Publish E001 action chunk recovery artifacts
Browse files- README.md +22 -0
- SHA256SUMS.json +103 -0
- experiments/E001/E001-CARD.md +27 -0
- experiments/E001/audits/action-target-audit.json +64 -0
- experiments/E001/audits/data-split-audit.json +48 -0
- experiments/E001/audits/real-data-smoke.json +32 -0
- experiments/E001/audits/residual-zero-init-smoke.json +17 -0
- experiments/E001/conditions/c-endpoint-3c2dae9044/CONDITION_CARD.md +13 -0
- experiments/E001/conditions/c-endpoint-3c2dae9044/best.pt +3 -0
- experiments/E001/conditions/c-endpoint-3c2dae9044/config_resolved.yaml +99 -0
- experiments/E001/conditions/c-endpoint-3c2dae9044/evaluation_test.json +102 -0
- experiments/E001/conditions/c-endpoint-3c2dae9044/evaluation_validation.json +102 -0
- experiments/E001/conditions/c-endpoint-3c2dae9044/run_manifest.yaml +92 -0
- experiments/E001/conditions/c-residual-h16-be2e741500/CONDITION_CARD.md +13 -0
- experiments/E001/conditions/c-residual-h16-be2e741500/best.pt +3 -0
- experiments/E001/conditions/c-residual-h16-be2e741500/config_resolved.yaml +103 -0
- experiments/E001/conditions/c-residual-h16-be2e741500/evaluation_test.json +119 -0
- experiments/E001/conditions/c-residual-h16-be2e741500/evaluation_validation.json +119 -0
- experiments/E001/conditions/c-residual-h16-be2e741500/run_manifest.yaml +104 -0
- experiments/E001/experiment-summary.json +408 -0
- experiments/E001/runs/E001-R002/evaluation_validation.json +116 -0
- experiments/E001/runs/E001-R002/run_manifest.yaml +102 -0
- experiments/E001/runs/E001-R003-invalid/metrics.jsonl +0 -0
- experiments/E001/runs/E001-R003-invalid/run_manifest.yaml +110 -0
- experiments/E001/selection-validation.json +55 -0
README.md
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---
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license: other
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library_name: pytorch
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tags:
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- robotics
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- action-chunking
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- se3
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- robotwin
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datasets:
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- Shiki42/up-vla-precision-recovery-15k
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---
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# UP-VLA Action Chunk Recovery Checkpoints
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Protocol-registered E001 artifacts for endpoint, direct H16, and residual H16 recovery.
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The selected residual model improved grouped test path score by 4.68%, below the
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pre-registered 10% validation gate; E002 was not opened.
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The source dataset includes RLBench-derived material with non-commercial research
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restrictions. Treat these checkpoints as research-only unless all upstream license
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obligations have been independently resolved. See experiments/E001/E001-CARD.md
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and the immutable run/evaluation receipts for details.
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SHA256SUMS.json
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{
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experiments/E001/E001-CARD.md
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# E001 — Validated recovery Action Chunk ablation
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Status: **completed / inconclusive**
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Selected condition: **E001-R004 residual H16**
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Advance to E002: **no**
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## Decision
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The selected residual H16 condition improved validation group-macro path score from 0.829670 to 0.797646 (3.86%), below the pre-registered 10% gate. The endpoint and latency gates passed. Test was opened once for the frozen baseline and selected condition: score 0.993277 to 0.946838 (4.68%).
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## Valid conditions
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| Run | Head | Validation score | Endpoint mm | Endpoint deg | p95 ms |
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|---|---|---:|---:|---:|---:|
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| E001-R001 | endpoint + profiled path | 0.829670 | 6.062 | 3.583 | n/a |
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| E001-R002 | direct H16 | 0.804941 | 5.990 | 3.503 | 4.342 |
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| E001-R004 | residual H16 | 0.797646 | 5.908 | 3.453 | 4.698 |
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R003 is invalid and excluded: random residual-head initialization saturated at 50 mm / 0.52 rad. R004 prospectively recorded the identity-initialization retry and passed a real-proposal smoke test.
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## Test result
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The selected residual model changed endpoint error from 7.017 mm / 4.420° to 6.797 mm / 4.175°. It increased command jerk RMS from 2.311 to 4.300; a future experiment should constrain residual temporal structure before real Pi0.5 rollout.
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## Data and independence
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15,000 physically successful recoveries are grouped into 111 independent source groups. Split: train 11,628/89 groups; validation 1,970/11; test 1,402/11. Each holdout contains both RoboTwin and RLBench. No source group crosses splits.
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experiments/E001/audits/action-target-audit.json
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{
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"configured_limits": {
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"step_rotation_rad": 0.2,
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"step_translation_m": 0.01
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},
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"expert_success_counts": {
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"recovery_task_success": 15000,
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"source_expert_success": 15000
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},
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"git_commit": "91b8c9473cfc60c8bfce3848c900aba8e4594ca1",
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| 11 |
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"horizon_reaches_target_count": 0,
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"horizon_seconds": 0.8,
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"horizon_steps": 16,
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"limit_violations": {
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| 15 |
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"step_rotation": 0,
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| 16 |
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"step_translation": 0
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},
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| 18 |
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"sample_count": 15000,
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| 19 |
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"schema_version": "precision.action_chunk.target_audit.v1",
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| 20 |
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"source_families": {
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| 21 |
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"rlbench": 5220,
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| 22 |
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"robotwin_generic": 9780
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},
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| 24 |
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"step_rotation_rad": {
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| 25 |
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"max": 0.010471975511966547,
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| 26 |
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"mean": 0.0043272625200924675,
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| 27 |
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"min": 0.000270797193020592,
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| 28 |
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"p50": 0.0037907259009449306,
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| 29 |
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"p95": 0.00872664625997162,
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| 30 |
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"p99": 0.010053904361015777
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| 31 |
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},
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| 32 |
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"step_translation_twist_m": {
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| 33 |
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"max": 0.0006000026630050273,
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| 34 |
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"mean": 0.0003779863550717578,
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| 35 |
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"min": 1.719141227820467e-05,
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| 36 |
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"p50": 0.0004000002360415781,
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| 37 |
