diff --git a/NewModel/v2/README.md b/NewModel/v2/README.md deleted file mode 100644 index cee46c553fe5f61e8978e08bd973b4676ae37696..0000000000000000000000000000000000000000 --- a/NewModel/v2/README.md +++ /dev/null @@ -1,51 +0,0 @@ -# NewModel v2: active full-vision policies - -This release contains the 16 audited active checkpoints: - -`DiT-S/B × raw/B-spline × FM/joint-DD × base/ttRTC`. - -Every observation uses two complete 16×16 vision-token grids: 256 tokens per -camera and 512 total. Base checkpoints were trained for 50,000 updates and -ttRTC children for 5,000 updates at effective batch size 32. DiT-L and -layerwise DD are retired and intentionally absent from v2; they remain in v1 -for historical reproduction. - -## Layout - -- `dit_{s,b}/{raw,bspline}/checkpoints/`: final checkpoints, W&B identity - sidecars, and checkpoint manifests. -- `sidecars/{raw,bspline}/`: action codec, calibration, normalization, and - split metadata required by the loader. -- `configs/`: the four active full-vision configurations. -- `evaluation/`: completion audit, 16-row metrics, plots, deployment - validation, decoder validation, and bilingual summaries. -- `deployment/`: server/client contract and RTC validation report. - -## RTC deployment contract - -All checkpoints support ordinary `infer`. Only RTC/ttRTC checkpoints support -`infer_realtime`. - -| Representation | Previous value required by `infer_realtime` | Shape | Coordinates | -| --- | --- | --- | --- | -| raw | `prev_action_chunk` | `[B,30,7]` | physical actions returned by the previous request | -| B-spline | `prev_control_rows` | `[B,18,7]` | normalized spline controls returned as `normalized_control_rows` | - -`inference_delay` is an integer from 1 through 10 in raw 30 Hz action steps. -The B-spline endpoint intentionally rejects decoded action chunks: RTC must -preserve and shift the parameter-space controls. The server is stateless; -clients explicitly return the previous chunk or control rows with each RTC -request. - -The repository loader automatically discovers `sidecars/{raw,bspline}` when -the versioned directory structure is retained. See `deployment/README.md` for -server and client examples. - -## Verification - -- 16/16 local and remote-W&B completion audit. -- DiT-S and DiT-B deployment matrices: 8/8 runtime cases each. -- Raw and B-spline RTC verified through the real msgpack/WebSocket interface - with finite `[1,30,7]` actions and correct hard-prefix metadata. -- Joint cached/fused decoding is token-identical for all eight joint-DD - checkpoints. diff --git a/NewModel/v2/configs/dit_b_bspline.yaml b/NewModel/v2/configs/dit_b_bspline.yaml deleted file mode 100644 index 4ea5ac1758f8ce21586186f98a87d15495cc1354..0000000000000000000000000000000000000000 --- a/NewModel/v2/configs/dit_b_bspline.yaml +++ /dev/null @@ -1,14 +0,0 @@ -extends: ../model_size_sweep/dit_b_bspline.yaml -data: - prepared_path: outputs/FULL_VISION_512/cache/bspline - vision_cache_path: outputs/FULL_VISION_512/cache/vision -vision: - pooled_grid: 16 -train: - validation_max_batches: 4 - rtc_learning_rate: 0.00003 -wandb: - base_project: robot-policy-full-vision-512-basic - rtc_project: robot-policy-full-vision-512-ttRTC - run_suffix: dit-b-bspline-512vision-generation-val - output_dir: outputs/FULL_VISION_512/dit_b/bspline/wandb diff --git a/NewModel/v2/configs/dit_b_raw.yaml b/NewModel/v2/configs/dit_b_raw.yaml deleted file mode 100644 index 65f144801e98195ca46e74d69368ef68c1f3ce36..0000000000000000000000000000000000000000 --- a/NewModel/v2/configs/dit_b_raw.yaml +++ /dev/null @@ -1,14 +0,0 @@ -extends: ../model_size_sweep/dit_b_raw.yaml -data: - prepared_path: outputs/FULL_VISION_512/cache/raw - vision_cache_path: outputs/FULL_VISION_512/cache/vision -vision: - pooled_grid: 16 -train: - validation_max_batches: 4 - rtc_learning_rate: 0.00003 -wandb: - base_project: robot-policy-full-vision-512-basic - rtc_project: robot-policy-full-vision-512-ttRTC - run_suffix: dit-b-raw-512vision-generation-val - output_dir: outputs/FULL_VISION_512/dit_b/raw/wandb diff --git a/NewModel/v2/configs/dit_s_bspline.yaml b/NewModel/v2/configs/dit_s_bspline.yaml deleted file mode 100644 index 9cc3b05e77fa8b52a6e770cd47951ee68fbcebd0..0000000000000000000000000000000000000000 --- a/NewModel/v2/configs/dit_s_bspline.yaml +++ /dev/null @@ -1,14 +0,0 @@ -extends: ../model_size_sweep/dit_s_bspline.yaml -data: - prepared_path: outputs/FULL_VISION_512/cache/bspline - vision_cache_path: outputs/FULL_VISION_512/cache/vision -vision: - pooled_grid: 16 -train: - validation_max_batches: 4 - rtc_learning_rate: 0.00003 -wandb: - base_project: robot-policy-full-vision-512-basic - rtc_project: robot-policy-full-vision-512-ttRTC - run_suffix: dit-s-bspline-512vision-generation-val - output_dir: outputs/FULL_VISION_512/dit_s/bspline/wandb diff --git a/NewModel/v2/configs/dit_s_raw.yaml b/NewModel/v2/configs/dit_s_raw.yaml deleted file mode 100644 index 