Update reward model (best AUROC 0.989, trained on spc-pick-stuff 200 ep)
Browse files
best.pt
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
size 135593386
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bc3494736a3b47af76f1dea8ab53e7bc76d29a84a6f624752b8f49388bb06109
|
| 3 |
size 135593386
|
config.json
CHANGED
|
@@ -1,6 +1,6 @@
|
|
| 1 |
{
|
| 2 |
"dataset_repo_id": "binhpham/spc-pick-stuff",
|
| 3 |
-
"dataset_root":
|
| 4 |
"ds_cfg": {
|
| 5 |
"terminal_window_frames": 15,
|
| 6 |
"smoothing_window": 5,
|
|
@@ -67,156 +67,53 @@
|
|
| 67 |
2,
|
| 68 |
3,
|
| 69 |
4,
|
| 70 |
-
5,
|
| 71 |
6,
|
| 72 |
-
7,
|
| 73 |
8,
|
| 74 |
9,
|
| 75 |
10,
|
| 76 |
11,
|
| 77 |
13,
|
|
|
|
| 78 |
15,
|
| 79 |
16,
|
| 80 |
17,
|
| 81 |
18,
|
| 82 |
19,
|
| 83 |
20,
|
|
|
|
| 84 |
22,
|
| 85 |
23,
|
| 86 |
24,
|
| 87 |
25,
|
| 88 |
26,
|
| 89 |
28,
|
|
|
|
| 90 |
30,
|
| 91 |
31,
|
|
|
|
| 92 |
33,
|
| 93 |
34,
|
| 94 |
-
35,
|
| 95 |
36,
|
| 96 |
37,
|
| 97 |
38,
|
| 98 |
39,
|
| 99 |
-
40,
|
| 100 |
-
41,
|
| 101 |
-
42,
|
| 102 |
43,
|
| 103 |
44,
|
| 104 |
45,
|
| 105 |
46,
|
|
|
|
| 106 |
48,
|
| 107 |
49,
|
| 108 |
-
|
| 109 |
-
52,
|
| 110 |
-
53,
|
| 111 |
-
54,
|
| 112 |
-
55,
|
| 113 |
-
56,
|
| 114 |
-
57,
|
| 115 |
-
58,
|
| 116 |
-
60,
|
| 117 |
-
61,
|
| 118 |
-
62,
|
| 119 |
-
63,
|
| 120 |
-
64,
|
| 121 |
-
65,
|
| 122 |
-
66,
|
| 123 |
-
67,
|
| 124 |
-
69,
|
| 125 |
-
70,
|
| 126 |
-
72,
|
| 127 |
-
73,
|
| 128 |
-
74,
|
| 129 |
-
75,
|
| 130 |
-
76,
|
| 131 |
-
77,
|
| 132 |
-
78,
|
| 133 |
-
79,
|
| 134 |
-
80,
|
| 135 |
-
81,
|
| 136 |
-
82,
|
| 137 |
-
83,
|
| 138 |
-
84,
|
| 139 |
-
85,
|
| 140 |
-
86,
|
| 141 |
-
88,
|
| 142 |
-
89,
|
| 143 |
-
90,
|
| 144 |
-
91,
|
| 145 |
-
92,
|
| 146 |
-
93,
|
| 147 |
-
94,
|
| 148 |
-
95,
|
| 149 |
-
97,
|
| 150 |
-
98,
|
| 151 |
-
99,
|
| 152 |
-
100,
|
| 153 |
-
101,
|
| 154 |
-
103,
|
| 155 |
-
104,
|
| 156 |
-
105,
|
| 157 |
-
107,
|
| 158 |
-
109,
|
| 159 |
-
110,
|
| 160 |
-
111,
|
| 161 |
-
113,
|
| 162 |
-
115,
|
| 163 |
-
116,
|
| 164 |
-
117,
|
| 165 |
-
119,
|
| 166 |
-
120,
|
| 167 |
-
121,
|
| 168 |
-
122,
|
| 169 |
-
123,
|
| 170 |
-
124,
|
| 171 |
-
125,
|
| 172 |
-
126,
|
| 173 |
-
127,
|
| 174 |
-
128,
|
| 175 |
-
129,
|
| 176 |
-
130,
|
| 177 |
-
131,
|
| 178 |
-
132,
|
| 179 |
-
133,
|
| 180 |
-
134,
|
| 181 |
-
135,
|
| 182 |
-
136,
|
| 183 |
-
138,
|
| 184 |
-