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"p95": 0.000600000146014978,
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| 38 |
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"p99": 0.0006000012005080267
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| 39 |
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},
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| 40 |
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"trajectory_duration_s": {
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| 41 |
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"max": 20.731572870249437,
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| 42 |
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"mean": 6.3629103453163545,
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| 43 |
+
"min": 1.2569543470285411,
|
| 44 |
+
"p50": 5.903310058639175,
|
| 45 |
+
"p95": 11.372092291086012,
|
| 46 |
+
"p99": 14.754663633027155
|
| 47 |
+
},
|
| 48 |
+
"waypoint_rotation_rad": {
|
| 49 |
+
"max": 0.16755160819145598,
|
| 50 |
+
"mean": 0.037987402154382004,
|
| 51 |
+
"min": 0.0004985226170931637,
|
| 52 |
+
"p50": 0.030744580054978578,
|
| 53 |
+
"p95": 0.09772211052589472,
|
| 54 |
+
"p99": 0.1255383529084257
|
| 55 |
+
},
|
| 56 |
+
"waypoint_translation_m": {
|
| 57 |
+
"max": 0.00960000000000014,
|
| 58 |
+
"mean": 0.0033021575027860745,
|
| 59 |
+
"min": 1.719141112148997e-05,
|
| 60 |
+
"p50": 0.0029999999999999884,
|
| 61 |
+
"p95": 0.007499999999999985,
|
| 62 |
+
"p99": 0.008399999999999987
|
| 63 |
+
}
|
| 64 |
+
}
|
experiments/E001/audits/data-split-audit.json
ADDED
|
@@ -0,0 +1,48 @@
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"data_root": "/home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples",
|
| 3 |
+
"extraction_receipt": "/home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json",
|
| 4 |
+
"extraction_receipt_sha256": "ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd",
|
| 5 |
+
"git_commit": "91b8c9473cfc60c8bfce3848c900aba8e4594ca1",
|
| 6 |
+
"schema_version": "precision_recovery.split_audit.v1",
|
| 7 |
+
"split_protocol": "source-family-stratified-group-hash-v1",
|
| 8 |
+
"splits": {
|
| 9 |
+
"test": {
|
| 10 |
+
"groups": 11,
|
| 11 |
+
"groups_by_source_family": {
|
| 12 |
+
"rlbench": 1,
|
| 13 |
+
"robotwin_generic": 10
|
| 14 |
+
},
|
| 15 |
+
"samples": 1402,
|
| 16 |
+
"samples_by_source_family": {
|
| 17 |
+
"rlbench": 520,
|
| 18 |
+
"robotwin_generic": 882
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
"train": {
|
| 22 |
+
"groups": 89,
|
| 23 |
+
"groups_by_source_family": {
|
| 24 |
+
"rlbench": 9,
|
| 25 |
+
"robotwin_generic": 80
|
| 26 |
+
},
|
| 27 |
+
"samples": 11628,
|
| 28 |
+
"samples_by_source_family": {
|
| 29 |
+
"rlbench": 4180,
|
| 30 |
+
"robotwin_generic": 7448
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"validation": {
|
| 34 |
+
"groups": 11,
|
| 35 |
+
"groups_by_source_family": {
|
| 36 |
+
"rlbench": 1,
|
| 37 |
+
"robotwin_generic": 10
|
| 38 |
+
},
|
| 39 |
+
"samples": 1970,
|
| 40 |
+
"samples_by_source_family": {
|
| 41 |
+
"rlbench": 520,
|
| 42 |
+
"robotwin_generic": 1450
|
| 43 |
+
}
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"total_groups": 111,
|
| 47 |
+
"total_samples": 15000
|
| 48 |
+
}
|
experiments/E001/audits/real-data-smoke.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
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|
|
|
|
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|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"data_receipt_sha256": "ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd",
|
| 3 |
+
"device": "NVIDIA RTX PRO 6000 Blackwell Workstation Edition",
|
| 4 |
+
"direct_h16": {
|
| 5 |
+
"batch2_latency_max_ms": 6.298548221588135,
|
| 6 |
+
"batch2_latency_median_ms": 4.577220916748047,
|
| 7 |
+
"finite": true,
|
| 8 |
+
"gradient_norm": 738.1722412109375,
|
| 9 |
+
"loss": 12.037626266479492,
|
| 10 |
+
"maximum_predicted_step_rotation_rad": 0.13702814280986786,
|
| 11 |
+
"maximum_predicted_step_translation_m": 0.007430041674524546,
|
| 12 |
+
"prediction_shape": [
|
| 13 |
+
2,
|
| 14 |
+
16,
|
| 15 |
+
6
|
| 16 |
+
],
|
| 17 |
+
"trainable_parameters": 19806278
|
| 18 |
+
},
|
| 19 |
+
"endpoint": {
|
| 20 |
+
"finite": true,
|
| 21 |
+
"loss": 0.25888946652412415,
|
| 22 |
+
"trainable_parameters": 15790420
|
| 23 |
+
},
|
| 24 |
+
"git_commit": "91b8c9473cfc60c8bfce3848c900aba8e4594ca1",
|
| 25 |
+
"sample_ids": [
|
| 26 |
+
"sample_000000",
|
| 27 |
+
"sample_000001",
|
| 28 |
+
"sample_000003",
|
| 29 |
+
"sample_000004"
|
| 30 |
+
],
|
| 31 |
+
"schema_version": "precision.action_chunk.smoke.v1"
|
| 32 |
+
}
|
experiments/E001/audits/residual-zero-init-smoke.json
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"git_commit": "63265740e2e0caa4c6f42da6d497fd63f46d522d",
|
| 3 |
+
"gradient_norm_before_clip": 35.3123664855957,
|
| 4 |
+
"initial_command_max_abs_error": 3.725290298461914e-09,
|
| 5 |
+
"initial_residual_rotation_max_rad": 0.0,
|
| 6 |
+
"initial_residual_translation_max_m": 0.0,
|
| 7 |
+
"loss": 0.304883748292923,
|
| 8 |
+
"proposal_manifest_sha256": "b2a7fda405bb7369a91d0e74040617b08704ed908f84ab653315a6a23da7bc50",
|
| 9 |
+
"sample_ids": [
|
| 10 |
+
"sample_000000",
|
| 11 |
+
"sample_000001"
|
| 12 |
+
],
|
| 13 |
+
"saturated_after_update": false,
|
| 14 |
+
"schema_version": "precision.action_chunk.residual_smoke.v1",
|
| 15 |
+
"updated_residual_rotation_max_rad": 0.0484287329018116,
|
| 16 |
+
"updated_residual_translation_max_m": 0.0043397932313382626
|
| 17 |
+
}
|
experiments/E001/conditions/c-endpoint-3c2dae9044/CONDITION_CARD.md
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Endpoint baseline + profiled controller
|
| 2 |
+
|
| 3 |
+
- Run: E001-R001
|
| 4 |
+
- Condition: c-endpoint-3c2dae9044
|
| 5 |
+
- Checkpoint SHA-256: 182fc8544a1489582c7f96e29625b7e0048642edf6de749c50b19da0da33379f
|
| 6 |
+
- Dataset revision: 77f5f306303361d602ab10759b3a139c67f2cf16
|
| 7 |
+
- Split: source-family-stratified grouped hash
|
| 8 |
+
- Horizon: 16 x 0.05 s for chunk conditions
|
| 9 |
+
- Frame/composition: current-tool SE(3), right multiplication
|
| 10 |
+
- Intended use: research evaluation only
|
| 11 |
+
|
| 12 |
+
See the sibling run manifest and evaluation receipts. Test data was opened exactly
|
| 13 |
+
once after validation-only selection.
|
experiments/E001/conditions/c-endpoint-3c2dae9044/best.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:182fc8544a1489582c7f96e29625b7e0048642edf6de749c50b19da0da33379f
|
| 3 |
+
size 189704503
|
experiments/E001/conditions/c-endpoint-3c2dae9044/config_resolved.yaml
ADDED
|
@@ -0,0 +1,99 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
data:
|
| 2 |
+
hf_repo_id: Shiki42/up-vla-precision-recovery-15k
|
| 3 |
+
revision: 77f5f306303361d602ab10759b3a139c67f2cf16
|
| 4 |
+
variant_id: validated-physical-recovery-15k-v1
|
| 5 |
+
manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
|
| 6 |
+
dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
|
| 7 |
+
sample_count: 15000
|
| 8 |
+
split_protocol: source-family-stratified-group-hash-v1
|
| 9 |
+
validation_fraction: 0.1
|
| 10 |
+
test_fraction: 0.1
|
| 11 |
+
geometry:
|
| 12 |
+
cumulative_waypoint_representation: current_tool_relative_pose
|
| 13 |
+
step_representation: integrated_body_twist
|
| 14 |
+
step_integration: right_se3_exponential
|
| 15 |
+
residual_composition: base_right_multiply_se3_exponential
|
| 16 |
+
base_input_normalization: translation_rotation_physical_scales
|
| 17 |
+
model:
|
| 18 |
+
backbone:
|
| 19 |
+
hidden_size: 256
|
| 20 |
+
fusion_layers: 4
|
| 21 |
+
fusion_heads: 8
|
| 22 |
+
fusion_mlp_ratio: 4
|
| 23 |
+
dropout: 0.1
|
| 24 |
+
vision_backend: conv
|
| 25 |
+
text_backend: embedding
|
| 26 |
+
pretrained_model_name: google/siglip-base-patch16-224
|
| 27 |
+
freeze_pretrained: true
|
| 28 |
+
image_size: 224
|
| 29 |
+
vision_tokens: 64
|
| 30 |
+
depth_tokens: 36
|
| 31 |
+
point_tokens: 32
|
| 32 |
+
point_samples: 256
|
| 33 |
+
max_text_tokens: 32
|
| 34 |
+
text_vocab_size: 32768
|
| 35 |
+
max_joints: 7
|
| 36 |
+
aloha_joints: 6
|
| 37 |
+
panda_joints: 7
|
| 38 |
+
translation_scale_m: 0.05
|
| 39 |
+
rotation_scale_rad: 0.5235987755982988
|
| 40 |
+
joint_scale_rad: 0.5
|
| 41 |
+
horizon_steps: 16
|
| 42 |
+
horizon_seconds: 0.8
|
| 43 |
+
decoder_layers: 4
|
| 44 |
+
decoder_heads: 8
|
| 45 |
+
decoder_mlp_ratio: 4
|
| 46 |
+
maximum_step_translation_m: 0.01
|
| 47 |
+
maximum_step_rotation_rad: 0.2
|
| 48 |
+
maximum_residual_translation_m: 0.05
|
| 49 |
+
maximum_residual_rotation_rad: 0.52
|
| 50 |
+
action_head: endpoint
|
| 51 |
+
base_conditioning: none
|
| 52 |
+
parameter_counts:
|
| 53 |
+
total: 15790420
|
| 54 |
+
trainable: 15790420
|
| 55 |
+
frozen: 0
|
| 56 |
+
loss:
|
| 57 |
+
translation: 1.0
|
| 58 |
+
rotation_vector: 1.0
|
| 59 |
+
rotation_geodesic: 0.25
|
| 60 |
+
joint: 0.5
|
| 61 |
+
gripper: 0.1
|
| 62 |
+
training:
|
| 63 |
+
seed: 42
|
| 64 |
+
batch_size: 64
|
| 65 |
+
gradient_accumulation_steps: 1
|
| 66 |
+
epochs: 100
|
| 67 |
+
max_steps: 3000
|
| 68 |
+
learning_rate: 0.0003
|
| 69 |
+
weight_decay: 0.05
|
| 70 |
+
warmup_fraction: 0.05
|
| 71 |
+
gradient_clip_norm: 1.0
|
| 72 |
+
precision: bf16
|
| 73 |
+
workers: 8
|
| 74 |
+
log_every_steps: 10
|
| 75 |
+
validation_every_steps: 250
|
| 76 |
+
checkpoint_every_steps: 500
|
| 77 |
+
evaluation:
|
| 78 |
+
version: action-chunk-eval-v1
|
| 79 |
+
trajectory_loss:
|
| 80 |
+
path_translation: 1.0
|
| 81 |
+
path_rotation: 1.0
|
| 82 |
+
endpoint_translation: 2.0
|
| 83 |
+
endpoint_rotation: 2.0
|
| 84 |
+
velocity: 1.0
|
| 85 |
+
acceleration: 0.1
|
| 86 |
+
jerk: 0.05
|
| 87 |
+
residual_magnitude: 0.02
|
| 88 |
+
selection_split: validation
|
| 89 |
+
test_firewall_opened: false
|
| 90 |
+
runtime:
|
| 91 |
+
data_root: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples
|
| 92 |
+
base_proposal_root: null
|
| 93 |
+
output_directory: /home/coder/share/experiment-runs/E001/E001-R001
|
| 94 |
+
split_counts:
|
| 95 |
+
train_samples: 11628
|
| 96 |
+
validation_samples: 1970
|
| 97 |
+
train_groups: 89
|
| 98 |
+