65fe8093101c4be5ff6057aae4bcce022edf8c79..0000000000000000000000000000000000000000 --- a/NewModel/v2/configs/dit_s_raw.yaml +++ /dev/null @@ -1,14 +0,0 @@ -extends: ../model_size_sweep/dit_s_raw.yaml -data: - prepared_path: outputs/FULL_VISION_512/cache/raw - vision_cache_path: outputs/FULL_VISION_512/cache/vision -vision: - pooled_grid: 16 -train: - validation_max_batches: 4 - rtc_learning_rate: 0.00003 -wandb: - base_project: robot-policy-full-vision-512-basic - rtc_project: robot-policy-full-vision-512-ttRTC - run_suffix: dit-s-raw-512vision-generation-val - output_dir: outputs/FULL_VISION_512/dit_s/raw/wandb diff --git a/NewModel/v2/deployment/README.md b/NewModel/v2/deployment/README.md deleted file mode 100644 index ab57c67b70c3ca45bf5a9302f8074e764ed2ecd5..0000000000000000000000000000000000000000 --- a/NewModel/v2/deployment/README.md +++ /dev/null @@ -1,164 +0,0 @@ -# Policy-server deployment - -This server exposes every active checkpoint in `outputs/FULL_VISION_512` -through the same -msgpack-over-WebSocket envelope used by the previous Piper deployment: - -- handshake: server metadata is sent immediately after connection; -- request: `{"type":"infer","request_id":...,"payload":{"examples":[...]}}`; -- response: `response["data"]["actions"]`, shape `[B,30,7]`, already in - physical absolute Piper coordinates; -- realtime request type: `infer_realtime`; -- transport: WebSocket, compression disabled, NumPy-aware msgpack. - -The implementation is in `src/robot_policy/deployment`. It loads architecture, -model size, representation, sampling settings, and normalization from the -checkpoint itself. An operator does not select a separate model YAML. For the -versioned Hugging Face package it automatically resolves shared immutable -sidecars from `NewModel/v2/sidecars/{raw,bspline}`; `--prepared-path` remains -available for custom layouts. - -## Observation and action contract - -Each example is: - -```python -{ - "image": [global_rgb, hand_rgb], # HWC uint8, exact order - "state": normalized_state[None, :], # shape [1,7] - "lang": "Stack the cups.", -} -``` - -The server resizes both RGB images to 224x224 and applies the same frozen -DINOv2 + SigLIP preprocessing as training. The default `state` contract is the -legacy Piper client's min/max normalization to `[-1,1]`. The server inverts -that transform and then applies this codebase's training z-score. Requests can -instead set `state_coordinates="physical"` or `state_coordinates="zscore"`. - -The language string is checked because this checkpoint is task-specific, but -these compact policies were not trained with language tokens. A different -instruction is rejected rather than silently implying language conditioning. - -Actions are decoded inside the server: - -- raw checkpoints: 30x7 normalized actions -> q01/q99 unnormalization; -- B-spline checkpoints: 18x7 controls -> authoritative smooth cubic 30x18 - basis multiplication -> 30x7 normalized actions -> q01/q99 - unnormalization; -- the gripper is projected to 0/1 at physical threshold 0.3 by default. - -## Start a server - -From `robot_policy`: - -```bash -export CKPT="$PWD/outputs/FULL_VISION_512/dit_b/bspline/checkpoints/fm_base.pt" -CUDA_VISIBLE_DEVICES=0 deployment/run_policy_server.sh -``` - -Equivalent direct invocation: - -```bash -PYTHONPATH=src /home/wangpc/miniconda3/envs/starVLA/bin/python \ - -m robot_policy.deployment.server \ - --ckpt_path outputs/FULL_VISION_512/dit_b/bspline/checkpoints/fm_base.pt \ - --port 10093 --device cuda --precision bf16 -``` - -Useful switches are `--no-binary-gripper`, `--gripper-threshold`, -`--prepared-path`, `--host`, and `--idle-timeout`. - -Before using the existing Piper live client, export its expected statistics: - -```bash -PYTHONPATH=src /home/wangpc/miniconda3/envs/starVLA/bin/python \ - -m robot_policy.deployment.export_stats \ - --ckpt_path "$CKPT" \ - --output outputs/FULL_VISION_512/summary/deployment/piper_dataset_statistics.json \ - --start-output outputs/FULL_VISION_512/summary/deployment/stacking_cups_start_statistics.json -``` - -Pass that JSON as the Piper client's `--stats` file. It deliberately exposes -the training-episode physical state range for the legacy client transform; -the server converts the resulting min/max-normalized state to the z-score used -during this policy's training. - -Pass the second JSON as `--start-stats`; it contains min/max/median over the -first physical state of all 52 stacking-cups demonstrations, as required by -the handoff's guarded start-pose check. - -## Base and ttRTC behavior - -All 16 active checkpoints support ordinary `infer`. An RTC/ttRTC checkpoint also -supports `infer_realtime`, with a strict representation contract: - -| Checkpoint | Required previous field | Coordinates | Delay | -| --- | --- | --- | --- | -| raw ttRTC | `prev_action_chunk`, `[B,30,7]` | physical robot actions returned by the prior call | 1..10 raw 30 Hz steps | -| B-spline ttRTC | `prev_control_rows`, `[B,18,7]` | normalized spline controls