Commit ·
5bd41a1
0
Parent(s):
Duplicate from build-small-hackathon/fireboy-minicpm-v-4-6-vla
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +37 -0
- LICENSE +22 -0
- README.md +70 -0
- checkpoints/fireboy_articulated_go_eat_berry/eval_go_eat_berry.json +310 -0
- checkpoints/fireboy_articulated_go_eat_berry/faithful_articulated_policy.npz +3 -0
- checkpoints/fireboy_articulated_go_eat_berry/faithful_articulated_policy.pt +3 -0
- checkpoints/fireboy_articulated_go_eat_berry_chunk/eval_go_eat_berry_chunk.json +412 -0
- checkpoints/fireboy_articulated_go_eat_berry_chunk/faithful_articulated_chunk_policy.pt +3 -0
- checkpoints/fireboy_articulated_go_to_point/eval_go_to_point.json +310 -0
- checkpoints/fireboy_articulated_go_to_point/faithful_articulated_policy.npz +3 -0
- checkpoints/fireboy_articulated_go_to_point/faithful_articulated_policy.pt +3 -0
- checkpoints/fireboy_articulated_go_to_point_clock/eval_go_to_point_clock_fixed_target.json +470 -0
- checkpoints/fireboy_articulated_go_to_point_clock/faithful_articulated_policy.npz +3 -0
- checkpoints/fireboy_articulated_go_to_point_clock/faithful_articulated_policy.pt +3 -0
- checkpoints/fireboy_articulated_pick_up/eval_pick_up.json +310 -0
- checkpoints/fireboy_articulated_pick_up/faithful_articulated_policy.npz +3 -0
- checkpoints/fireboy_articulated_pick_up/faithful_articulated_policy.pt +3 -0
- checkpoints/fireboy_articulated_pick_up_chunk/eval_pick_up_chunk.json +412 -0
- checkpoints/fireboy_articulated_pick_up_chunk/faithful_articulated_chunk_policy.pt +3 -0
- checkpoints/fireboy_articulated_run_around/eval_run_around.json +310 -0
- checkpoints/fireboy_articulated_run_around/faithful_articulated_policy.npz +3 -0
- checkpoints/fireboy_articulated_run_around/faithful_articulated_policy.pt +3 -0
- checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/eval_go_eat_berry_minicpm_vla.json +51 -0
- checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/eval_go_to_point_minicpm_vla.json +57 -0
- checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/eval_pick_up_minicpm_vla.json +51 -0
- checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/eval_run_around_minicpm_vla.json +51 -0
- checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_embedding_cache.npz +3 -0
- checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_action_head.pt +3 -0
- checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/train_minicpm_vla_action_head.json +168 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_1step_480/eval_go_to_point_minicpm_vla.json +126 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_1step_480/minicpm_embedding_cache.npz +3 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_1step_480/minicpm_vla_action_head.pt +3 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_1step_480/train_minicpm_vla_action_head.json +62 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_32step_480/eval_go_to_point_minicpm_vla.json +126 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_32step_480/minicpm_embedding_cache.npz +3 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_32step_480/minicpm_vla_action_head.pt +3 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_32step_480/train_minicpm_vla_action_head.json +62 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_480/eval_go_to_point_minicpm_vla.json +126 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_480/minicpm_embedding_cache.npz +3 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_480/minicpm_vla_action_head.pt +3 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_480/train_minicpm_vla_action_head.json +62 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_480/eval_go_to_point_minicpm_vla.json +126 