validation_groups: 11
|
| 99 |
+
overlap: false
|
experiments/E001/conditions/c-endpoint-3c2dae9044/evaluation_test.json
ADDED
|
@@ -0,0 +1,102 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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"base_proposal_manifest": {
|
| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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|
| 8 |
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| 9 |
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|
| 10 |
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| 11 |
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| 12 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 32 |
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| 37 |
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| 38 |
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| 40 |
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| 45 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"metrics": {
|
| 66 |
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"acceleration_rmse": 0.1142672672867775,
|
| 67 |
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|
| 68 |
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|
| 69 |
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"endpoint_rotation_rmse_deg": 4.396600723266602,
|
| 70 |
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"endpoint_translation_rmse_mm": 6.084814548492432,
|
| 71 |
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|
| 72 |
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| 73 |
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"path_translation_rmse_mm": 3.7321736812591553,
|
| 74 |
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|
| 75 |
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|
| 76 |
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"velocity_rmse": 0.04017214477062225
|
| 77 |
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},
|
| 78 |
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"path_score": 0.9157689809799194,
|
| 79 |
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|
| 80 |
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},
|
| 81 |
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"robotwin_generic": {
|
| 82 |
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"group_count": 10,
|
| 83 |
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"metrics": {
|
| 84 |
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| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
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| 90 |
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| 92 |
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| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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"split": "test",
|
| 101 |
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"test_firewall_opened": true
|
| 102 |
+
}
|
experiments/E001/conditions/c-endpoint-3c2dae9044/evaluation_validation.json
ADDED
|
@@ -0,0 +1,102 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_proposal_manifest": {
|
| 3 |
+
"path": "/home/coder/share/experiment-artifacts/E001/R001-profiled-proposals/manifest.json",
|
| 4 |
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"sha256": "b2a7fda405bb7369a91d0e74040617b08704ed908f84ab653315a6a23da7bc50"
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| 5 |
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},
|
| 6 |
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|
| 7 |
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|
| 8 |
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"condition_id": "c-endpoint-3c2dae9044",
|
| 9 |
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"data_extraction_receipt": {
|
| 10 |
+
"path": "/home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json",
|
| 11 |
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"sha256": "ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd"
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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|
| 37 |
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| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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"endpoint_translation_rmse_mm": 7.368035793304443,
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
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|
| 92 |
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|
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| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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}
|
| 99 |
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},
|
| 100 |
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"split": "validation",
|
| 101 |
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"test_firewall_opened": false
|
| 102 |
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}
|
experiments/E001/conditions/c-endpoint-3c2dae9044/run_manifest.yaml
ADDED
|
@@ -0,0 +1,92 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
schema_version: upvla.experiment_run.v1
|
| 2 |
+
run:
|
| 3 |
+
id: E001-R001
|
| 4 |
+
experiment_id: E001
|
| 5 |
+
condition_id: c-endpoint-3c2dae9044
|
| 6 |
+
status: completed
|
| 7 |
+
started_at: '2026-08-09T23:14:40.050720+00:00'
|
| 8 |
+
ended_at: '2026-08-09T23:23:38.981382+00:00'
|
| 9 |
+
condition:
|
| 10 |
+
model:
|
| 11 |
+
action_head: endpoint
|
| 12 |
+
base_conditioning: none
|
| 13 |
+
horizon_steps: 1
|
| 14 |
+
randomness:
|
| 15 |
+
global_seed: 42
|
| 16 |
+
python_seed: 42
|
| 17 |
+
numpy_seed: 42
|
| 18 |
+
torch_seed: 42
|
| 19 |
+
dataloader_seed: 42
|
| 20 |
+
code:
|
| 21 |
+
repo: https://github.com/Shiki42/UP-VLA.git
|
| 22 |
+
git_commit: 91b8c9473cfc60c8bfce3848c900aba8e4594ca1
|
| 23 |
+
git_branch: shuyuan/action-chunk-recovery-e001
|
| 24 |
+
dirty: false
|
| 25 |
+
status_sha256: e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855
|
| 26 |
+
patch_ref: null
|
| 27 |
+
data:
|
| 28 |
+
hf_repo_id: Shiki42/up-vla-precision-recovery-15k
|
| 29 |
+
revision: 77f5f306303361d602ab10759b3a139c67f2cf16
|
| 30 |
+
variant_id: validated-physical-recovery-15k-v1
|
| 31 |
+
manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
|
| 32 |
+
dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
|
| 33 |
+
extraction_receipt: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json
|
| 34 |
+
extraction_receipt_sha256: ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd
|
| 35 |
+
split_protocol: source-family-stratified-group-hash-v1
|
| 36 |
+
split_counts:
|
| 37 |
+
train_samples: 11628
|
| 38 |
+
validation_samples: 1970
|
| 39 |
+
train_groups: 89
|
| 40 |
+
validation_groups: 11
|
| 41 |
+
overlap: false
|
| 42 |
+
environment:
|
| 43 |
+
python_version: 3.11.15
|
| 44 |
+
python_executable: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python
|
| 45 |
+
packages:
|
| 46 |
+
numpy: 1.26.0
|
| 47 |
+
Pillow: 11.3.0
|
| 48 |
+
PyYAML: 6.0.3
|
| 49 |
+
torch: 2.13.0
|
| 50 |
+
torch_version: 2.13.0+cu130
|
| 51 |
+
cuda_runtime: '13.0'
|
| 52 |
+
cudnn_version: 92000
|
| 53 |
+
os: Linux-7.0.0-28-generic-x86_64-with-glibc2.35
|
| 54 |
+
hostname: lm
|
| 55 |
+
hardware:
|
| 56 |
+
accelerators:
|
| 57 |
+
- index: 0
|
| 58 |
+
name: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
|
| 59 |
+
memory_bytes: 101973491712
|
| 60 |
+
compute_capability: '12.0'
|
| 61 |
+
accelerator_count: 1
|
| 62 |
+
cpu_count: 32
|
| 63 |
+
execution:
|
| 64 |
+
command: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python scripts/train_action_chunk_recovery.py
|
| 65 |
+
--condition-config configs/experiments/E001/R001-endpoint.yaml --data-root /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples
|
| 66 |
+
--output-dir /home/coder/share/experiment-runs/E001/E001-R001
|
| 67 |
+
metrics:
|
| 68 |
+
validation:
|
| 69 |
+
loss/total: 0.1953894484164146
|
| 70 |
+
loss/translation: 0.04519216449278866
|
| 71 |
+
loss/rotation_vector: 0.03495830947221233
|
| 72 |
+
loss/rotation_geodesic: 0.3900546948316739
|
| 73 |
+
loss/joint: 0.03496293299240509
|
| 74 |
+
loss/gripper: 0.0024383212099334008
|
| 75 |
+
metric/translation_mm: 23.151747923333026
|
| 76 |
+
metric/rotation_deg: 11.702068714199937
|
| 77 |
+
metric/joint_mae_rad: 0.08829079693949161
|
| 78 |
+
metric/gripper_accuracy: 1.0
|
| 79 |
+
checkpoint:
|
| 80 |
+
path: /home/coder/share/experiment-runs/E001/E001-R001/best.pt
|
| 81 |
+
sha256: 182fc8544a1489582c7f96e29625b7e0048642edf6de749c50b19da0da33379f
|
| 82 |
+
selection_metric: loss/total
|
| 83 |
+
selection_split: validation
|
| 84 |
+
artifacts:
|
| 85 |
+
metrics_jsonl: /home/coder/share/experiment-runs/E001/E001-R001/metrics.jsonl
|
| 86 |
+
validation_evaluation: /home/coder/share/experiment-runs/E001/E001-R001/evaluation_validation.json
|
| 87 |
+
condition_snapshot: /home/coder/share/experiment-runs/E001/E001-R001/condition.yaml
|
| 88 |
+
resolved_config: /home/coder/share/experiment-runs/E001/E001-R001/config_resolved.yaml
|
| 89 |
+
compute:
|
| 90 |
+
wall_seconds: 538.7586286930018
|
| 91 |
+
gpu_hours: 0.14965517463694494
|
| 92 |
+
peak_memory_bytes: 2885576192
|
experiments/E001/conditions/c-residual-h16-be2e741500/CONDITION_CARD.md
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
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|
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|
|
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|
| 1 |
+
# Selected residual H16, identity initialized
|
| 2 |
+
|
| 3 |
+
- Run: E001-R004
|
| 4 |
+
- Condition: c-residual-h16-be2e741500
|
| 5 |
+
- Checkpoint SHA-256: 81ef4841165e996bf7c94556e3f83b457ae5b021bfa6c99ae2fa4998e3f111f3
|
| 6 |
+
- Dataset revision: 77f5f306303361d602ab10759b3a139c67f2cf16
|
| 7 |
+
- Split: source-family-stratified grouped hash
|
| 8 |
+
- Horizon: 16 x 0.05 s for chunk conditions
|
| 9 |
+
- Frame/composition: current-tool SE(3), right multiplication
|
| 10 |
+
- Intended use: research evaluation only
|
| 11 |
+
|
| 12 |
+
See the sibling run manifest and evaluation receipts. Test data was opened exactly
|
| 13 |
+
once after validation-only selection.