140,
|
| 185 |
-
141,
|
| 186 |
-
142,
|
| 187 |
-
144,
|
| 188 |
-
145,
|
| 189 |
-
146,
|
| 190 |
-
147,
|
| 191 |
-
148,
|
| 192 |
-
150,
|
| 193 |
-
151,
|
| 194 |
-
152,
|
| 195 |
-
153
|
| 196 |
],
|
| 197 |
"val_episodes": [
|
|
|
|
|
|
|
| 198 |
12,
|
| 199 |
-
14,
|
| 200 |
-
21,
|
| 201 |
27,
|
| 202 |
-
|
| 203 |
-
|
| 204 |
-
|
| 205 |
-
|
| 206 |
-
59,
|
| 207 |
-
68,
|
| 208 |
-
71,
|
| 209 |
-
87,
|
| 210 |
-
96,
|
| 211 |
-
102,
|
| 212 |
-
106,
|
| 213 |
-
108,
|
| 214 |
-
112,
|
| 215 |
-
114,
|
| 216 |
-
118,
|
| 217 |
-
137,
|
| 218 |
-
139,
|
| 219 |
-
143,
|
| 220 |
-
149
|
| 221 |
]
|
| 222 |
}
|
|
|
|
| 1 |
{
|
| 2 |
"dataset_repo_id": "binhpham/spc-pick-stuff",
|
| 3 |
+
"dataset_root": "../data_collection/data",
|
| 4 |
"ds_cfg": {
|
| 5 |
"terminal_window_frames": 15,
|
| 6 |
"smoothing_window": 5,
|
|
|
|
| 67 |
2,
|
| 68 |
3,
|
| 69 |
4,
|
|
|
|
| 70 |
6,
|
|
|
|
| 71 |
8,
|
| 72 |
9,
|
| 73 |
10,
|
| 74 |
11,
|
| 75 |
13,
|
| 76 |
+
14,
|
| 77 |
15,
|
| 78 |
16,
|
| 79 |
17,
|
| 80 |
18,
|
| 81 |
19,
|
| 82 |
20,
|
| 83 |
+
21,
|
| 84 |
22,
|
| 85 |
23,
|
| 86 |
24,
|
| 87 |
25,
|
| 88 |
26,
|
| 89 |
28,
|
| 90 |
+
29,
|
| 91 |
30,
|
| 92 |
31,
|
| 93 |
+
32,
|
| 94 |
33,
|
| 95 |
34,
|
|
|
|
| 96 |
36,
|
| 97 |
37,
|
| 98 |
38,
|
| 99 |
39,
|
|
|
|
|
|
|
|
|
|
| 100 |
43,
|
| 101 |
44,
|
| 102 |
45,
|
| 103 |
46,
|
| 104 |
+
47,
|
| 105 |
48,
|
| 106 |
49,
|
| 107 |
+
50
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 108 |
],
|
| 109 |
"val_episodes": [
|
| 110 |
+
5,
|
| 111 |
+
7,
|
| 112 |
12,
|
|
|
|
|
|
|
| 113 |
27,
|
| 114 |
+
35,
|
| 115 |
+
40,
|
| 116 |
+
41,
|
| 117 |
+
42
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 118 |
]
|
| 119 |
}
|
last.pt
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
size 135593386
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ede0fc9e057ce5642f7d7c14af70868ed59768f69c759ab95894b5a235be404c
|
| 3 |
size 135593386
|
log.jsonl
CHANGED
|
@@ -1,20 +1,20 @@
|
|
| 1 |
-
{"epoch": 0, "train_loss": 0.
|
| 2 |
-
{"epoch": 1, "train_loss": 0.
|
| 3 |
-
{"epoch": 2, "train_loss": 0.
|
| 4 |
-
{"epoch": 3, "train_loss": 0.
|
| 5 |
-
{"epoch": 4, "train_loss": 0.
|
| 6 |
-
{"epoch": 5, "train_loss": 0.
|
| 7 |
-
{"epoch": 6, "train_loss": 0.
|
| 8 |
-
{"epoch": 7, "train_loss": 0.
|
| 9 |
-
{"epoch": 8, "train_loss": 0.
|
| 10 |
-
{"epoch": 9, "train_loss": 0.