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_480/minicpm_embedding_cache.npz +3 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_480/minicpm_vla_action_head.pt +3 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_480/train_minicpm_vla_action_head.json +62 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_smooth_480/eval_go_to_point_minicpm_vla.json +126 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_smooth_480/minicpm_embedding_cache.npz +3 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_smooth_480/minicpm_vla_action_head.pt +3 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_smooth_480/train_minicpm_vla_action_head.json +62 -0
- checkpoints/fireboy_minicpm_vla_action_head_go_to_point_navclock_480/eval_go_to_point_minicpm_vla.json +126 -0
.gitattributes
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
*.7z filter=lfs diff=lfs merge=lfs -text
|
| 2 |
+
*.arrow filter=lfs diff=lfs merge=lfs -text
|
| 3 |
+
*.bin filter=lfs diff=lfs merge=lfs -text
|
| 4 |
+
*.bz2 filter=lfs diff=lfs merge=lfs -text
|
| 5 |
+
*.ckpt filter=lfs diff=lfs merge=lfs -text
|
| 6 |
+
*.ftz filter=lfs diff=lfs merge=lfs -text
|
| 7 |
+
*.gz filter=lfs diff=lfs merge=lfs -text
|
| 8 |
+
*.h5 filter=lfs diff=lfs merge=lfs -text
|
| 9 |
+
*.joblib filter=lfs diff=lfs merge=lfs -text
|
| 10 |
+
*.lfs.* filter=lfs diff=lfs merge=lfs -text
|
| 11 |
+
*.mlmodel filter=lfs diff=lfs merge=lfs -text
|
| 12 |
+
*.model filter=lfs diff=lfs merge=lfs -text
|
| 13 |
+
*.msgpack filter=lfs diff=lfs merge=lfs -text
|
| 14 |
+
*.npy filter=lfs diff=lfs merge=lfs -text
|
| 15 |
+
*.npz filter=lfs diff=lfs merge=lfs -text
|
| 16 |
+
*.onnx filter=lfs diff=lfs merge=lfs -text
|
| 17 |
+
*.ot filter=lfs diff=lfs merge=lfs -text
|
| 18 |
+
*.parquet filter=lfs diff=lfs merge=lfs -text
|
| 19 |
+
*.pb filter=lfs diff=lfs merge=lfs -text
|
| 20 |
+
*.pickle filter=lfs diff=lfs merge=lfs -text
|
| 21 |
+
*.pkl filter=lfs diff=lfs merge=lfs -text
|
| 22 |
+
*.pt filter=lfs diff=lfs merge=lfs -text
|
| 23 |
+
*.pth filter=lfs diff=lfs merge=lfs -text
|
| 24 |
+
*.rar filter=lfs diff=lfs merge=lfs -text
|
| 25 |
+
*.safetensors filter=lfs diff=lfs merge=lfs -text
|
| 26 |
+
saved_model/**/* filter=lfs diff=lfs merge=lfs -text
|
| 27 |
+
*.tar.* filter=lfs diff=lfs merge=lfs -text
|
| 28 |
+
*.tar filter=lfs diff=lfs merge=lfs -text
|
| 29 |
+
*.tflite filter=lfs diff=lfs merge=lfs -text
|
| 30 |
+
*.tgz filter=lfs diff=lfs merge=lfs -text
|
| 31 |
+
*.wasm filter=lfs diff=lfs merge=lfs -text
|
| 32 |
+
*.xz filter=lfs diff=lfs merge=lfs -text
|
| 33 |
+
*.zip filter=lfs diff=lfs merge=lfs -text
|
| 34 |
+
*.zst filter=lfs diff=lfs merge=lfs -text
|
| 35 |
+
*tfevents* filter=lfs diff=lfs merge=lfs -text
|
| 36 |
+
checkpoints/fireboy_minicpm_vla_lora_skill_param_head/fireboy_vla_skill_params_allskill.jsonl filter=lfs diff=lfs merge=lfs -text
|
| 37 |
+
checkpoints/fireboy_minicpm_vla_skill_param_head/fireboy_vla_skill_params_allskill.jsonl filter=lfs diff=lfs merge=lfs -text
|
LICENSE
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
MIT License
|
| 2 |
+
|
| 3 |
+
Copyright (c) 2026 Sanju
|
| 4 |
+
|
| 5 |
+
Permission is hereby granted, free of charge, to any person obtaining a copy
|
| 6 |
+
of this software and associated documentation files (the "Software"), to deal
|
| 7 |
+
in the Software without restriction, including without limitation the rights
|
| 8 |
+
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
| 9 |
+
copies of the Software, and to permit persons to whom the Software is
|
| 10 |
+
furnished to do so, subject to the following conditions:
|
| 11 |
+
|
| 12 |
+
The above copyright notice and this permission notice shall be included in all
|
| 13 |
+
copies or substantial portions of the Software.
