Upload V6 stacking_cup/State_LastCommand_Joint/bspline/base.pt

NewModel/V6/stacking_cup/State_LastCommand_Joint/bspline/base.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14aad2190f70a4fc29321a7e28ba7c43b7915493ac5adcc62677723c0a618e6b
+size 349772951

NewModel/V6/stacking_cup/State_LastCommand_Joint/bspline/base.server.json

@@ -0,0 +1,18 @@
+{
+  "schema_version": 1,
+  "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/stacking_cup/cache/prepared/State_LastCommand_Joint/bspline",
+  "task_instruction": "Stack the cups.",
+  "precision": "bf16",
+  "binary_gripper": true,
+  "gripper_threshold": 0.3,
+  "expected": {
+    "architecture": "bsp_unet_fm",
+    "action_representation": "bspline",
+    "observation_horizon": 1,
+    "state_dim": 14,
+    "camera_keys": [
+      "observation.images.global",
+      "observation.images.hand"
+    ]
+  }
+}

NewModel/V6/stacking_cup/State_LastCommand_Joint/bspline/base.training.json

@@ -0,0 +1,239 @@
+{
+  "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"
+  }
+}