physai-study-01-checkpoints / checkpoints.json
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Add study 1 checkpoints (17 models) with model card and checksums
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[
{
"name": "act_nominal_unseeded",
"algorithm": "act",
"recipe": "ACT, 200 MuJoCo demos (episode seeds 0-199), chunk 100, 60k steps, network seed not set",
"demonstration_episode_seeds": "0-199",
"demonstration_seeds_count": 200,
"training_steps": 60000,
"network_seed": null,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "294/300",
"newton_seeds_1000_1299": "268/300",
"isaac_sim_seeds_1000_1099": "58/100"
},
"megabytes": 206.7,
"sha256": "399d649a810f7c67671936ba76f9d089e022ac2d56b46abcff723c5bba672e78"
},
{
"name": "act_nominal_seed1",
"algorithm": "act",
"recipe": "ACT, 200 MuJoCo demos (episode seeds 0-199), chunk 100, 60k steps, network seed 1",
"demonstration_episode_seeds": "0-199",
"demonstration_seeds_count": 200,
"training_steps": 60000,
"network_seed": 1,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "290/300",
"newton_seeds_1000_1299": "228/300",
"isaac_sim_seeds_1000_1099": "62/100"
},
"megabytes": 206.7,
"sha256": "d8ffdda1a59f77713b9d0cce41110cefe553b902fb168fce7e30e370f9e1cfe4"
},
{
"name": "act_nominal_seed2",
"algorithm": "act",
"recipe": "ACT, 200 MuJoCo demos (episode seeds 0-199), chunk 100, 60k steps, network seed 2",
"demonstration_episode_seeds": "0-199",
"demonstration_seeds_count": 200,
"training_steps": 60000,
"network_seed": 2,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "289/300",
"newton_seeds_1000_1299": "242/300",
"isaac_sim_seeds_1000_1099": "77/100"
},
"megabytes": 206.7,
"sha256": "531bc6617ea60850c7fb72a263f3384fa8c4023f42e1f407887fed00b1b29787"
},
{
"name": "act_nominal_seed3",
"algorithm": "act",
"recipe": "ACT, 200 MuJoCo demos (episode seeds 0-199), chunk 100, 60k steps, network seed 3",
"demonstration_episode_seeds": "0-199",
"demonstration_seeds_count": 200,
"training_steps": 60000,
"network_seed": 3,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "290/300",
"newton_seeds_1000_1299": "258/300",
"isaac_sim_seeds_1000_1099": "65/100"
},
"megabytes": 206.7,
"sha256": "bea108e5b9ded81f32f1f030cecd21403bea55758e8879da7411dc940c7decdb"
},
{
"name": "act_randomized_look_seed0",
"algorithm": "act",
"recipe": "ACT, 400 randomized-look MuJoCo demos (episode seeds 0-399), chunk 100, 120k steps, network seed 0",
"demonstration_episode_seeds": "0-399",
"demonstration_seeds_count": 400,
"training_steps": 120000,
"network_seed": 0,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "294/300",
"newton_seeds_1000_1299": "295/300",
"isaac_sim_seeds_1000_1099": "90/100"
},
"megabytes": 206.7,
"sha256": "6d45505425f9835657e8a777cea8f279278367e37f89fe90e5a39c4b636d269c"
},
{
"name": "act_randomized_look_seed1",
"algorithm": "act",
"recipe": "ACT, 400 randomized-look MuJoCo demos (episode seeds 0-399), chunk 100, 120k steps, network seed 1",
"demonstration_episode_seeds": "0-399",
"demonstration_seeds_count": 400,
"training_steps": 120000,
"network_seed": 1,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "292/300",
"newton_seeds_1000_1299": "289/300",
"isaac_sim_seeds_1000_1099": "85/100"
},
"megabytes": 206.7,
"sha256": "3c188c894271bfe6549b6b2d907b075b4cbbcb3c0e1a7311bdefc44a554f7e71"
},
{
"name": "act_randomized_look_seed2",
"algorithm": "act",
"recipe": "ACT, 400 randomized-look MuJoCo demos (episode seeds 0-399), chunk 100, 120k steps, network seed 2",
"demonstration_episode_seeds": "0-399",
"demonstration_seeds_count": 400,
"training_steps": 120000,
"network_seed": 2,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "292/300",
"newton_seeds_1000_1299": "289/300",
"isaac_sim_seeds_1000_1099": "89/100"
},
"megabytes": 206.7,
"sha256": "0a42709c4b2e6b69cd80eef9c76ef3ff83a4d847d8d3a4e64614923bfc48475b"
},
{
"name": "act_both_renderers_unseeded",
"algorithm": "act",
"recipe": "ACT, 200 MuJoCo demos (episode seeds 0-199) + the same 200 replayed on Isaac Sim, 120k steps, network seed not set",
"demonstration_episode_seeds": "0-199",
"demonstration_seeds_count": 200,
"training_steps": 120000,
"network_seed": null,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "294/300",
"newton_seeds_1000_1299": "281/300",
"isaac_sim_seeds_1000_1099": "94/100"
},
"megabytes": 206.7,
"sha256": "8034017312454267f7df79b8354ee93b89b2f824fcbdeec48cbe3c6e3291b172"
},
{
"name": "act_both_renderers_seed1",
"algorithm": "act",
"recipe": "ACT, 200 MuJoCo demos (episode seeds 0-199) + the same 200 replayed on Isaac Sim, 120k steps, network seed 1",
"demonstration_episode_seeds": "0-199",
"demonstration_seeds_count": 200,
"training_steps": 120000,
