diff --git a/NewModel/v1/README.md b/NewModel/v1/README.md new file mode 100644 index 0000000000000000000000000000000000000000..2c0958b27a86ccba150c610d9985ec66b8bef11f --- /dev/null +++ b/NewModel/v1/README.md @@ -0,0 +1,55 @@ +# Model-Size Sweep Results + +This is the canonical local result set for the completed DiT-S/B/L capacity sweep. + +## Contents + +| Capacity | Representation | Final checkpoints | +|---|---|---:| +| DiT-S | raw | 6 | +| DiT-S | B-spline | 6 | +| DiT-B | raw | 6 | +| DiT-B | B-spline | 6 | +| DiT-L | raw | 6 | +| DiT-L | B-spline | 6 | + +Each group is under `dit_{s,b,l}/{raw,bspline}/`. Its `checkpoints/` directory contains FM, layerwise diffusion, and joint diffusion base/ttRTC checkpoints, plus the manifest and any W&B identity sidecars created during interruption-safe training. Compact training logs are retained under `logs/`. + +Top-level evidence: + +- `completion_audit.json`: passed 36/36 with zero errors, 36 unique W&B run IDs, and an exact 18 base / 18 ttRTC project split. +- `sweep_status.json`: final scheduler status and run metadata. +- `summary/`: fresh 36-checkpoint open-loop, delay, latency, B-spline decode, and dd-openvla-aligned cache-acceleration evaluation. +- `summary/deployment/`: Piper-compatible statistics plus the 36-checkpoint + contract audit and real-GPU server runtime matrix. + +The W&B projects are `robot-policy-50k-bs32-basic` and `robot-policy-5k-bs32-ttRTC`. Online run histories and model artifacts remain in W&B; redundant local W&B caches were removed. + +## Integrity + +On 2026-09-16, all 36 final files were checked against the SHA-256 values in `completion_audit.json` after reorganization and cleanup: 36 checked, 0 mismatches. + +`../model_size_sweep_50k_bs32` is a compatibility symlink to this directory. It is required because immutable checkpoint lineage and audit records contain the original absolute path; it does not duplicate checkpoint data. + +## Cleanup + +Removed permanently: + +- 36 completed-run `.pt.resume` snapshots and all six local W&B cache trees; +- stale lock files and the superseded partial audit; +- the previous `action_representation_comparison`, `bspline_reproduction`, `checkpoints`, `evaluation`, `latency`, `longrun_50k_bs32`, `pilot`, `pilot_fast`, `prepared`, `raw_actions`, `replay`, and `visualizations` output trees. + +The cleanup reclaimed 83,622,878,276 bytes (about 77.9 GiB). The canonical sweep occupies 69,930,109,574 bytes (about 65.1 GiB). + +## Deployment + +All 36 checkpoints are served by the general interface documented at +`../../deployment/README.md`. The server auto-resolves this directory's shared +raw/B-spline sidecars and reads architecture/model-size/stage directly from +each checkpoint. `summary/deployment/deployment_validation.json` audits all 36 +headers and records finite real-GPU inference for the complete 12-case DiT-S +architecture x representation x stage matrix. + +## Next step + +Before retraining the six numerically affected layerwise variants, implement corruption-level conditioning, adaLN-Zero-style modulation, robust FP64 gradient clipping, finite-gradient telemetry, and DiT-B/L canary runs. diff --git a/NewModel/v1/completion_audit.json b/NewModel/v1/completion_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..9f4541ea33b5abbd2d8adf2330541d1bf2e74bd9 --- /dev/null +++ b/NewModel/v1/completion_audit.json @@ -0,0 +1,1453 @@ +{ + "passed": true, + "expected_checkpoints": 36, + "found_checkpoints": 36, + "records": [ + { + "model_size": "DiT-S", + "representation": "raw", + 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/dev/null +++ b/NewModel/v1/deployment/README.md @@ -0,0 +1,61 @@ +# Deployment validation + +Status: **passed**, 2026-09-16 UTC. + +## Completion audit + +| Requirement | Evidence | Result | +| --- | --- | --- | +| Same Piper server interface | WebSocket handshake plus NumPy-msgpack `infer` / `infer_realtime` envelopes; real server process connected with `PolicyClient` | Pass | +| All checkpoint types | Embedded config/sidecar inspection