|
experiments/E001/conditions/c-residual-h16-be2e741500/best.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:81ef4841165e996bf7c94556e3f83b457ae5b021bfa6c99ae2fa4998e3f111f3
|
| 3 |
+
size 238782079
|
experiments/E001/conditions/c-residual-h16-be2e741500/config_resolved.yaml
ADDED
|
@@ -0,0 +1,103 @@
|
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|
|
|
|
|
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|
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|
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|
|
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|
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|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
data:
|
| 2 |
+
hf_repo_id: Shiki42/up-vla-precision-recovery-15k
|
| 3 |
+
revision: 77f5f306303361d602ab10759b3a139c67f2cf16
|
| 4 |
+
variant_id: validated-physical-recovery-15k-v1
|
| 5 |
+
manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
|
| 6 |
+
dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
|
| 7 |
+
sample_count: 15000
|
| 8 |
+
split_protocol: source-family-stratified-group-hash-v1
|
| 9 |
+
validation_fraction: 0.1
|
| 10 |
+
test_fraction: 0.1
|
| 11 |
+
geometry:
|
| 12 |
+
cumulative_waypoint_representation: current_tool_relative_pose
|
| 13 |
+
step_representation: integrated_body_twist
|
| 14 |
+
step_integration: right_se3_exponential
|
| 15 |
+
residual_composition: base_right_multiply_se3_exponential
|
| 16 |
+
base_input_normalization: translation_rotation_physical_scales
|
| 17 |
+
residual_output_initialization: zero
|
| 18 |
+
model:
|
| 19 |
+
backbone:
|
| 20 |
+
hidden_size: 256
|
| 21 |
+
fusion_layers: 4
|
| 22 |
+
fusion_heads: 8
|
| 23 |
+
fusion_mlp_ratio: 4
|
| 24 |
+
dropout: 0.1
|
| 25 |
+
vision_backend: conv
|
| 26 |
+
text_backend: embedding
|
| 27 |
+
pretrained_model_name: google/siglip-base-patch16-224
|
| 28 |
+
freeze_pretrained: true
|
| 29 |
+
image_size: 224
|
| 30 |
+
vision_tokens: 64
|
| 31 |
+
depth_tokens: 36
|
| 32 |
+
point_tokens: 32
|
| 33 |
+
point_samples: 256
|
| 34 |
+
max_text_tokens: 32
|
| 35 |
+
text_vocab_size: 32768
|
| 36 |
+
max_joints: 7
|
| 37 |
+
aloha_joints: 6
|
| 38 |
+
panda_joints: 7
|
| 39 |
+
translation_scale_m: 0.05
|
| 40 |
+
rotation_scale_rad: 0.5235987755982988
|
| 41 |
+
joint_scale_rad: 0.5
|
| 42 |
+
horizon_steps: 16
|
| 43 |
+
horizon_seconds: 0.8
|
| 44 |
+
decoder_layers: 4
|
| 45 |
+
decoder_heads: 8
|
| 46 |
+
decoder_mlp_ratio: 4
|
| 47 |
+
maximum_step_translation_m: 0.01
|
| 48 |
+
maximum_step_rotation_rad: 0.2
|
| 49 |
+
maximum_residual_translation_m: 0.05
|
| 50 |
+
maximum_residual_rotation_rad: 0.52
|
| 51 |
+
action_head: residual_chunk
|
| 52 |
+
base_conditioning: E001-R001-profiled-proposal
|
| 53 |
+
parameter_counts:
|
| 54 |
+
total: 20077914
|
| 55 |
+
trainable: 19873862
|
| 56 |
+
frozen: 204052
|
| 57 |
+
loss:
|
| 58 |
+
path_translation: 1.0
|
| 59 |
+
path_rotation: 1.0
|
| 60 |
+
endpoint_translation: 2.0
|
| 61 |
+
endpoint_rotation: 2.0
|
| 62 |
+
velocity: 1.0
|
| 63 |
+
acceleration: 0.1
|
| 64 |
+
jerk: 0.05
|
| 65 |
+
residual_magnitude: 0.02
|
| 66 |
+
training:
|
| 67 |
+
seed: 42
|
| 68 |
+
batch_size: 64
|
| 69 |
+
gradient_accumulation_steps: 1
|
| 70 |
+
epochs: 100
|
| 71 |
+
max_steps: 3000
|
| 72 |
+
learning_rate: 0.0003
|
| 73 |
+
weight_decay: 0.05
|
| 74 |
+
warmup_fraction: 0.05
|
| 75 |
+
gradient_clip_norm: 1.0
|
| 76 |
+
precision: bf16
|
| 77 |
+
workers: 8
|
| 78 |
+
log_every_steps: 10
|
| 79 |
+
validation_every_steps: 250
|
| 80 |
+
checkpoint_every_steps: 500
|
| 81 |
+
evaluation:
|
| 82 |
+
version: action-chunk-eval-v1
|
| 83 |
+
trajectory_loss:
|
| 84 |
+
path_translation: 1.0
|
| 85 |
+
path_rotation: 1.0
|
| 86 |
+
endpoint_translation: 2.0
|
| 87 |
+
endpoint_rotation: 2.0
|
| 88 |
+
velocity: 1.0
|
| 89 |
+
acceleration: 0.1
|
| 90 |
+
jerk: 0.05
|
| 91 |
+
residual_magnitude: 0.02
|
| 92 |
+
selection_split: validation
|
| 93 |
+
test_firewall_opened: false
|
| 94 |
+
runtime:
|
| 95 |
+
data_root: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples
|
| 96 |
+
base_proposal_root: /home/coder/share/experiment-artifacts/E001/R001-profiled-proposals
|
| 97 |
+
output_directory: /home/coder/share/experiment-runs/E001/E001-R004
|
| 98 |
+
split_counts:
|
| 99 |
+
train_samples: 11628
|
| 100 |
+
validation_samples: 1970
|
| 101 |
+
train_groups: 89
|
| 102 |
+
validation_groups: 11
|
| 103 |
+
overlap: false
|
experiments/E001/conditions/c-residual-h16-be2e741500/evaluation_test.json
ADDED
|
@@ -0,0 +1,119 @@
|
|
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|
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|
|
|
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|
|
|
|
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|
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|
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|
|
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|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_proposal_manifest": {
|
| 3 |
+
"path": "/home/coder/share/experiment-artifacts/E001/R001-profiled-proposals/manifest.json",
|
| 4 |
+
"sha256": "b2a7fda405bb7369a91d0e74040617b08704ed908f84ab653315a6a23da7bc50"
|
| 5 |
+
},
|
| 6 |
+
"checkpoint": {
|
| 7 |
+
"path": "/home/coder/share/experiment-runs/E001/E001-R004/best.pt",
|
| 8 |
+
"sha256": "81ef4841165e996bf7c94556e3f83b457ae5b021bfa6c99ae2fa4998e3f111f3"
|
| 9 |
+
},
|
| 10 |
+
"checkpoint_run": {
|
| 11 |
+
"condition_id": "c-residual-h16-be2e741500",
|
| 12 |
+
"experiment_id": "E001",
|
| 13 |
+
"git_commit": "63265740e2e0caa4c6f42da6d497fd63f46d522d",
|
| 14 |
+
"manifest": "/home/coder/share/experiment-runs/E001/E001-R004/run_manifest.yaml",
|
| 15 |
+
"manifest_sha256": "c97c0ce3f3ebfeccce4c75b1f9d9a039f462fa2812b252169a27e8f694667fe7",
|
| 16 |
+
"run_id": "E001-R004"
|
| 17 |
+
},
|
| 18 |
+
"condition_id": "c-residual-h16-be2e741500",
|
| 19 |
+
"data_extraction_receipt": {
|
| 20 |
+
"path": "/home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json",
|
| 21 |
+
"sha256": "ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd"
|
| 22 |
+
},
|
| 23 |
+
"experiment_id": "E001",
|
| 24 |
+
"group_count": 11,
|
| 25 |
+
"grouped_metrics": {
|
| 26 |
+
"acceleration_rmse": 0.20413607358932495,
|
| 27 |
+
"command_acceleration_rms": 0.19192136824131012,
|
| 28 |
+
"command_jerk_rms": 4.2998576164245605,
|
| 29 |
+
"endpoint_rotation_rmse_deg": 4.175118923187256,
|
| 30 |
+
"endpoint_translation_rmse_mm": 6.796607971191406,
|
| 31 |
+
"jerk_rmse": 4.632838726043701,
|
| 32 |
+
"path_rotation_rmse_deg": 2.630558967590332,
|
| 33 |
+
"path_translation_rmse_mm": 4.2072577476501465,
|
| 34 |
+
"residual_rotation_mean_deg": 0.49680280685424805,
|
| 35 |
+
"residual_translation_mean_mm": 0.4243967831134796,
|
| 36 |
+
"velocity_rmse": 0.03973293676972389
|
| 37 |
+
},
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|
| 119 |
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|
experiments/E001/conditions/c-residual-h16-be2e741500/evaluation_validation.json
ADDED
|
@@ -0,0 +1,119 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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| 11 |
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|
experiments/E001/conditions/c-residual-h16-be2e741500/run_manifest.yaml
ADDED
|
@@ -0,0 +1,104 @@
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|
| 1 |
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schema_version: upvla.experiment_run.v1
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| 2 |
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run:
|
| 3 |
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id: E001-R004
|
| 4 |
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experiment_id: E001
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| 5 |
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condition_id: c-residual-h16-be2e741500
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| 6 |
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status: completed
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| 7 |
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started_at: '2026-08-09T23:48:11.539430+00:00'
|
| 8 |
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ended_at: '2026-08-09T23:51:19.928667+00:00'
|
| 9 |
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condition:
|
| 10 |
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model:
|
| 11 |
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action_head: residual_chunk
|
| 12 |
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base_conditioning: E001-R001-profiled-proposal
|
| 13 |
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horizon_steps: 16
|
| 14 |
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randomness:
|
| 15 |
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global_seed: 42
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python_seed: 42
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numpy_seed: 42
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torch_seed: 42
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dataloader_seed: 42