|
| 14 |
+
|
| 15 |
+
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
| 16 |
+
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
| 17 |
+
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
| 18 |
+
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
| 19 |
+
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
| 20 |
+
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
| 21 |
+
SOFTWARE.
|
| 22 |
+
|
README.md
ADDED
|
@@ -0,0 +1,70 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
license: mit
|
| 3 |
+
base_model:
|
| 4 |
+
- openbmb/MiniCPM-V-4_6
|
| 5 |
+
library_name: pytorch
|
| 6 |
+
tags:
|
| 7 |
+
- minicpm
|
| 8 |
+
- minicpm-v
|
| 9 |
+
- vision-language-action
|
| 10 |
+
- vla
|
| 11 |
+
- robotics
|
| 12 |
+
- mujoco
|
| 13 |
+
- modal
|
| 14 |
+
- codex
|
| 15 |
+
- build-small-hackathon
|
| 16 |
+
datasets:
|
| 17 |
+
- build-small-hackathon/fireboy-vla-rollout-artifacts
|
| 18 |
+
---
|
| 19 |
+
|
| 20 |
+
# Fire Boy MiniCPM-V 4.6 VLA Router Artifacts
|
| 21 |
+
|
| 22 |
+
This repository backs the Toy Room v3 embodied-action demo:
|
| 23 |
+
|
| 24 |
+
- Space: https://build-small-hackathon-toy-room-v3.hf.space/toy-v3
|
| 25 |
+
- VLA research page: https://build-small-hackathon-toy-room-v3.hf.space/vla-research
|
| 26 |
+
- Policy gallery: https://build-small-hackathon-toy-room-v3.hf.space/fireboy-policy-gallery
|
| 27 |
+
- Dataset/artifacts: https://huggingface.co/datasets/build-small-hackathon/fireboy-vla-rollout-artifacts
|
| 28 |
+
|
| 29 |
+
The shipped live route uses MiniCPM-V 4.6 as the vision-language backbone, freezes the backbone, mean-pools the 1024-d vision-language representation, and trains a small skill/parameter head. The router emits a bounded contract:
|
| 30 |
+
|
| 31 |
+
- `walk_to`
|
| 32 |
+
- `run_around`
|
| 33 |
+
- `pick_up`
|
| 34 |
+
- `find_and_eat_berry`
|
| 35 |
+
|
| 36 |
+
Toy Room v3 calls this route first through `src/vla_router_policy.py`, then dispatches the selected skill into the MuJoCo policy registry and retargets the proof rollout into visible Fire Boy movement.
|
| 37 |
+
|
| 38 |
+
## What Is Included
|
| 39 |
+
|
| 40 |
+
- `checkpoints/`: trained VLA heads, LoRA/action-head experiments, eval JSON, summaries, and embedding caches.
|
| 41 |
+
- `runtime-policies/`: small MuJoCo policy artifacts needed by the Toy Room v3 runtime.
|
| 42 |
+
- `docs/`: research notes copied from the source project.