returned as `normalized_control_rows` by the prior call | 1..10 raw 30 Hz steps | - -The B-spline endpoint rejects decoded 30x7 actions. A delay of `d` raw steps -shifts and refits the prior curve, maps to `ceil(d/2)` affected spline spans, -and preserves `ceil(d/2)+3` cubic-support control rows. It never treats a -30 Hz action index as a control-row index. - -The former Piper async client can be used unchanged for raw ttRTC. It cannot -be used unchanged for B-spline ttRTC because it discards control rows. Use -`robot_policy.deployment.PolicyClient`, which retains them: - -```python -from robot_policy.deployment import PolicyClient - -with PolicyClient("127.0.0.1", 10093) as client: - first = client.predict_action([example]) - second = client.predict_action_realtime( - [next_example], - inference_delay=3, - previous=first["normalized_control_rows"], - ) -``` - -The server is stateless across requests and clients. RTC history is explicit -in each request, preventing one robot/client from inheriting another client's -plan. - -## Safety and dry-run boundary - -This package performs inference only. It does not publish robot commands. Keep -the reference Piper client in dry-run mode until camera order, state units, -task string, 30 Hz execution, action range, start pose, gripper direction, and -emergency-stop behavior have been verified. Do not add `--execute` merely -because server inference succeeds. - -With the server running, the existing reference live client can be exercised -without robot commands as follows (there is intentionally no `--execute`): - -```bash -cd /scratch/wangpc/DiscreteRTCv2 -/home/wangpc/miniconda3/envs/starVLA/bin/python \ - examples/realRobots/Piper/eval_files/piper_live_client.py \ - --host 127.0.0.1 --port 10093 \ - --stats /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/summary/deployment/piper_dataset_statistics.json \ - --start-stats /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/summary/deployment/stacking_cups_start_statistics.json \ - --task "Stack the cups." --rate-hz 30 --duration 30 \ - --save-viewer-data -``` - -For a raw ttRTC checkpoint, the reference -`piper_async_training_rtc_client.py` recognizes the advertised -`rtc_mode=training_time_hard_prefix` and can use `infer_realtime`. The server -advertises this sweep's trained maximum of 10 raw action steps and never -silently accepts a larger delay. - -## Verification - -```bash -cd /scratch/wangpc/B-Spline-Inpainting/robot_policy -PYTHONPATH=src /home/wangpc/miniconda3/envs/starVLA/bin/python -m pytest -q -``` - -Deployment coverage includes checkpoint-sidecar validation for all 16 active -files, FM and joint-DD across both representations, both RTC conditioning spaces, -prefix preservation, invalid-shape/task/delay rejection, NumPy serialization, -router errors, and a real localhost WebSocket handshake/inference round-trip. diff --git a/NewModel/v2/deployment/RTC_INTERFACE_CN.md b/NewModel/v2/deployment/RTC_INTERFACE_CN.md deleted file mode 100644 index f577cd62c5d457a76ace10894c01ce666e2d2ec1..0000000000000000000000000000000000000000 --- a/NewModel/v2/deployment/RTC_INTERFACE_CN.md +++ /dev/null @@ -1,40 +0,0 @@ -# RTC 部署接口验证 - -日期：2026-09-18 - -## 结论 - -当前 msgpack/WebSocket 部署接口可以正确支持两种主动动作表示的 RTC 推理。 -验证使用真实策略服务器、公开 `PolicyClient`、GPU 上的真实 DiT-S ttRTC -checkpoint 以及 localhost 网络序列化，而不只是直接调用 Python wrapper。 - -| 动作表示 | 测试策略 | 必需的历史输入 | delay=3 结果 | -| --- | --- | --- | --- | -| raw | FM ttRTC | 物理坐标 `prev_action_chunk`，`[1,30,7]` | 有限 `[1,30,7]`；固定 3 个动作行 | -| B-spline | joint-DD ttRTC | 归一化 `prev_control_rows`，`[1,18,7]` | 有限 `[1,30,7]`；影响 2 个 span，固定 5 个三次样条支撑控制行 | - -服务器在握手元数据中声明接口约定。`PolicyClient` 读取 -`rtc_requires_previous_field`，并通过 `infer_realtime` 发送对应字段。延迟单位是 -30 Hz raw action step，严格限制为 1–10。Base checkpoint 会拒绝 realtime -请求。服务器不会在客户端之间共享计划缓存；每个请求都显式携带上一段计划。 - -## B-spline 的关键限制 - -B-spline RTC 必须接收上一请求返回的归一化参数行，并会主动拒绝解码后的 -30×7 动作。重新拟合和三次样条支撑扩展会把 raw delay 3 映射为 2 个受影响 -span 和 5 个保留控制行，从而避免把 raw action 索引误当作样条控制行索引。 - -## 本次加固 - -真实网络测试发现 msgpack 解码的 NumPy buffer 可能是只读的。部署边界现在会先 -创建自有的 float32 副本，再把历史动作或控制行转换成 torch tensor，避免传输 -buffer 别名并消除 PyTorch 的只读数组警告。版本化 Hugging Face 目录现在也能 -自动发现 `vN/sidecars/{raw,bspline}`。 - -## 证据 - -- `outputs/FULL_VISION_512/summary/deployment/rtc_websocket_validation.json` -- `outputs/FULL_VISION_512/summary/deployment_validation_dit_{s,b}.json` -- 完整项目测试，包括只读传输数组与版本化 release sidecar 自动发现。 - -该验证仅证明策略服务器推理接口可用，不等同于闭环机器人安全验证或任务成功率。 