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code:
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repo: https://github.com/Shiki42/UP-VLA.git
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git_commit: 63265740e2e0caa4c6f42da6d497fd63f46d522d
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git_branch: shuyuan/action-chunk-recovery-e001
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dirty: false
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status_sha256: e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855
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patch_ref: null
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data:
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hf_repo_id: Shiki42/up-vla-precision-recovery-15k
|
| 29 |
+
revision: 77f5f306303361d602ab10759b3a139c67f2cf16
|
| 30 |
+
variant_id: validated-physical-recovery-15k-v1
|
| 31 |
+
manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
|
| 32 |
+
dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
|
| 33 |
+
extraction_receipt: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json
|
| 34 |
+
extraction_receipt_sha256: ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd
|
| 35 |
+
split_protocol: source-family-stratified-group-hash-v1
|
| 36 |
+
split_counts:
|
| 37 |
+
train_samples: 11628
|
| 38 |
+
validation_samples: 1970
|
| 39 |
+
train_groups: 89
|
| 40 |
+
validation_groups: 11
|
| 41 |
+
overlap: false
|
| 42 |
+
environment:
|
| 43 |
+
python_version: 3.11.15
|
| 44 |
+
python_executable: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python
|
| 45 |
+
packages:
|
| 46 |
+
numpy: 1.26.0
|
| 47 |
+
Pillow: 11.3.0
|
| 48 |
+
PyYAML: 6.0.3
|
| 49 |
+
torch: 2.13.0
|
| 50 |
+
torch_version: 2.13.0+cu130
|
| 51 |
+
cuda_runtime: '13.0'
|
| 52 |
+
cudnn_version: 92000
|
| 53 |
+
os: Linux-7.0.0-28-generic-x86_64-with-glibc2.35
|
| 54 |
+
hostname: lm
|
| 55 |
+
hardware:
|
| 56 |
+
accelerators:
|
| 57 |
+
- index: 0
|
| 58 |
+
name: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
|
| 59 |
+
memory_bytes: 101973491712
|
| 60 |
+
compute_capability: '12.0'
|
| 61 |
+
accelerator_count: 1
|
| 62 |
+
cpu_count: 32
|
| 63 |
+
execution:
|
| 64 |
+
command: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python scripts/train_action_chunk_recovery.py
|
| 65 |
+
--condition-config configs/experiments/E001/R004-residual-h16-zero-init.yaml --data-root
|
| 66 |
+
/home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples --base-proposal-root
|
| 67 |
+
/home/coder/share/experiment-artifacts/E001/R001-profiled-proposals --output-dir
|
| 68 |
+
/home/coder/share/experiment-runs/E001/E001-R004
|
| 69 |
+
metrics:
|
| 70 |
+
validation:
|
| 71 |
+
loss/total: 0.33208154863512457
|
| 72 |
+
loss/path_translation: 0.000980461022561312
|
| 73 |
+
loss/path_rotation: 0.05985661550675552
|
| 74 |
+
loss/endpoint_translation: 0.002528078034803801
|
| 75 |
+
loss/endpoint_rotation: 0.10737666593590364
|
| 76 |
+
loss/velocity: 0.050629954682994006
|
| 77 |
+
loss/acceleration: 0.0018427140325270026
|
| 78 |
+
loss/jerk: 0.0025531304348969295
|
| 79 |
+
loss/residual_magnitude: 0.024654954535707
|
| 80 |
+
metric/path_translation_rmse_mm: 3.817204704865586
|
| 81 |
+
metric/path_rotation_rmse_deg: 2.2951113328110746
|
| 82 |
+
metric/endpoint_translation_rmse_mm: 6.132941103223617
|
| 83 |
+
metric/endpoint_rotation_rmse_deg: 3.6756162817708127
|
| 84 |
+
metric/velocity_rmse: 0.03517932392240781
|
| 85 |
+
metric/acceleration_rmse: 0.19716658198893977
|
| 86 |
+
metric/jerk_rmse: 4.4351433306176045
|
| 87 |
+
metric/command_acceleration_rms: 0.18460183148154147
|
| 88 |
+
metric/command_jerk_rms: 4.088533519851374
|
| 89 |
+
metric/residual_translation_mean_mm: 0.440811541994211
|
| 90 |
+
metric/residual_rotation_mean_deg: 0.47516172582728006
|
| 91 |
+
checkpoint:
|
| 92 |
+
path: /home/coder/share/experiment-runs/E001/E001-R004/best.pt
|
| 93 |
+
sha256: 81ef4841165e996bf7c94556e3f83b457ae5b021bfa6c99ae2fa4998e3f111f3
|
| 94 |
+
selection_metric: loss/total
|
| 95 |
+
selection_split: validation
|
| 96 |
+
artifacts:
|
| 97 |
+
metrics_jsonl: /home/coder/share/experiment-runs/E001/E001-R004/metrics.jsonl
|
| 98 |
+
validation_evaluation: /home/coder/share/experiment-runs/E001/E001-R004/evaluation_validation.json
|
| 99 |
+
condition_snapshot: /home/coder/share/experiment-runs/E001/E001-R004/condition.yaml
|
| 100 |
+
resolved_config: /home/coder/share/experiment-runs/E001/E001-R004/config_resolved.yaml
|
| 101 |
+
compute:
|
| 102 |
+
wall_seconds: 188.26792803000717
|
| 103 |
+
gpu_hours: 0.052296646675001994
|
| 104 |
+
peak_memory_bytes: 2952011264
|
experiments/E001/experiment-summary.json
ADDED
|
@@ -0,0 +1,408 @@
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|
| 1 |
+
{
|
| 2 |
+
"advance_to_e002": false,
|
| 3 |
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"artifacts": {
|
| 4 |
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"proposal_manifest": {
|
| 5 |
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"path": "/home/coder/share/experiment-artifacts/E001/R001-profiled-proposals/manifest.json",
|
| 6 |
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"sha256": "b2a7fda405bb7369a91d0e74040617b08704ed908f84ab653315a6a23da7bc50"
|
| 7 |
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},
|
| 8 |
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"real_data_smoke": {
|
| 9 |
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"path": "/home/coder/share/experiment-logs/E001/real-data-smoke.json",
|
| 10 |
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"sha256": "98502ae238c997ed151d99bbf8caf1c0e1bfad04be181f422deef73fc8fa4505"
|
| 11 |
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},
|
| 12 |
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"residual_zero_init_smoke": {
|
| 13 |
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"path": "/home/coder/share/experiment-logs/E001/residual-zero-init-smoke.json",
|
| 14 |
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"sha256": "6aa37549464368866c756979073f38f79b45cf567462e19b8155eba5fa255c30"
|
| 15 |
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}
|
| 16 |
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},
|
| 17 |
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"compute": {
|
| 18 |
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"total_gpu_hours_including_invalid": 0.3095676502552816
|
| 19 |
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},
|
| 20 |
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"data": {
|
| 21 |
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"extraction_receipt": {
|
| 22 |
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"path": "/home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json",
|
| 23 |
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"sha256": "ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd"
|
| 24 |
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},
|
| 25 |
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"independent_source_groups": 111,
|
| 26 |
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"sample_count": 15000,
|
| 27 |
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"split_audit": {
|
| 28 |
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"path": "/home/coder/share/experiment-logs/E001/data-split-audit.json",
|
| 29 |
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"sha256": "db98be16cd36ccb1726d5407202b126f8ed147e31144ba6c1228dc163e8be353"
|
| 30 |
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},
|
| 31 |
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"target_audit": {
|
| 32 |
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"path": "/home/coder/share/experiment-logs/E001/action-target-audit.json",
|
| 33 |
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"sha256": "16e1b62f9f54fb0ac8a0fab0b7772e66ab6b6bc0d930fc5aa30f53ff19258fa6"
|
| 34 |
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}
|
| 35 |
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},
|
| 36 |
+
"experiment_id": "E001",
|
| 37 |
+
"hypothesis_status": "inconclusive",
|
| 38 |
+
"invalid_run": {
|
| 39 |
+
"reason": "non-zero residual initialization saturated SE(3) bounds",
|
| 40 |
+
"run_id": "E001-R003",
|
| 41 |
+
"scientific_comparison_eligible": false
|
| 42 |
+
},
|
| 43 |
+
"limitations": [
|
| 44 |
+
"E001 uses frozen endpoint-policy proposals, not real Pi0.5 proposals.",
|
| 45 |
+
"Only one initial observation is available per recovery and all targets cover the first 0.8 seconds.",
|
| 46 |
+
"The selected residual model increases acceleration and jerk despite improving path score.",
|
| 47 |
+
"Validation and test each contain 11 independent groups; 15000 perturbations are not independent units."
|
| 48 |
+
],
|
| 49 |
+
"reason": "Selected action chunk improved grouped path score but missed the pre-registered 10% validation gate.",
|
| 50 |
+
"runs": {
|
| 51 |
+
"E001-R001": {
|
| 52 |
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"checkpoint": {
|
| 53 |
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"path": "/home/coder/share/experiment-runs/E001/E001-R001/best.pt",