|
| 11 |
-
{"epoch": 10, "train_loss": 0.
|
| 12 |
-
{"epoch": 11, "train_loss": 0.
|
| 13 |
-
{"epoch": 12, "train_loss": 0.
|
| 14 |
-
{"epoch": 13, "train_loss": 0.
|
| 15 |
-
{"epoch": 14, "train_loss": 0.
|
| 16 |
-
{"epoch": 15, "train_loss": 0.
|
| 17 |
-
{"epoch": 16, "train_loss": 0.
|
| 18 |
-
{"epoch": 17, "train_loss": 0.
|
| 19 |
-
{"epoch": 18, "train_loss": 0.
|
| 20 |
-
{"epoch": 19, "train_loss": 0.
|
|
|
|
| 1 |
+
{"epoch": 0, "train_loss": 0.30232369862496855, "wall_time_s": 41.76976990699768, "val_loss": 0.08418106287717819, "val_accuracy": 0.9642276422764228, "val_precision": 0.7012987012987013, "val_recall": 0.84375, "val_f1": 0.7659574468085106, "val_auroc": 0.985248616773442, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.08346883207559586}
|
| 2 |
+
{"epoch": 1, "train_loss": 0.16075752931647003, "wall_time_s": 28.87431502342224, "val_loss": 0.31629472970962524, "val_accuracy": 0.9203252032520325, "val_precision": 0.46545454545454545, "val_recall": 1.0, "val_f1": 0.6352357320099256, "val_auroc": 0.9855989735002912, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.1490514874458313}
|
| 3 |
+
{"epoch": 2, "train_loss": 0.13542614029720426, "wall_time_s": 29.306790828704834, "val_loss": 0.0882316529750824, "val_accuracy": 0.967479674796748, "val_precision": 0.7098765432098766, "val_recall": 0.8984375, "val_f1": 0.7931034482758621, "val_auroc": 0.9889842384973792, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.08780487626791}
|
| 4 |
+
{"epoch": 3, "train_loss": 0.11046249335631728, "wall_time_s": 29.33340311050415, "val_loss": 0.12105518579483032, "val_accuracy": 0.967479674796748, "val_precision": 0.7048192771084337, "val_recall": 0.9140625, "val_f1": 0.7959183673469388, "val_auroc": 0.9871596534653465, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.08997289836406708}
|
| 5 |
+
{"epoch": 4, "train_loss": 0.10094871054170654, "wall_time_s": 24.819424152374268, "val_loss": 0.10325593501329422, "val_accuracy": 0.9707317073170731, "val_precision": 0.7720588235294118, "val_recall": 0.8203125, "val_f1": 0.7954545454545454, "val_auroc": 0.9871141525917297, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.07371273636817932}
|
| 6 |
+
{"epoch": 5, "train_loss": 0.09255450174678118, "wall_time_s": 24.814176082611084, "val_loss": 0.13967019319534302, "val_accuracy": 0.9560975609756097, "val_precision": 0.6284153005464481, "val_recall": 0.8984375, "val_f1": 0.7395498392282959, "val_auroc": 0.9862769365171812, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.09918699413537979}
|
| 7 |
+
{"epoch": 6, "train_loss": 0.08742508001159877, "wall_time_s": 24.81595802307129, "val_loss": 0.1007101908326149, "val_accuracy": 0.9685636856368564, "val_precision": 0.7397260273972602, "val_recall": 0.84375, "val_f1": 0.7883211678832116, "val_auroc": 0.9864452897495631, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.07913278788328171}
|
| 8 |
+
{"epoch": 7, "train_loss": 0.08660844851983711, "wall_time_s": 24.74647808074951, "val_loss": 0.11691353470087051, "val_accuracy": 0.9707317073170731, "val_precision": 0.7803030303030303, "val_recall": 0.8046875, "val_f1": 0.7923076923076924, "val_auroc": 0.9869184988351777, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.07154471427202225}
|
| 9 |
+
{"epoch": 8, "train_loss": 0.07618258295115084, "wall_time_s": 24.746335983276367, "val_loss": 0.16432000696659088, "val_accuracy": 0.9680216802168021, "val_precision": 0.7593984962406015, "val_recall": 0.7890625, "val_f1": 0.7739463601532567, "val_auroc": 0.9806393782760628, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.07208672165870667}
|
| 10 |
+