diff --git a/NewModel/v2/deployment/RTC_INTERFACE_EN.md b/NewModel/v2/deployment/RTC_INTERFACE_EN.md deleted file mode 100644 index 60fd2021b48079d02b4a592d1fdfe6fb2fb609cf..0000000000000000000000000000000000000000 --- a/NewModel/v2/deployment/RTC_INTERFACE_EN.md +++ /dev/null @@ -1,47 +0,0 @@ -# RTC deployment-interface verification - -Date: 2026-09-18 - -## Result - -The deployed msgpack/WebSocket interface supports RTC inference correctly for -both active action representations. Verification used the real policy server, -the public `PolicyClient`, real DiT-S ttRTC checkpoints on GPU, and localhost -wire serialization—not only direct Python wrapper calls. - -| Representation | Tested policy | Required history | Delay 3 result | -| --- | --- | --- | --- | -| raw | FM ttRTC | physical `prev_action_chunk`, `[1,30,7]` | finite `[1,30,7]`; 3 fixed action rows | -| B-spline | joint-DD ttRTC | normalized `prev_control_rows`, `[1,18,7]` | finite `[1,30,7]`; 2 affected spans and 5 fixed cubic-support rows | - -The server advertises the contract in its handshake. `PolicyClient` reads -`rtc_requires_previous_field` and sends the matching field through -`infer_realtime`. Delay is measured in raw 30 Hz action steps and is strictly -limited to 1–10. Base checkpoints reject realtime calls. The server keeps no -cross-client plan cache; the previous plan is explicit in every request. - -## Important B-spline constraint - -B-spline RTC must receive the normalized parameter rows returned by the prior -request. It intentionally rejects decoded 30×7 actions. Re-fitting and cubic -support expansion map raw delay 3 to two affected spans and five preserved -control rows, avoiding the incorrect assumption that raw action indices equal -spline-control indices. - -## Hardening performed - -The live wire test revealed that msgpack-decoded NumPy arrays can be read-only. -The deployment boundary now creates an owned float32 copy before converting -previous actions or control rows to torch tensors. This prevents transport -buffer aliasing and removes PyTorch's non-writable-array warning. Versioned -Hugging Face layouts now auto-resolve `vN/sidecars/{raw,bspline}`. - -## Evidence - -- `outputs/FULL_VISION_512/summary/deployment/rtc_websocket_validation.json` -- `outputs/FULL_VISION_512/summary/deployment_validation_dit_{s,b}.json` -- Full project test suite, including read-only transport arrays and versioned - release sidecar discovery. - -This validates policy-server inference only; it does not constitute a -closed-loop robot safety or task-success validation. diff --git a/NewModel/v2/deployment/run_policy_server.sh b/NewModel/v2/deployment/run_policy_server.sh deleted file mode 100644 index 8dbfc872af386cf17f235791583dfe52976fe31c..0000000000000000000000000000000000000000 --- a/NewModel/v2/deployment/run_policy_server.sh +++ /dev/null @@ -1,25 +0,0 @@ -#!/usr/bin/env bash -set -euo pipefail - -PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" -POLICY_PYTHON="${ROBOT_POLICY_PYTHON:-/home/wangpc/miniconda3/envs/starVLA/bin/python}" -CHECKPOINT="${CKPT:?Set CKPT to a robot_policy .pt checkpoint}" -PORT="${PORT:-10093}" -DEVICE="${DEVICE:-cuda}" -PRECISION="${PRECISION:-bf16}" - -cd "${PROJECT_ROOT}" -export PYTHONPATH="${PROJECT_ROOT}/src${PYTHONPATH:+:${PYTHONPATH}}" - -arguments=( - -m robot_policy.deployment.server - --ckpt_path "${CHECKPOINT}" - --port "${PORT}" - --device "${DEVICE}" - --precision "${PRECISION}" -) -if [[ -n "${PREPARED_PATH:-}" ]]; then - arguments+=(--prepared-path "${PREPARED_PATH}") -fi -exec "${POLICY_PYTHON}" "${arguments[@]}" "$@" - diff --git a/NewModel/v2/dit_b/bspline/checkpoints/checkpoint_manifest.json b/NewModel/v2/dit_b/bspline/checkpoints/checkpoint_manifest.json deleted file mode 100644 index 379cab1d8bcb12218d657732beb929f36eee5e3d..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_b/bspline/checkpoints/checkpoint_manifest.json +++ /dev/null @@ -1,2200 +0,0 @@ -{ - "checkpoints": [ - { - "architecture": "fm", - "training_type": "base", - "parent_checkpoint": null, - "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/bspline/checkpoints/fm_base.pt", - "sha256": "d6fbebf045361e2c34ceee39e1ffa28b6f394d7b9b47ed95b6cd53dd235a9e44", - "configuration": { - "data": { - "dataset_path": "../Data/stacking_cups_action_30hz", - "prepared_path": "outputs/FULL_VISION_512/cache/bspline", - "action_representation": "bspline", - "vision_cache_path": "outputs/FULL_VISION_512/cache/vision", - "camera_keys": [ - "observation.images.global", - "observation.images.hand" - ], - "state_key": "observation.state", - "action_key": "action", - "observation_horizon": 1, - "action_horizon": 30, - "frequency_hz": 30.0, - "split_seed": 20260915, - "train_episodes": 42, - "val_episodes": 5, - "test_episodes": 5 - }, - "spline": { - "degree": 3, - "span_length_steps": 2, - "num_basis": 18, - "vocab_size": 256, - "regularization": 0.0001, - "implementation_version": "uniform_left_direct_fit_v1" - }, - "vision": { - "image_size": 224, - "pooled_grid": 16, - "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m", - "siglip_model": "vit_so400m_patch14_siglip_224", - "extraction_layer_offset": -2, - "pretrained": true, - "cache_dtype": "float16" - }, - "policy": { - "architecture": "fm", - "model_size": "DiT-B", - "hidden_dim": 768, - "depth": 12, - "heads": 12, - "mlp_ratio": 4.0, - "dropout": 0.0, - "discrete_rounds": 8, - "block_size": 21, - "fm_steps": 12 - }, - "train": { - "seed": 7, - "updates": 