|
| 54 |
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"selection_metric": "loss/total",
|
| 55 |
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"selection_split": "validation",
|
| 56 |
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"sha256": "182fc8544a1489582c7f96e29625b7e0048642edf6de749c50b19da0da33379f"
|
| 57 |
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},
|
| 58 |
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"compute": {
|
| 59 |
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"gpu_hours": 0.14965517463694494,
|
| 60 |
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|
| 61 |
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"wall_seconds": 538.7586286930018
|
| 62 |
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},
|
| 63 |
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"condition_id": "c-endpoint-3c2dae9044",
|
| 64 |
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"git_commit": "91b8c9473cfc60c8bfce3848c900aba8e4594ca1",
|
| 65 |
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"manifest": {
|
| 66 |
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"path": "/home/coder/share/experiment-runs/E001/E001-R001/run_manifest.yaml",
|
| 67 |
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"sha256": "6548cd5b4b3335d5b5f88262924e34a8fcbf0621216792bc946bad804026c418"
|
| 68 |
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},
|
| 69 |
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"status": "completed"
|
| 70 |
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},
|
| 71 |
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"E001-R002": {
|
| 72 |
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"checkpoint": {
|
| 73 |
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"path": "/home/coder/share/experiment-runs/E001/E001-R002/best.pt",
|
| 74 |
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"selection_metric": "loss/total",
|
| 75 |
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"selection_split": "validation",
|
| 76 |
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"sha256": "198e1678617042c3264f465682c6593a71c13cc43e3751dfe9121447333f2fb8"
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
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| 393 |
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"path_rotation_rmse_deg": 2.156282901763916,
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| 394 |
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| 395 |
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| 396 |
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| 397 |
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| 398 |
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| 399 |
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"receipt": {
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| 400 |
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"path": "/home/coder/share/experiment-artifacts/E001/evaluations/R004-validation.json",
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| 401 |
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"sha256": "9373e8bd953247345671b604f00945aa5649b2a8887a94136547e3de77f6a0d4"
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| 402 |
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| 403 |
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"run_id": "E001-R004",
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| 404 |
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"score": 0.7976462841033936
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| 405 |
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| 406 |
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|
| 407 |
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}
|
| 408 |
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}
|
experiments/E001/runs/E001-R002/evaluation_validation.json
ADDED
|
@@ -0,0 +1,116 @@
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|
| 1 |
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| 2 |
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"base_proposal_manifest": null,
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| 3 |
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"checkpoint": {
|
| 4 |
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"path": "/home/coder/share/experiment-runs/E001/E001-R002/best.pt",
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| 5 |
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"sha256": "198e1678617042c3264f465682c6593a71c13cc43e3751dfe9121447333f2fb8"
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| 6 |
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},
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| 7 |
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"checkpoint_run": {
|
| 8 |
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"condition_id": "c-direct-h16-e3f979a8db",
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| 9 |
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| 11 |
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"manifest": "/home/coder/share/experiment-runs/E001/E001-R002/run_manifest.yaml",
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| 12 |
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"manifest_sha256": "ba17d383fee1444110197648235d00d447ef14055df8f7ab9280c84486316fd7",
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| 14 |
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| 15 |
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"condition_id": "c-direct-h16-e3f979a8db",
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|
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| 23 |
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"residual_translation_mean_mm": 0.0,
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},
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"latency": {
|
| 36 |
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"repeats": 500,
|
| 41 |
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"warmup": 50
|
| 42 |
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},
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"losses": {
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| 44 |
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"total": 0.32231175899505615,
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| 52 |
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"velocity": 0.04664038121700287
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},
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"metrics": {
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| 55 |
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"acceleration_rmse": 0.07354001700878143,
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"endpoint_rotation_rmse_deg": 3.6323347091674805,
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| 59 |
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"endpoint_translation_rmse_mm": 6.07274055480957,
|
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"jerk_rmse": 1.8878856897354126,
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| 61 |
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"path_rotation_rmse_deg": 2.249453067779541,
|
| 62 |
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"path_translation_rmse_mm": 3.7392067909240723,
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| 63 |
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"residual_rotation_mean_deg": 0.0,
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| 64 |
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"residual_translation_mean_mm": 0.0,
|
| 65 |
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"velocity_rmse": 0.03322037681937218
|
| 66 |
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},
|
| 67 |
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"prediction_source": "checkpoint",
|
| 68 |
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"primary_path_score": {
|
| 69 |
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"definition": "path_translation_rmse_mm / 10 + path_rotation_rmse_deg / 5",
|
| 70 |
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"group_macro": 0.8049414157867432,
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| 71 |
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"micro": 0.8238112926483154
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},
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"run_id": "E001-R002",
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"sample_count": 1970,
|
| 75 |
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"schema_version": "precision.action_chunk.evaluation.v1",
|
| 76 |
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"source_family_metrics": {
|
| 77 |
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"rlbench": {
|
| 78 |
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"group_count": 1,
|
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"metrics": {
|
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"acceleration_rmse": 0.055564384907484055,
