356 |
+
],
|
| 357 |
+
"14": [
|
| 358 |
+
408,
|
| 359 |
+
2,
|
| 360 |
+
3,
|
| 361 |
+
84,
|
| 362 |
+
84
|
| 363 |
+
],
|
| 364 |
+
"15": [
|
| 365 |
+
434,
|
| 366 |
+
2,
|
| 367 |
+
3,
|
| 368 |
+
84,
|
| 369 |
+
84
|
| 370 |
+
],
|
| 371 |
+
"16": [
|
| 372 |
+
375,
|
| 373 |
+
2,
|
| 374 |
+
3,
|
| 375 |
+
84,
|
| 376 |
+
84
|
| 377 |
+
],
|
| 378 |
+
"17": [
|
| 379 |
+
368,
|
| 380 |
+
2,
|
| 381 |
+
3,
|
| 382 |
+
84,
|
| 383 |
+
84
|
| 384 |
+
],
|
| 385 |
+
"18": [
|
| 386 |
+
437,
|
| 387 |
+
2,
|
| 388 |
+
3,
|
| 389 |
+
84,
|
| 390 |
+
84
|
| 391 |
+
],
|
| 392 |
+
"19": [
|
| 393 |
+
489,
|
| 394 |
+
2,
|
| 395 |
+
3,
|
| 396 |
+
84,
|
| 397 |
+
84
|
| 398 |
+
],
|
| 399 |
+
"20": [
|
| 400 |
+
428,
|
| 401 |
+
2,
|
| 402 |
+
3,
|
| 403 |
+
84,
|
| 404 |
+
84
|
| 405 |
+
],
|
| 406 |
+
"21": [
|
| 407 |
+
393,
|
| 408 |
+
2,
|
| 409 |
+
3,
|
| 410 |
+
84,
|
| 411 |
+
84
|
| 412 |
+
],
|
| 413 |
+
"22": [
|
| 414 |
+
371,
|
| 415 |
+
2,
|
| 416 |
+
3,
|
| 417 |
+
84,
|
| 418 |
+
84
|
| 419 |
+
],
|
| 420 |
+
"23": [
|
| 421 |
+
373,
|
| 422 |
+
2,
|
| 423 |
+
3,
|
| 424 |
+
84,
|
| 425 |
+
84
|
| 426 |
+
],
|
| 427 |
+
"24": [
|
| 428 |
+
420,
|
| 429 |
+
2,
|
| 430 |
+
3,
|
| 431 |
+
84,
|
| 432 |
+
84
|
| 433 |
+
],
|
| 434 |
+
"25": [
|
| 435 |
+
423,
|
| 436 |
+
2,
|
| 437 |
+
3,
|
| 438 |
+
84,
|
| 439 |
+
84
|
| 440 |
+
],
|
| 441 |
+
"26": [
|
| 442 |
+
379,
|
| 443 |
+
2,
|
| 444 |
+
3,
|
| 445 |
+
84,
|
| 446 |
+
84
|
| 447 |
+
],
|
| 448 |
+
"27": [
|
| 449 |
+
422,
|
| 450 |
+
2,
|
| 451 |
+
3,
|
| 452 |
+
84,
|
| 453 |
+
84
|
| 454 |
+
],
|
| 455 |
+
"28": [
|
| 456 |
+
435,
|
| 457 |
+
2,
|
| 458 |
+
3,
|
| 459 |
+
84,
|
| 460 |
+
84
|
| 461 |
+
],
|
| 462 |
+
"29": [
|
| 463 |
+
391,
|
| 464 |
+
2,
|
| 465 |
+
3,
|
| 466 |
+
84,
|
| 467 |
+
84
|
| 468 |
+
],
|
| 469 |
+
"30": [
|
| 470 |
+
443,
|
| 471 |
+
2,
|
| 472 |
+
3,
|
| 473 |
+
84,
|
| 474 |
+
84
|
| 475 |
+
],
|
| 476 |
+
"31": [
|
| 477 |
+
418,
|
| 478 |
+
2,
|
| 479 |
+
3,
|
| 480 |
+
84,
|
| 481 |
+
84
|
| 482 |
+
],
|
| 483 |
+
"32": [
|
| 484 |
+
360,
|
| 485 |
+
2,
|
| 486 |
+
3,
|
| 487 |
+
84,
|
| 488 |
+
84
|
| 489 |
+
],
|
| 490 |
+
"33": [
|
| 491 |
+
429,
|
| 492 |
+
2,
|
| 493 |
+
3,
|
| 494 |
+
84,
|
| 495 |
+
84
|
| 496 |
+
],
|
| 497 |
+
"34": [
|
| 498 |
+
453,
|
| 499 |
+
2,
|
| 500 |
+
3,
|
| 501 |
+
84,
|
| 502 |
+
84
|
| 503 |
+
],
|
| 504 |
+
"35": [
|
| 505 |
+
438,
|
| 506 |
+