50000, - "rtc_updates": 5000, - "batch_size": 32, - "effective_batch_size": 32, - "learning_rate": 0.0003, - "rtc_learning_rate": 3e-05, - "weight_decay": 0.0001, - "warmup_updates": 100, - "min_lr_ratio": 0.1, - "grad_clip": 1.0, - "fm_grad_skip_threshold": 3.0, - "fm_rtc_grad_skip_threshold": 100.0, - "fm_grad_skip_after_updates": 1000, - "fm_math_sdp_training": true, - "eval_every": 100, - "validation_max_batches": 4, - "save_every": 1000, - "num_workers": 4, - "precision": "bf16", - "lambda_l1": 1.0, - "deterministic": true - }, - "rtc": { - "spline_delay_min": 1, - "spline_delay_max": 5, - "raw_delay_min": 1, - "raw_delay_max": 10, - "delay_distribution": "truncated_decreasing_exponential_reference", - "zero_delay_eval": true - }, - 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"project": "robot-policy-full-vision-512-basic", - "entity": "401910710-university-of-california-berkeley", - "run_id": "lwoiqslq", - "run_name": "discrete_joint-base-dit-b-bspline-512vision-generation-val", - "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/lwoiqslq", - "mode": "online", - "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/bspline/checkpoints/discrete_joint_base.pt" -} diff --git a/NewModel/v2/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt b/NewModel/v2/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt deleted file mode 100644 index 5527f69d6cf844da74ea75e43ef00a9d2691a41d..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3eacbe85c34de2281fe17115613f92a62dd11997a3b6681034149509f4a73772 -size 1234632359 diff --git a/NewModel/v2/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt.wandb.json b/NewModel/v2/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt.wandb.json deleted file mode 100644 index 9c47af7eba63ef7c6b89a854118265f0e28a54ea..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt.wandb.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "project": "robot-policy-full-vision-512-ttRTC", - "entity": "401910710-university-of-california-berkeley", - "run_id": "680zgije", - "run_name": "discrete_joint-ttrtc-dit-b-bspline-512vision-generation-val", - "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/680zgije", - "mode": "online", - "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/bspline/checkpoints/discrete_joint_ttrtc.pt" -} diff --git a/NewModel/v2/dit_b/bspline/checkpoints/fm_base.pt b/NewModel/v2/dit_b/bspline/checkpoints/fm_base.pt deleted file mode 100644 index 85f50141d33650edb2f24383fe7a18033c6f931c..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_b/bspline/checkpoints/fm_base.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d6fbebf045361e2c34ceee39e1ffa28b6f394d7b9b47ed95b6cd53dd235a9e44 -size 1304813671 diff --git a/NewModel/v2/dit_b/bspline/checkpoints/fm_base.pt.wandb.json b/NewModel/v2/dit_b/bspline/checkpoints/fm_base.pt.wandb.json deleted file mode 100644 index 3fb4639a0d8cc1be906f94976bde78f917686c31..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_b/bspline/checkpoints/fm_base.pt.wandb.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "project": "robot-policy-full-vision-512-basic", - "entity": "401910710-university-of-california-berkeley", - "run_id": "f581nhyj", - "run_name": "fm-base-dit-b-bspline-512vision-generation-val", - "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/f581nhyj", - "mode": "online", - "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/bspline/checkpoints/fm_base.pt" -} diff --git a/NewModel/v2/dit_b/bspline/checkpoints/fm_ttrtc.pt b/NewModel/v2/dit_b/bspline/checkpoints/fm_ttrtc.pt deleted file mode 100644 index 145565d30a3026887b93842ae926707401af30fb..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_b/bspline/checkpoints/fm_ttrtc.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e7aaf80c6698fd70413bcbfde9cfd662e803c6439ea2256ef564c2ca870af54a -size 1299591975 diff --git a/NewModel/v2/dit_b/bspline/checkpoints/fm_ttrtc.pt.wandb.json b/NewModel/v2/dit_b/bspline/checkpoints/fm_ttrtc.pt.wandb.json deleted file mode 100644 index 3926d679c1728ae100bca845f29061391a3c5631..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_b/bspline/checkpoints/fm_ttrtc.pt.wandb.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - 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}, - "determinism": { - "enabled": true, - "seed": 7, - "cublas_workspace_config": ":4096:8" - } - } - ] -} diff --git a/NewModel/v2/dit_s/raw/checkpoints/discrete_joint_base.pt b/NewModel/v2/dit_s/raw/checkpoints/discrete_joint_base.pt deleted file mode 100644 index 29ff3325b90bfd1e36594d97fce8cde4d2a04b50..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_s/raw/checkpoints/discrete_joint_base.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:574172a370ea69c9d3c5d2ff00c2ecc0b8cd8f3e90262164fe1c74e0c0eb6e62 -size 174690311 diff --git a/NewModel/v2/dit_s/raw/checkpoints/discrete_joint_base.pt.wandb.json b/NewModel/v2/dit_s/raw/checkpoints/discrete_joint_base.pt.wandb.json deleted file mode 100644 index d44ff7bdace8c2928511b21b0e0cdaeed935713d..