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|
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|
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"jerk_rmse": 1.4348971843719482,
|
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|
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|
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"velocity_rmse": 0.037186138331890106
|
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},
|
| 92 |
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"path_score": 0.8949563264846803,
|
| 93 |
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"sample_count": 520
|
| 94 |
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},
|
| 95 |
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"robotwin_generic": {
|
| 96 |
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"group_count": 10,
|
| 97 |
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"metrics": {
|
| 98 |
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"acceleration_rmse": 0.0789961889386177,
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|
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"jerk_rmse": 2.025808811187744,
|
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|
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"path_translation_rmse_mm": 3.678999423980713,
|
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},
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|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"split": "validation",
|
| 115 |
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"test_firewall_opened": false
|
| 116 |
+
}
|
experiments/E001/runs/E001-R002/run_manifest.yaml
ADDED
|
@@ -0,0 +1,102 @@
|
|
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|
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|
|
|
| 1 |
+
schema_version: upvla.experiment_run.v1
|
| 2 |
+
run:
|
| 3 |
+
id: E001-R002
|
| 4 |
+
experiment_id: E001
|
| 5 |
+
condition_id: c-direct-h16-e3f979a8db
|
| 6 |
+
status: completed
|
| 7 |
+
started_at: '2026-08-09T23:30:26.802999+00:00'
|
| 8 |
+
ended_at: '2026-08-09T23:33:35.471233+00:00'
|
| 9 |
+
condition:
|
| 10 |
+
model:
|
| 11 |
+
action_head: direct_chunk
|
| 12 |
+
base_conditioning: none
|
| 13 |
+
horizon_steps: 16
|
| 14 |
+
randomness:
|
| 15 |
+
global_seed: 42
|
| 16 |
+
python_seed: 42
|
| 17 |
+
numpy_seed: 42
|
| 18 |
+
torch_seed: 42
|
| 19 |
+
dataloader_seed: 42
|
| 20 |
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code:
|
| 21 |
+
repo: https://github.com/Shiki42/UP-VLA.git
|
| 22 |
+
git_commit: 91b8c9473cfc60c8bfce3848c900aba8e4594ca1
|
| 23 |
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git_branch: shuyuan/action-chunk-recovery-e001
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| 24 |
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dirty: false
|
| 25 |
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status_sha256: e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855
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| 26 |
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patch_ref: null
|
| 27 |
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data:
|
| 28 |
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hf_repo_id: Shiki42/up-vla-precision-recovery-15k
|
| 29 |
+
revision: 77f5f306303361d602ab10759b3a139c67f2cf16
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| 30 |
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variant_id: validated-physical-recovery-15k-v1
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| 31 |
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manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
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| 32 |
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dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
|
| 33 |
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extraction_receipt: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json
|
| 34 |
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extraction_receipt_sha256: ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd
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| 35 |
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split_protocol: source-family-stratified-group-hash-v1
|
| 36 |
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split_counts:
|
| 37 |
+
train_samples: 11628
|
| 38 |
+
validation_samples: 1970
|
| 39 |
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train_groups: 89
|
| 40 |
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validation_groups: 11
|
| 41 |
+
overlap: false
|
| 42 |
+
environment:
|
| 43 |
+
python_version: 3.11.15
|
| 44 |
+
python_executable: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python
|
| 45 |
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packages:
|
| 46 |
+
numpy: 1.26.0
|
| 47 |
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Pillow: 11.3.0
|
| 48 |
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PyYAML: 6.0.3
|
| 49 |
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torch: 2.13.0
|
| 50 |
+
torch_version: 2.13.0+cu130
|
| 51 |
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cuda_runtime: '13.0'
|
| 52 |
+
cudnn_version: 92000
|
| 53 |
+
os: Linux-7.0.0-28-generic-x86_64-with-glibc2.35
|
| 54 |
+
hostname: lm
|
| 55 |
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hardware:
|
| 56 |
+
accelerators:
|
| 57 |
+
- index: 0
|
| 58 |
+
name: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
|
| 59 |
+
memory_bytes: 101973491712
|
| 60 |
+
compute_capability: '12.0'
|
| 61 |
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accelerator_count: 1
|
| 62 |
+
cpu_count: 32
|
| 63 |
+
execution:
|
| 64 |
+
command: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python scripts/train_action_chunk_recovery.py
|
| 65 |
+
--condition-config configs/experiments/E001/R002-direct-h16.yaml --data-root /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples
|
| 66 |
+
--output-dir /home/coder/share/experiment-runs/E001/E001-R002
|
| 67 |
+
metrics:
|
| 68 |
+
validation:
|
| 69 |
+
loss/total: 0.32226262141000195
|
| 70 |
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loss/path_translation: 0.0009320667106894597
|
| 71 |
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loss/path_rotation: 0.058124799807059584
|
| 72 |
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loss/endpoint_translation: 0.002458324839318464
|
| 73 |
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loss/endpoint_rotation: 0.1057899981964058
|
| 74 |
+
loss/velocity: 0.0466388954539892
|
| 75 |
+
loss/acceleration: 0.000390037085398852
|
| 76 |
+
loss/jerk: 0.0006242810332052041
|
| 77 |
+
loss/residual_magnitude: 0.0
|
| 78 |
+
metric/path_translation_rmse_mm: 3.7364645350402985
|
| 79 |
+
metric/path_rotation_rmse_deg: 2.239231533447498
|
| 80 |
+
metric/endpoint_translation_rmse_mm: 6.066882463155059
|
| 81 |
+
metric/endpoint_rotation_rmse_deg: 3.6138495087018474
|
| 82 |
+
metric/velocity_rmse: 0.0330773326573033
|
| 83 |
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metric/acceleration_rmse: 0.07192580874271805
|
| 84 |
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metric/jerk_rmse: 1.845100031165302
|
| 85 |
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metric/command_acceleration_rms: 0.021105530307755856
|
| 86 |
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metric/command_jerk_rms: 0.728000875112369
|
| 87 |
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metric/residual_translation_mean_mm: 0.0
|
| 88 |
+
metric/residual_rotation_mean_deg: 0.0
|
| 89 |
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checkpoint:
|
| 90 |
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path: /home/coder/share/experiment-runs/E001/E001-R002/best.pt
|
| 91 |
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sha256: 198e1678617042c3264f465682c6593a71c13cc43e3751dfe9121447333f2fb8
|
| 92 |
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selection_metric: loss/total
|
| 93 |
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selection_split: validation
|
| 94 |
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artifacts:
|
| 95 |
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metrics_jsonl: /home/coder/share/experiment-runs/E001/E001-R002/metrics.jsonl
|
| 96 |
+
validation_evaluation: /home/coder/share/experiment-runs/E001/E001-R002/evaluation_validation.json
|
| 97 |
+
condition_snapshot: /home/coder/share/experiment-runs/E001/E001-R002/condition.yaml
|
| 98 |
+
resolved_config: /home/coder/share/experiment-runs/E001/E001-R002/config_resolved.yaml
|
| 99 |
+
compute:
|
| 100 |
+
wall_seconds: 188.51751019600488
|
| 101 |
+
gpu_hours: 0.0523659750544458
|
| 102 |
+
peak_memory_bytes: 2950927872
|
experiments/E001/runs/E001-R003-invalid/metrics.jsonl
ADDED
|
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|
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|
experiments/E001/runs/E001-R003-invalid/run_manifest.yaml
ADDED
|
@@ -0,0 +1,110 @@
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|
| 1 |
+
schema_version: upvla.experiment_run.v1