2,
|
| 507 |
+
3,
|
| 508 |
+
84,
|
| 509 |
+
84
|
| 510 |
+
],
|
| 511 |
+
"36": [
|
| 512 |
+
449,
|
| 513 |
+
2,
|
| 514 |
+
3,
|
| 515 |
+
84,
|
| 516 |
+
84
|
| 517 |
+
],
|
| 518 |
+
"37": [
|
| 519 |
+
440,
|
| 520 |
+
2,
|
| 521 |
+
3,
|
| 522 |
+
84,
|
| 523 |
+
84
|
| 524 |
+
],
|
| 525 |
+
"38": [
|
| 526 |
+
520,
|
| 527 |
+
2,
|
| 528 |
+
3,
|
| 529 |
+
84,
|
| 530 |
+
84
|
| 531 |
+
],
|
| 532 |
+
"39": [
|
| 533 |
+
429,
|
| 534 |
+
2,
|
| 535 |
+
3,
|
| 536 |
+
84,
|
| 537 |
+
84
|
| 538 |
+
],
|
| 539 |
+
"40": [
|
| 540 |
+
466,
|
| 541 |
+
2,
|
| 542 |
+
3,
|
| 543 |
+
84,
|
| 544 |
+
84
|
| 545 |
+
],
|
| 546 |
+
"41": [
|
| 547 |
+
457,
|
| 548 |
+
2,
|
| 549 |
+
3,
|
| 550 |
+
84,
|
| 551 |
+
84
|
| 552 |
+
],
|
| 553 |
+
"42": [
|
| 554 |
+
421,
|
| 555 |
+
2,
|
| 556 |
+
3,
|
| 557 |
+
84,
|
| 558 |
+
84
|
| 559 |
+
],
|
| 560 |
+
"43": [
|
| 561 |
+
421,
|
| 562 |
+
2,
|
| 563 |
+
3,
|
| 564 |
+
84,
|
| 565 |
+
84
|
| 566 |
+
],
|
| 567 |
+
"44": [
|
| 568 |
+
459,
|
| 569 |
+
2,
|
| 570 |
+
3,
|
| 571 |
+
84,
|
| 572 |
+
84
|
| 573 |
+
],
|
| 574 |
+
"45": [
|
| 575 |
+
443,
|
| 576 |
+
2,
|
| 577 |
+
3,
|
| 578 |
+
84,
|
| 579 |
+
84
|
| 580 |
+
],
|
| 581 |
+
"46": [
|
| 582 |
+
409,
|
| 583 |
+
2,
|
| 584 |
+
3,
|
| 585 |
+
84,
|
| 586 |
+
84
|
| 587 |
+
],
|
| 588 |
+
"47": [
|
| 589 |
+
464,
|
| 590 |
+
2,
|
| 591 |
+
3,
|
| 592 |
+
84,
|
| 593 |
+
84
|
| 594 |
+
],
|
| 595 |
+
"48": [
|
| 596 |
+
477,
|
| 597 |
+
2,
|
| 598 |
+
3,
|
| 599 |
+
84,
|
| 600 |
+
84
|
| 601 |
+
],
|
| 602 |
+
"49": [
|
| 603 |
+
452,
|
| 604 |
+
2,
|
| 605 |
+
3,
|
| 606 |
+
84,
|
| 607 |
+
84
|
| 608 |
+
],
|
| 609 |
+
"50": [
|
| 610 |
+
502,
|
| 611 |
+
2,
|
| 612 |
+
3,
|
| 613 |
+
84,
|
| 614 |
+
84
|
| 615 |
+
],
|
| 616 |
+
"51": [
|
| 617 |
+
453,
|
| 618 |
+
2,
|
| 619 |
+
3,
|
| 620 |
+
84,
|
| 621 |
+
84
|
| 622 |
+
],
|
| 623 |
+
"52": [
|
| 624 |
+
436,
|
| 625 |
+
2,
|
| 626 |
+
3,
|
| 627 |
+
84,
|
| 628 |
+
84
|
| 629 |
+
],
|
| 630 |
+
"53": [
|
| 631 |
+
383,
|
| 632 |
+
2,
|
| 633 |
+
3,
|
| 634 |
+
84,
|
| 635 |
+
84
|
| 636 |
+
],
|
| 637 |
+
"54": [
|
| 638 |
+
467,
|
| 639 |
+
2,
|
| 640 |
+
3,
|
| 641 |
+
84,
|
| 642 |
+
84
|
| 643 |
+
],
|
| 644 |
+
"55": [
|
| 645 |
+
386,
|
| 646 |
+
2,
|
| 647 |
+
3,
|
| 648 |
+
84,
|
| 649 |
+
84
|
| 650 |
+
],
|
| 651 |
+
"56": [
|
| 652 |
+
395,
|
| 653 |
+
2,
|
| 654 |
+
3,
|
| 655 |
+
84,
|
| 656 |
+
84
|
| 657 |
+