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_s/raw/checkpoints/discrete_joint_base.pt.wandb.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "project": "robot-policy-full-vision-512-basic", - "entity": "401910710-university-of-california-berkeley", - "run_id": "x1vtxm13", - "run_name": "discrete_joint-base-dit-s-raw-512vision-generation-val", - "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/x1vtxm13", - "mode": "online", - "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/discrete_joint_base.pt" -} diff --git a/NewModel/v2/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt b/NewModel/v2/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt deleted file mode 100644 index 5459116ea036bb3ed8361f627be21f3159b49a9c..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5e5ab44f76dc77f0cd326a71bd6185bbf88db15d7f2dd27c0bf94748183e6e89 -size 168189831 diff --git a/NewModel/v2/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt.wandb.json b/NewModel/v2/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt.wandb.json deleted file mode 100644 index a67ad3dd368f503a4821d021dd781ef6ebb1d564..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt.wandb.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "project": "robot-policy-full-vision-512-ttRTC", - "entity": "401910710-university-of-california-berkeley", - "run_id": "6cyontjw", - "run_name": "discrete_joint-ttrtc-dit-s-raw-512vision-generation-val", - "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/6cyontjw", - "mode": "online", - "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt" -} diff --git a/NewModel/v2/dit_s/raw/checkpoints/fm_base.pt b/NewModel/v2/dit_s/raw/checkpoints/fm_base.pt deleted file mode 100644 index 3cf57909579fbb5df3acdcb70d69edd28c9b394c..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_s/raw/checkpoints/fm_base.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6ca9414509291688121111f71bd5b9e838a9ea8df59db9045ffdf066639e1eb3 -size 187907495 diff --git a/NewModel/v2/dit_s/raw/checkpoints/fm_base.pt.wandb.json b/NewModel/v2/dit_s/raw/checkpoints/fm_base.pt.wandb.json deleted file mode 100644 index f89a1ff4b5d151c77f79398edd2192c35589a838..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_s/raw/checkpoints/fm_base.pt.wandb.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "project": "robot-policy-full-vision-512-basic", - "entity": "401910710-university-of-california-berkeley", - "run_id": "70newtq7", - "run_name": "fm-base-dit-s-raw-512vision-generation-val", - "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/70newtq7", - "mode": "online", - "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/fm_base.pt" -} diff --git a/NewModel/v2/dit_s/raw/checkpoints/fm_ttrtc.pt b/NewModel/v2/dit_s/raw/checkpoints/fm_ttrtc.pt deleted file mode 100644 index 3337404a252efa8b094c237d9d7398369551ac6b..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_s/raw/checkpoints/fm_ttrtc.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0ab479d644f674128b6884d69c88ca420beca37daba115fbc4169c8c013306c0 -size 182685927 diff --git a/NewModel/v2/dit_s/raw/checkpoints/fm_ttrtc.pt.wandb.json b/NewModel/v2/dit_s/raw/checkpoints/fm_ttrtc.pt.wandb.json deleted file mode 100644 index 73b92e4ee2212fd339da75c192838c1d266459d6..0000000000000000000000000000000000000000 --- a/NewModel/v2/dit_s/raw/checkpoints/fm_ttrtc.pt.wandb.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "project": "robot-policy-full-vision-512-ttRTC", - "entity": "401910710-university-of-california-berkeley", - "run_id": "zt8fra2l", - "run_name": "fm-ttrtc-dit-s-raw-512vision-generation-val", - "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zt8fra2l", - "mode": "online", - "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/fm_ttrtc.pt" -} diff --git a/NewModel/v2/evaluation/SUMMARY_CN.md b/NewModel/v2/evaluation/SUMMARY_CN.md deleted file mode 100644 index c81ee756a93f4539473b5093a1ead89b56be9735..0000000000000000000000000000000000000000 --- a/NewModel/v2/evaluation/SUMMARY_CN.md +++ /dev/null @@ -1,47 +0,0 @@ -# 全视觉 Token FM 与 Joint-DD 结果 - -## 实验协议 - -- 共 16 个检查点：DiT-S/B × raw/B-spline × FM/joint DD × base/ttRTC。 -- 每个观测保留两个完整的 16×16 patch 网格，即 **512 个视觉 token**，并追加 1 个状态 token。 -- 基础训练 50,000 次更新，ttRTC 训练 5,000 次更新，有效 batch size 为 32。 -- `validation/action_mse` 来自从零开始的完整生成。采样器只接收视觉与状态，不接收目标动作、被扰动的真值或教师辅助信息。 -- 后续评测包含完整测试集开环生成、延迟 RTC、oracle-prefix inference RTC 和 batch-1 同步延迟。 -- 在每个 DiT 尺寸内，raw 与 B-spline 的 RTCEVAL 指标图共享同一组对数物理 MSE 纵轴范围；全部轨迹图按动作维度共享完整数据集的物理最小值/最大值。 - -## 主要结果 - -- 最佳物理 MSE 为 **0.008187**（DiT-B / raw / fm / ttrtc）。 -- 在严格配对中，B-spline 有 5/8 组更优；物理 MSE 降幅中位数为 13.33%。 -- ttRTC 在零延迟开环对比中有 6/8 组更优；降幅中位数为 0.55%。 -- Joint cache 融合解码在 8/8 个检查点上逐 token 一致。 -- FM 在 1,000 次 warm-up 更新之后共拒绝了 5625 次异常优化器更新；每次被拒绝的更新及其裁剪前梯度范数都完整保留在记录中。 -- DiT-S、DiT-B 的部署验证均通过全部 8 个运行时用例；每份审计都清点全部 16 个检查点，并从两路各 256-token 的相机输入生成有限的 30×7 动作。 - -## 证据 - -- `completion_audit.json`：检查点身份、精确更新数、哈希、父模型谱系、有限梯度、从零验证、四类评测以及本地/远端 W&B 状态。 -- `summary/deployment_validation_dit_{s,b}.json`：对全部 raw/B-spline × FM/joint-DD × base/ttRTC 组合执行真实 GPU 加载与推理。 -- `summary/checkpoint_metrics.csv`：完整 16 行指标；`ranking_by_physical_mse.csv` 与 `pairwise_effects.csv`：排名和严格配对效应。 -- 这些结果属于开环动作生成诊断，不代表闭环任务成功率。 - -## 全部检查点 - -| size | repr. | policy | stage | val gen MSE | test physical MSE | p50 ms | W&B | -|---|---|---|---|---|---|---|---| -| DiT-S | raw | fm | base | 0.007611 | 0.010827 | 25.61 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/70newtq7) | -| DiT-S | raw | fm | ttrtc | 0.008254 | 0.008333 | 15.39 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zt8fra2l) | -| DiT-S | raw | discrete_joint | base | 0.026301 | 0.023261 | 150.83 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/x1vtxm13) | -| DiT-S | raw | discrete_joint | ttrtc | 0.025776 | 0.022973 | 156.25 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/6cyontjw) | -| DiT-S | bspline | fm | base | 0.008366 | 0.008506 | 24.01 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/k2plilzb) | -| DiT-S | bspline | fm | ttrtc | 0.008092 | 0.008409 | 24.31 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zxp7uffq) | -| DiT-S | bspline | discrete_joint | base | 0.024129 | 0.019029 | 80.88 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/ivclz1i6) | -| DiT-S | bspline | discrete_joint | ttrtc | 0.025541 | 0.019057 | 84.87 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/efg4vkqh) | -| DiT-B | raw | fm | base | 0.006808 | 0.008203 | 68.15 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/mz36ylrg) | -| DiT-B | raw | fm | ttrtc | 0.007001 | 0.008187 | 68.32 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zip5w0in) | -| DiT-B | raw | discrete_joint | base | 0.015395 | 0.019526 | 298.37 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/c7mgy7f0) | -| DiT-B | raw | discrete_joint | ttrtc | 0.017608 | 0.020072 | 295.84 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/26qllqsn) | -| DiT-B | bspline | fm | base | 0.007076 | 0.008330 | 37.31 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/f581nhyj) | -| DiT-B | bspline | fm | ttrtc | 0.006578 | 0.008320 | 37.38 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/wo8veppb) | -| DiT-B | bspline | discrete_joint | base | 0.025449 | 0.017233 | 167.97 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/lwoiqslq) | -| DiT-B | bspline | discrete_joint | ttrtc | 0.026583 | 0.017078 | 163.03 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/680zgije) | diff --git a/NewModel/v2/evaluation/SUMMARY_EN.md b/NewModel/v2/evaluation/SUMMARY_EN.md deleted file mode 100644 index 7d2d1ef817e14f4fc34217265326681689218b45..0000000000000000000000000000000000000000 --- a/NewModel/v2/evaluation/SUMMARY_EN.md +++ /dev/null @@ -1,47 +0,0 @@ -# Full-Vision FM and Joint-DD Results - -## Protocol - -- 16 checkpoints: DiT-S/B × raw/B-spline × FM/joint DD × base/ttRTC. -- Every observation contains two complete 16×16 patch grids: **512 vision tokens**, plus one state token. -- Base training uses 50,000 updates; ttRTC uses 5,000 updates; effective batch size is 32. -- `validation/action_mse` is decoded generation from scratch. The sampler receives only vision and state; it never receives target actions, corrupted ground truth, or teacher assistance. -- Evaluation includes full held-out open-loop generation, delay RTC, oracle-prefix inference RTC, and synchronized batch-1 latency. -- Within each DiT size, raw and B-spline RTCEVAL metric plots share one log physical-MSE y-axis; all trajectory plots share the same full-dataset physical min/max for each action dimension. - -## Findings - -- Best decoded physical MSE: **0.008187** (DiT-B / raw / fm / ttrtc). -- B-spline wins 5/8 matched comparisons; median physical-MSE reduction is 13.33%. -- ttRTC wins 6/8 matching zero-delay open-loop comparisons; median reduction is 0.55%. -- Joint cached/fused decoding is token-identical in 8/8 checkpoints. -- FM rejected 5625 anomalous optimizer updates after the 1,000-update warm-up; every rejected step remains recorded with its pre-clip norm. -- Deployment validation passes all 8 runtime cases for each of DiT-S and DiT-B; each audit inventories all 16 checkpoints and produces finite 30×7 actions from two 256-token camera streams. - -## Evidence - -- `completion_audit.json`: checkpoint identity, exact update counts, hashes, parent lineage, finite gradients, from-scratch validation, all four evaluation families, and local/remote W&B state. -- `summary/deployment_validation_dit_{s,b}.json`: real-GPU load and inference for every raw/B-spline × FM/joint-DD × base/ttRTC case. -- `summary/checkpoint_metrics.csv`: complete 16-row metric table; `ranking_by_physical_mse.csv` and `pairwise_effects.csv`: rankings and matched effects. -- Results are open-loop action-generation diagnostics, not closed-loop task-success measurements. - -## All checkpoints - -| size | repr. | policy | stage | val gen MSE | test physical MSE | p50 ms | W&B | -|---|---|---|---|---|---|---|---| -| DiT-S | raw | fm | base | 0.007611 | 0.010827 | 25.61 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/70newtq7) | -| DiT-S | raw | fm | ttrtc | 0.008254 | 0.008333 | 15.39 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zt8fra2l) | -| DiT-S | raw | discrete_joint | base | 0.026301 | 0.023261 | 150.83 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/x1vtxm13) | -| DiT-S | raw | discrete_joint | ttrtc | 0.025776 | 0.022973 | 156.25 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/6cyontjw) | -| DiT-S | bspline | fm | base | 0.008366 | 0.008506 | 24.01 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/k2plilzb) | -| DiT-S | bspline | fm | ttrtc | 0.008092 | 0.008409 | 24.31 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zxp7uffq) | -| DiT-S | bspline | discrete_joint | base | 0.024129 | 0.019029 | 80.88 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/ivclz1i6) | -| DiT-S | bspline | discrete_joint | ttrtc | 0.025541 | 0.019057 | 84.87 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/efg4vkqh) | -| DiT-B | raw | fm | base | 0.006808 | 0.008203 | 68.15 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/mz36ylrg) | -| DiT-B | raw | fm | ttrtc | 0.007001 | 0.008187 | 68.32 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zip5w0in) | -| DiT-B | raw | discrete_joint | base | 0.015395 | 0.019526 | 298.37 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/c7mgy7f0) | -| DiT-B | raw | discrete_joint | ttrtc | 0.017608 | 0.020072 | 295.84 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/26qllqsn) | -| DiT-B | bspline | fm | base | 0.007076 | 0.008330 | 37.31 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/f581nhyj) | -| DiT-B | bspline | fm | ttrtc | 0.006578 | 0.008320 | 37.38 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/wo8veppb) | -| DiT-B | bspline | discrete_joint | base | 0.025449 | 0.017233 | 167.97 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/lwoiqslq) | -| DiT-B | bspline | discrete_joint | ttrtc | 0.026583 | 0.017078 | 163.03 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/680zgije) | diff --git a/NewModel/v2/evaluation/checkpoint_metrics.csv b/NewModel/v2/evaluation/checkpoint_metrics.csv deleted file mode 100644 index 6cc9fddf2a6dbfbe5c65b5a93a15e5778ec3c79f..0000000000000000000000000000000000000000 --- a/NewModel/v2/evaluation/checkpoint_metrics.csv +++ /dev/null @@ -1,17 +0,0 @@ -model_size,representation,architecture,stage,vision_tokens,parameters,learning_rate,fm_math_sdp_training,final_train_action_mse_normalized,final_validation_generation_action_mse_normalized,best_validation_generation_action_mse_normalized,max_gradient_norm_before_clip,max_applied_gradient_norm_before_clip,skipped_optimizer_updates,test_decoded_normalized_mse,test_decoded_physical_mse,test_decoded_physical_mae,token_accuracy,sampling_p50_ms,sampling_p95_ms,online_vision_p50_ms,projector_state_p50_ms,action_decode_p50_ms,estimated_online_pipeline_p50_ms,peak_memory_bytes,delay_mean_physical_mse_d0_d10,inference_rtc_suffix_physical_mse_prefix6,inference_rtc_fixed_control_max_abs,checkpoint,wandb_url,joint_legacy_vs_fused_tokens_equal,joint_fused_cache_speedup_percent 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-DiT-S,raw,fm,ttrtc,512,15165063,3e-05,True,0.0007620042306371033,0.008253987645730376,0.006683151121251285,398.94580078125,99.63603973388672,4,0.027002356946468353,0.008332785218954086,0.04041185602545738,,15.390869113616645,25.665894977282733,25.25046339724213,0.40322355926036835,0.003590015694499016,41.04814608581364,3053801472,0.005657459101216359,0.009288144333368109,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/fm_ttrtc.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zt8fra2l,, 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1b692815754a55c08a14fe243545cd47825a2099..0000000000000000000000000000000000000000 --- a/NewModel/v2/sidecars/raw/encoder.json +++ /dev/null @@ -1 +0,0 @@ -{"calibration": {"high": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "low": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]}, "config": {"action_dim": 7, "action_horizon": 30, "vocab_size": 256}, "fixed_fields": "action horizon, sample period, normalization quantiles", "predicted_fields": "30x7 normalized raw actions or ordered bins", "rtc_history_steps": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "tokenizer_id": "raw_action_q01_q99_uniform_256_v1", "type": "RawActionSequenceConfig"} diff --git a/NewModel/v2/sidecars/raw/normalization.json b/NewModel/v2/sidecars/raw/normalization.json deleted file mode 100644 index 20a707b635f2d93038dc9c400d11ce7eeb446a1d..0000000000000000000000000000000000000000 --- a/NewModel/v2/sidecars/raw/normalization.json +++ /dev/null @@ -1,82 +0,0 @@ -{ - "state_mean": [ - -0.06821590662002563, - 1.3402678966522217, - 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