{"epoch": 9, "train_loss": 0.06579667188343592, "wall_time_s": 24.745725870132446, "val_loss": 0.1564147174358368, "val_accuracy": 0.9663956639566396, "val_precision": 0.722972972972973, "val_recall": 0.8359375, "val_f1": 0.7753623188405797, "val_auroc": 0.9866818942923704, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.08021680265665054}
|
| 11 |
+
{"epoch": 10, "train_loss": 0.057297024033323395, "wall_time_s": 24.76199698448181, "val_loss": 0.19098393619060516, "val_accuracy": 0.9663956639566396, "val_precision": 0.7323943661971831, "val_recall": 0.8125, "val_f1": 0.7703703703703704, "val_auroc": 0.9841929965055329, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.07696477323770523}
|
| 12 |
+
{"epoch": 11, "train_loss": 0.048129624327702916, "wall_time_s": 24.748537063598633, "val_loss": 0.18287059664726257, "val_accuracy": 0.9685636856368564, "val_precision": 0.7397260273972602, "val_recall": 0.84375, "val_f1": 0.7883211678832116, "val_auroc": 0.9854488206173558, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.07913278788328171}
|
| 13 |
+
{"epoch": 12, "train_loss": 0.044666593358851966, "wall_time_s": 24.772230863571167, "val_loss": 0.1709228903055191, "val_accuracy": 0.9680216802168021, "val_precision": 0.7379310344827587, "val_recall": 0.8359375, "val_f1": 0.783882783882784, "val_auroc": 0.9862951368666278, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.07859078794717789}
|
| 14 |
+
{"epoch": 13, "train_loss": 0.0436186183578684, "wall_time_s": 24.759766817092896, "val_loss": 0.16229572892189026, "val_accuracy": 0.9696476964769648, "val_precision": 0.7465753424657534, "val_recall": 0.8515625, "val_f1": 0.7956204379562044, "val_auroc": 0.9877011138613861, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.07913278788328171}
|
| 15 |
+
{"epoch": 14, "train_loss": 0.03887745252795867, "wall_time_s": 24.76206398010254, "val_loss": 0.17191848158836365, "val_accuracy": 0.967479674796748, "val_precision": 0.765625, "val_recall": 0.765625, "val_f1": 0.765625, "val_auroc": 0.9848482090856144, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.06937669217586517}
|
| 16 |
+
{"epoch": 15, "train_loss": 0.035900355609919644, "wall_time_s": 24.76340413093567, "val_loss": 0.2088400274515152, "val_accuracy": 0.9696476964769648, "val_precision": 0.75, "val_recall": 0.84375, "val_f1": 0.7941176470588235, "val_auroc": 0.9834740827023879, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.07804878056049347}
|
| 17 |
+
{"epoch": 16, "train_loss": 0.03451695028124959, "wall_time_s": 24.753995895385742, "val_loss": 0.18923510611057281, "val_accuracy": 0.967479674796748, "val_precision": 0.75, "val_recall": 0.796875, "val_f1": 0.7727272727272727, "val_auroc": 0.985234966511357, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.07371273636817932}
|
| 18 |
+
{"epoch": 17, "train_loss": 0.031939478457570655, "wall_time_s": 24.775102138519287, "val_loss": 0.1916288584470749, "val_accuracy": 0.9669376693766938, "val_precision": 0.7481481481481481, "val_recall": 0.7890625, "val_f1": 0.7680608365019012, "val_auroc": 0.9850984638905067, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.0731707289814949}
|
| 19 |
+
{"epoch": 18, "train_loss": 0.032928602738320475, "wall_time_s": 24.75800395011902, "val_loss": 0.2000436931848526, "val_accuracy": 0.9663956639566396, "val_precision": 0.746268656716418, "val_recall": 0.78125, "val_f1": 0.7633587786259542, "val_auroc": 0.984261247815958, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.07262872904539108}
|
| 20 |
+
{"epoch": 19, "train_loss": 0.036727315117968826, "wall_time_s": 24.73561120033264, "val_loss": 0.20211774110794067, "val_accuracy": 0.9669376693766938, "val_precision": 0.7518796992481203, "val_recall": 0.78125, "val_f1": 0.7662835249042145, "val_auroc": 0.9841656959813628, "val_positive_rate": 0.06937669217586517, "val_predicted_positive_rate": 0.07208672165870667}
|