|
| 2 |
+
run:
|
| 3 |
+
id: E001-R003
|
| 4 |
+
experiment_id: E001
|
| 5 |
+
condition_id: c-residual-h16-be2e741500
|
| 6 |
+
status: invalid
|
| 7 |
+
started_at: '2026-08-09T23:36:45.551294+00:00'
|
| 8 |
+
ended_at: '2026-08-09T23:40:04.485023+00:00'
|
| 9 |
+
condition:
|
| 10 |
+
model:
|
| 11 |
+
action_head: residual_chunk
|
| 12 |
+
base_conditioning: E001-R001-profiled-proposal
|
| 13 |
+
horizon_steps: 16
|
| 14 |
+
randomness:
|
| 15 |
+
global_seed: 42
|
| 16 |
+
python_seed: 42
|
| 17 |
+
numpy_seed: 42
|
| 18 |
+
torch_seed: 42
|
| 19 |
+
dataloader_seed: 42
|
| 20 |
+
code:
|
| 21 |
+
repo: https://github.com/Shiki42/UP-VLA.git
|
| 22 |
+
git_commit: 91b8c9473cfc60c8bfce3848c900aba8e4594ca1
|
| 23 |
+
git_branch: shuyuan/action-chunk-recovery-e001
|
| 24 |
+
dirty: false
|
| 25 |
+
status_sha256: e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855
|
| 26 |
+
patch_ref: null
|
| 27 |
+
data:
|
| 28 |
+
hf_repo_id: Shiki42/up-vla-precision-recovery-15k
|
| 29 |
+
revision: 77f5f306303361d602ab10759b3a139c67f2cf16
|
| 30 |
+
variant_id: validated-physical-recovery-15k-v1
|
| 31 |
+
manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
|
| 32 |
+
dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
|
| 33 |
+
extraction_receipt: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json
|
| 34 |
+
extraction_receipt_sha256: ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd
|
| 35 |
+
split_protocol: source-family-stratified-group-hash-v1
|
| 36 |
+
split_counts:
|
| 37 |
+
train_samples: 11628
|
| 38 |
+
validation_samples: 1970
|
| 39 |
+
train_groups: 89
|
| 40 |
+
validation_groups: 11
|
| 41 |
+
overlap: false
|
| 42 |
+
environment:
|
| 43 |
+
python_version: 3.11.15
|
| 44 |
+
python_executable: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python
|
| 45 |
+
packages:
|
| 46 |
+
numpy: 1.26.0
|
| 47 |
+
Pillow: 11.3.0
|
| 48 |
+
PyYAML: 6.0.3
|
| 49 |
+
torch: 2.13.0
|
| 50 |
+
torch_version: 2.13.0+cu130
|
| 51 |
+
cuda_runtime: '13.0'
|
| 52 |
+
cudnn_version: 92000
|
| 53 |
+
os: Linux-7.0.0-28-generic-x86_64-with-glibc2.35
|
| 54 |
+
hostname: lm
|
| 55 |
+
hardware:
|
| 56 |
+
accelerators:
|
| 57 |
+
- index: 0
|
| 58 |
+
name: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
|
| 59 |
+
memory_bytes: 101973491712
|
| 60 |
+
compute_capability: '12.0'
|
| 61 |
+
accelerator_count: 1
|
| 62 |
+
cpu_count: 32
|
| 63 |
+
execution:
|
| 64 |
+
command: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python scripts/train_action_chunk_recovery.py
|
| 65 |
+
--condition-config configs/experiments/E001/R003-residual-h16.yaml --data-root
|
| 66 |
+
/home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples --base-proposal-root
|
| 67 |
+
/home/coder/share/experiment-artifacts/E001/R001-profiled-proposals --output-dir
|
| 68 |
+
/home/coder/share/experiment-runs/E001/E001-R003
|
| 69 |
+
metrics:
|
| 70 |
+
last_step: 2570
|
| 71 |
+
initial_validation:
|
| 72 |
+
loss/acceleration: 1.7742860460039322
|
| 73 |
+
loss/endpoint_rotation: 0.5556853910993198
|
| 74 |
+
loss/endpoint_translation: 0.1295209052599021
|
| 75 |
+
loss/jerk: 2.2145564161581435
|
| 76 |
+
loss/path_rotation: 0.5509110949971349
|
| 77 |
+
loss/path_translation: 0.12927245158078102
|
| 78 |
+
loss/residual_magnitude: 1.43123839712385
|
| 79 |
+
loss/total: 3.9587680318028795
|
| 80 |
+
loss/velocity: 1.5913906543993104
|
| 81 |
+
metric/acceleration_rmse: 12.753509855512435
|
| 82 |
+
metric/command_acceleration_rms: 12.753115038218231
|
| 83 |
+
metric/command_jerk_rms: 272.9882802275837
|
| 84 |
+
metric/endpoint_rotation_rmse_deg: 17.17428554205725
|
| 85 |
+
metric/endpoint_translation_rmse_mm: 44.07101716559551
|
| 86 |
+
metric/jerk_rmse: 272.99675782489294
|
| 87 |
+
metric/path_rotation_rmse_deg: 16.97628860473633
|
| 88 |
+
metric/path_translation_rmse_mm: 44.03123105431571
|
| 89 |
+
metric/residual_rotation_mean_deg: 16.537530718963158
|
| 90 |
+
metric/residual_translation_mean_mm: 43.99936883994165
|
| 91 |
+
metric/velocity_rmse: 0.6127680876533392
|
| 92 |
+
phase: validation
|
| 93 |
+
step: 0
|
| 94 |
+
invalid_reason: Residual action projection was not zero-initialized; outputs saturated
|
| 95 |
+
at configured SE(3) limits and tanh gradients collapsed.
|
| 96 |
+
scientific_comparison_eligible: false
|
| 97 |
+
checkpoint:
|
| 98 |
+
path: /home/coder/share/experiment-runs/E001/E001-R003/best.pt
|
| 99 |
+
sha256: 53f2cc61dec2c270556b762531ebe4174d80ca0779db3637c8fa6e235558b00e
|
| 100 |
+
selection_split: validation
|
| 101 |
+
scientific_comparison_eligible: false
|
| 102 |
+
artifacts:
|
| 103 |
+
metrics_jsonl: /home/coder/share/experiment-runs/E001/E001-R003/metrics.jsonl
|
| 104 |
+
compute:
|
| 105 |
+
wall_seconds: 198.899474
|
| 106 |
+
gpu_hours: 0.05524985388888889
|
| 107 |
+
failure:
|
| 108 |
+
type: InvalidResidualInitialization
|
| 109 |
+
message: Run terminated after deterministic saturation diagnosis; retry requires
|
| 110 |
+
zero residual initialization.
|
experiments/E001/selection-validation.json
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"advance_to_e002": false,
|
| 3 |
+
"baseline_condition_id": "c-endpoint-3c2dae9044",
|
| 4 |
+
"experiment_id": "E001",
|
| 5 |
+
"gates": {
|
| 6 |
+
"batch1_gpu_p95_below_20ms": true,
|
| 7 |
+
"endpoint_rotation_within_1deg": true,
|
| 8 |
+
"endpoint_translation_within_1mm": true,
|
| 9 |
+
"path_improves_at_least_10_percent": false
|
| 10 |
+
},
|
| 11 |
+
"hypothesis_status": "inconclusive",
|
| 12 |
+
"inputs": {
|
| 13 |
+
"baseline": {
|
| 14 |
+
"path": "/home/coder/share/experiment-artifacts/E001/evaluations/R001-validation.json",
|
| 15 |
+
"sha256": "2733fe8093af6a9fad8f9c6988caee1cd048412c3620ad193779a27bcdbe4972"
|
| 16 |
+
},
|
| 17 |
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"candidates": [
|
| 18 |
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{
|
| 19 |
+
"path": "/home/coder/share/experiment-artifacts/E001/evaluations/R002-validation.json",
|
| 20 |
+
"sha256": "e69679a21e423a975480369d3c9773a812bff06298f81ab6a26e2004fe1bc338"
|
| 21 |
+
},
|
| 22 |
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{
|
| 23 |
+
"path": "/home/coder/share/experiment-artifacts/E001/evaluations/R004-validation.json",
|
| 24 |
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"sha256": "9373e8bd953247345671b604f00945aa5649b2a8887a94136547e3de77f6a0d4"
|
| 25 |
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}
|
| 26 |
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],
|
| 27 |
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"experiment": {
|
| 28 |
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"path": "/home/coder/share/UP-VLA-action-chunk-E001/experiments/E001-action-chunk-recovery.yaml",
|
| 29 |
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"sha256": "759089e2aaac1ff2c251a3259933b4f3c33cae6b0018a5eeeefc11ee7c4ee56b"
|
| 30 |
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}
|
| 31 |
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},
|
| 32 |
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"ranking": [
|
| 33 |
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{
|
| 34 |
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"batch1_gpu_p95_ms": 4.6979921,
|
| 35 |
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"condition_id": "c-residual-h16-be2e741500",
|
| 36 |
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"endpoint_rotation_rmse_deg": 3.4526124000549316,
|
| 37 |
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"endpoint_translation_rmse_mm": 5.907562732696533,
|
| 38 |
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"group_macro_path_score": 0.7976462841033936,
|
| 39 |
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"run_id": "E001-R004"
|
| 40 |
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},
|
| 41 |
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{
|
| 42 |
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"batch1_gpu_p95_ms": 4.3417951,
|
| 43 |
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"condition_id": "c-direct-h16-e3f979a8db",
|
| 44 |
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"endpoint_rotation_rmse_deg": 3.5026297569274902,
|
| 45 |
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"endpoint_translation_rmse_mm": 5.990349292755127,
|
| 46 |
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"group_macro_path_score": 0.8049414157867432,
|
| 47 |
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"run_id": "E001-R002"
|
| 48 |
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}
|
| 49 |
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],
|
| 50 |
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"schema_version": "precision.action_chunk.selection.v1",
|
| 51 |
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"selected_condition_id": "c-residual-h16-be2e741500",
|
| 52 |
+
"selected_run_id": "E001-R004",
|
| 53 |
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"selection_split": "validation",
|
| 54 |
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"test_firewall_opened": false
|
| 55 |
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}
|