],
|
| 658 |
+
"57": [
|
| 659 |
+
464,
|
| 660 |
+
2,
|
| 661 |
+
3,
|
| 662 |
+
84,
|
| 663 |
+
84
|
| 664 |
+
],
|
| 665 |
+
"58": [
|
| 666 |
+
426,
|
| 667 |
+
2,
|
| 668 |
+
3,
|
| 669 |
+
84,
|
| 670 |
+
84
|
| 671 |
+
],
|
| 672 |
+
"59": [
|
| 673 |
+
522,
|
| 674 |
+
2,
|
| 675 |
+
3,
|
| 676 |
+
84,
|
| 677 |
+
84
|
| 678 |
+
],
|
| 679 |
+
"60": [
|
| 680 |
+
405,
|
| 681 |
+
2,
|
| 682 |
+
3,
|
| 683 |
+
84,
|
| 684 |
+
84
|
| 685 |
+
]
|
| 686 |
+
},
|
| 687 |
+
"source": "/scratch/wangpc/B-Spline-Inpainting/Data/Processed/hanging_mug_30hz_cleanup",
|
| 688 |
+
"rank": 0,
|
| 689 |
+
"world_size": 1,
|
| 690 |
+
"complete": true
|
| 691 |
+
}
|
| 692 |
+
},
|
| 693 |
+
"training_update_count": 37700,
|
| 694 |
+
"checkpoint_selection_metric": {
|
| 695 |
+
"name": "from-scratch normalized generation action MSE",
|
| 696 |
+
"value": 0.013560855016142091,
|
| 697 |
+
"split": "val",
|
| 698 |
+
"best_observed_value": 0.013560855016142091,
|
| 699 |
+
"selected_update": 37700,
|
| 700 |
+
"final_observed_value": 0.013560855016142091
|
| 701 |
+
},
|
| 702 |
+
"resume_command": "torchrun --standalone --nproc_per_node=1 -m robot_policy.cli train_base --config /scratch/wangpc/B-Spline-Inpainting/robot_policy/configs/bsp_unet_v5/hanging_mug/fm_raw_h2.yaml --architecture bsp_unet_fm --output /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/checkpoints/fm_raw_h2/base.pt",
|
| 703 |
+
"parameter_counts": {
|
| 704 |
+
"observation_projector_state": 22394176,
|
| 705 |
+
"action_backbone": 67061383,
|
| 706 |
+
"embedding_output": 0,
|
| 707 |
+
"total_trainable": 89455559,
|
| 708 |
+
"total": 89455559
|
| 709 |
+
},
|
| 710 |
+
"wandb": {
|
| 711 |
+
"project": "robot-policy-bsp-unet-v5-state-command-100e",
|
| 712 |
+
"entity": "401910710-university-of-california-berkeley",
|
| 713 |
+
"run_id": "rwnzg4hv",
|
| 714 |
+
"run_name": "bsp_unet_fm-base-v5-hanging-mug-raw-h2-state-command-batch64-100epochs",
|
| 715 |
+
"url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-bsp-unet-v5-state-command-100e/runs/rwnzg4hv",
|
| 716 |
+
"mode": "online",
|
| 717 |
+
"output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/BSP_UNET_V5_HANGING_MUG_100E/checkpoints/fm_raw_h2/base.pt"
|
| 718 |
+
},
|
| 719 |
+
"determinism": {
|
| 720 |
+
"enabled": true,
|
| 721 |
+
"seed": 42,
|
| 722 |
+
"cublas_workspace_config": ":4096:8"
|
| 723 |
+
}
|
| 724 |
+
}
|
| 725 |
+
]
|
| 726 |
+
}
|