found exactly 36 unique DiT-S/B/L x raw/B-spline x FM/layerwise/joint x base/ttRTC contracts | Pass | +| Correct live observations | `[global, hand]` RGB order, server-side 224x224 DINOv2+SigLIP preprocessing, legacy min/max state -> training z-score conversion, fixed task validation | Pass | +| Correct action decoding | raw identity temporal decode or authoritative cubic 30x18 B-spline basis, then training q01/q99 physical unnormalization | Pass | +| Raw ttRTC | physical `[B,30,7]` prior chunk; 3-step validation preserved exactly 3 shifted action rows | Pass | +| B-spline ttRTC | normalized `[B,18,7]` prior controls; decoded actions rejected; 3 raw steps map to 2 spans and preserve 5 cubic-support rows | Pass | +| Transport behavior | ping, metadata/init, reset, inference, structured errors, ndarray round-trip, real localhost handshake | Pass | +| Automated tests | 16 deployment cases; complete repository suite 35/35 passed | Pass | +| Real checkpoint runtime | Complete 12-case DiT-S matrix on CUDA plus actual frozen vision encoder; all outputs finite and `[1,30,7]` | Pass | + +The machine-readable evidence is +[`deployment_validation.json`](deployment_validation.json). It includes all 36 +resolved checkpoint contracts and the complete real DiT-S runtime matrix. The +runtime probe is a correctness check, not a replacement for the 100-trial +latency benchmark in the parent summary. + +## Runtime matrix + +Every row below uses a real final checkpoint. `fixed` is reported only for the +RTC request with a three-raw-step delay. + +| Representation | Architecture | Stage | Vanilla finite | RTC finite | Fixed rows | +| --- | --- | --- | --- | --- | ---: | +| raw | FM | base | yes | n/a | n/a | +| raw | FM | ttRTC | yes | yes | 3 | +| raw | layerwise DD | base | yes | n/a | n/a | +| raw | layerwise DD | ttRTC | yes | yes | 3 | +| raw | joint DD | base | yes | n/a | n/a | +| raw | joint DD | ttRTC | yes | yes | 3 | +| B-spline | FM | base | yes | n/a | n/a | +| B-spline | FM | ttRTC | yes | yes | 5 | +| B-spline | layerwise DD | base | yes | n/a | n/a | +| B-spline | layerwise DD | ttRTC | yes | yes | 5 | +| B-spline | joint DD | base | yes | n/a | n/a | +| B-spline | joint DD | ttRTC | yes | yes | 5 | + +The frozen vision probe returned finite `[2,16,2176]` fused features for the +two camera views. A separate launched-server test loaded the actual DiT-S +B-spline FM checkpoint, completed the real handshake, and returned finite +`actions [1,30,7]` plus `normalized_control_rows [1,18,7]`. + +## Deployment files + +- Operator guide: `robot_policy/deployment/README.md` +- Launcher: `robot_policy/deployment/run_policy_server.sh` +- Server package: `robot_policy/src/robot_policy/deployment/` +- Existing-client stats: [`piper_dataset_statistics.json`](piper_dataset_statistics.json) +- Start-pose stats: [`stacking_cups_start_statistics.json`](stacking_cups_start_statistics.json) +- Reproducible runtime validator: `robot_policy/scripts/validate_deployment.py` + +No physical command was published during validation. The next operational +step is the reference Piper dry-run, followed by explicit camera/state/gripper +and safety checks before any `--execute` authorization. diff --git a/NewModel/v1/deployment/deployment_validation.json b/NewModel/v1/deployment/deployment_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..cbe2a8b3c7580726657a489c632169056b44cf49 --- /dev/null +++ b/NewModel/v1/deployment/deployment_validation.json @@ -0,0 +1,613 @@ +{ + "scope": "all 36 checkpoint headers plus real GPU runtime matrix for one full model-size family", + "sweep_root": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP", + "checkpoint_inventory_count": 36, + "inventory": [ + { + "checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/SWEEP/dit_b/bspline/checkpoints/discrete_joint_base.pt", + "architecture": "discrete_joint", + "training_type": "base", + "is_rtc": false, + "model_size": "DiT-B", + "representation": "bspline", + "prepared_path": 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