"network_seed": 1,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "294/300",
"newton_seeds_1000_1299": "286/300",
"isaac_sim_seeds_1000_1099": "91/100"
},
"megabytes": 206.7,
"sha256": "b9382aa7ade2a99127d86a2b4b9216eaddfa99331126cf99bcc1eba322650927"
},
{
"name": "diffusion_policy_v2_nominal_seed0",
"algorithm": "diffusion",
"recipe": "Diffusion Policy v2, 200 MuJoCo demos (episode seeds 0-199), 100k steps, network seed 0, plays 16 of 64 actions",
"demonstration_episode_seeds": "0-199",
"demonstration_seeds_count": 200,
"training_steps": 100000,
"network_seed": 0,
"batch_size": 16,
"learning_rate": 0.0001,
"scores": {
"mujoco_seeds_1000_1299": "290/300",
"newton_seeds_1000_1299": "14/300",
"isaac_sim_seeds_1000_1099": "21/100"
},
"megabytes": 357.0,
"sha256": "c95c984d0c1d560e4dacbc3746d158136a1ff1f6d2a5629a12b0c3892401c236"
},
{
"name": "diffusion_policy_v2_randomized_look_seed0",
"algorithm": "diffusion",
"recipe": "Diffusion Policy v2, 400 randomized-look demos (episode seeds 0-399), 120k steps, network seed 0, plays 16 of 64 actions",
"demonstration_episode_seeds": "0-399",
"demonstration_seeds_count": 400,
"training_steps": 120000,
"network_seed": 0,
"batch_size": 16,
"learning_rate": 0.0001,
"scores": {
"mujoco_seeds_1000_1299": "298/300",
"newton_seeds_1000_1299": "18/300",
"isaac_sim_seeds_1000_1099": "49/100"
},
"megabytes": 357.0,
"sha256": "8446a804df80f9209bd4b5fb3b3364f4b7c5ed89177782f5763ebbb844cc2682"
},
{
"name": "act_isaac_only_100_unseeded",
"algorithm": "act",
"recipe": "ACT, 100 MuJoCo demos (episode seeds 0-99) replayed on Isaac Sim (Isaac images only), chunk 100, 60k steps, network seed not set",
"demonstration_episode_seeds": "0-99",
"demonstration_seeds_count": 100,
"training_steps": 60000,
"network_seed": null,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "229/300",
"newton_seeds_1000_1299": "109/300",
"isaac_sim_seeds_1000_1099": "85/100"
},
"megabytes": 206.7,
"sha256": "58e51e4cbdbe753708aab868bb800ab4386b0630b9cf0624dfa58d3360e81f7e"
},
{
"name": "act_isaac_only_200_unseeded",
"algorithm": "act",
"recipe": "ACT, 200 demos (episode seeds 0-199) replayed on Isaac Sim, 60k steps, network seed not set",
"demonstration_episode_seeds": "0-199",
"demonstration_seeds_count": 200,
"training_steps": 60000,
"network_seed": null,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "229/300",
"newton_seeds_1000_1299": "105/300",
"isaac_sim_seeds_1000_1099": "91/100"
},
"megabytes": 206.7,
"sha256": "5941a1fc7545ebbc89168b4d9669a6e7a2911628d103755c7ee1b238809f5520"
},
{
"name": "act_isaac_only_200_seed1",
"algorithm": "act",
"recipe": "ACT, 200 demos (episode seeds 0-199) replayed on Isaac Sim, 60k steps, network seed 1",
"demonstration_episode_seeds": "0-199",
"demonstration_seeds_count": 200,
"training_steps": 60000,
"network_seed": 1,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "193/300",
"newton_seeds_1000_1299": "105/300",
"isaac_sim_seeds_1000_1099": "90/100"
},
"megabytes": 206.7,
"sha256": "16b730e0317e0d73cc62f3a9bedafb66f227a2ce2616c069c20e942a1f95cc65"
},
{
"name": "act_isaac_only_400_unseeded",
"algorithm": "act",
"recipe": "ACT, 400 demos (episode seeds 0-399) replayed on Isaac Sim, 120k steps, network seed not set",
"demonstration_episode_seeds": "0-399",
"demonstration_seeds_count": 400,
"training_steps": 120000,
"network_seed": null,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "253/300",
"newton_seeds_1000_1299": "154/300",
"isaac_sim_seeds_1000_1099": "97/100"
},
"megabytes": 206.7,
"sha256": "014f661b18aabe1f39998f59839d9b6b1ad39534c306b1b9d3c7ebc47355d7e3"
},
{
"name": "act_chunk30_100demos_unseeded",
"algorithm": "act",
"recipe": "ACT, 100 MuJoCo demos (episode seeds 0-99), chunk 30, 30k steps, network seed not set (rejected on validation seeds)",
"demonstration_episode_seeds": "0-99",
"demonstration_seeds_count": 100,
"training_steps": 30000,
"network_seed": null,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "220/300",
"newton_seeds_1000_1299": "16/300",
"isaac_sim_seeds_1000_1099": "26/100"
},
"megabytes": 206.4,
"sha256": "44b79a89bd57afb36593151f174d5349e55768c902a17beb029d6d3b3b2654e2"
},
{
"name": "act_chunk100_100demos_unseeded",
"algorithm": "act",
"recipe": "ACT, 100 MuJoCo demos (episode seeds 0-99), chunk 100, 60k steps, network seed not set",
"demonstration_episode_seeds": "0-99",
"demonstration_seeds_count": 100,
"training_steps": 60000,
"network_seed": null,
"batch_size": 16,
"learning_rate": 1e-05,
"scores": {
"mujoco_seeds_1000_1299": "275/300",
"newton_seeds_1000_1299": "238/300",
"isaac_sim_seeds_1000_1099": "55/100"
},
"megabytes": 206.7,
"sha256": "d994199343886e3d48fd30ff957183e43de2fa45ee763ae71c5273051471a6a5"
}
]