|
| 43 |
+
|
| 44 |
+
The final judge-facing router currently loads:
|
| 45 |
+
|
| 46 |
+
```text
|
| 47 |
+
checkpoints/fireboy_minicpm_vla_skill_param_head/minicpm_vla_skill_param_head.pt
|
| 48 |
+
```
|
| 49 |
+
|
| 50 |
+
and dispatches against the skill-parameter rows in:
|
| 51 |
+
|
| 52 |
+
```text
|
| 53 |
+
checkpoints/fireboy_minicpm_vla_skill_param_head/fireboy_vla_skill_params_allskill.jsonl
|
| 54 |
+
```
|
| 55 |
+
|
| 56 |
+
## Runtime Mapping
|
| 57 |
+
|
| 58 |
+
```mermaid
|
| 59 |
+
flowchart LR
|
| 60 |
+
Player["Toy Room command"] --> API["/api/pet-action"]
|
| 61 |
+
API --> Router["Modal fireboy-vla-router\nMiniCPM-V 4.6"]
|
| 62 |
+
Router --> Head["frozen embedding + skill/param head"]
|
| 63 |
+
Head --> Dispatch["MuJoCo policy registry"]
|
| 64 |
+
Dispatch --> Action["retargeted PET JSON"]
|
| 65 |
+
Action --> Toy["Fire Boy moves, picks up, eats berry"]
|
| 66 |
+
```
|
| 67 |
+
|
| 68 |
+
## License
|
| 69 |
+
|
| 70 |
+
The adapter heads, exported policy artifacts, cards, docs, and generated evidence in this repository are released under the MIT license. The upstream MiniCPM-V base model is not redistributed here and remains governed by its own upstream license and model card.
|
checkpoints/fireboy_articulated_go_eat_berry/eval_go_eat_berry.json
ADDED
|
@@ -0,0 +1,310 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_articulated_go_eat_berry/faithful_articulated_policy.pt",
|
| 3 |
+
"task": "go_eat_berry",
|
| 4 |
+
"episodes": 20,
|
| 5 |
+
"successes": 0,
|
| 6 |
+
"success_rate": 0.0,
|
| 7 |
+
"smooth_alpha": 0.0,
|
| 8 |
+
"reports": [
|
| 9 |
+
{
|
| 10 |
+
"episode": 0,
|
| 11 |
+
"task": "go_eat_berry",
|
| 12 |
+
"success": false,
|
| 13 |
+
"grasped": false,
|
| 14 |
+
"eaten": false,
|
| 15 |
+
"final_berry_pos": [
|
| 16 |
+
0.4006,
|
| 17 |
+
-0.0988,
|
| 18 |
+
0.2946
|
| 19 |
+
],
|
| 20 |
+
"min_mouth_dist": 0.2008,
|
| 21 |
+
"gif_path": null,
|
| 22 |
+
"mp4_path": null
|
| 23 |
+
},
|
| 24 |
+
{
|
| 25 |
+
"episode": 1,
|
| 26 |
+
"task": "go_eat_berry",
|
| 27 |
+
"success": false,
|
| 28 |
+
"grasped": false,
|
| 29 |
+
"eaten": false,
|
| 30 |
+
"final_berry_pos": [
|
| 31 |
+
0.4122,
|
| 32 |
+
-0.081,
|
| 33 |
+
0.2946
|
| 34 |
+
],
|
| 35 |
+
"min_mouth_dist": 0.1985,
|
| 36 |
+
"gif_path": null,
|
| 37 |
+
"mp4_path": null
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"episode": 2,
|
| 41 |
+
"task": "go_eat_berry",
|
| 42 |
+
"success": false,
|
| 43 |
+
"grasped": false,
|
| 44 |
+
"eaten": false,
|
| 45 |
+
"final_berry_pos": [
|
| 46 |
+
0.412,
|
| 47 |
+
-0.0665,
|
| 48 |
+
0.2946
|
| 49 |
+
],
|
| 50 |
+
"min_mouth_dist": 0.1853,
|
| 51 |
+
"gif_path": null,
|
| 52 |
+
"mp4_path": null
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"episode": 3,
|
| 56 |
+
"task": "go_eat_berry",
|
| 57 |
+
"success": false,
|
| 58 |
+
"grasped": false,
|
| 59 |
+
"eaten": false,
|
| 60 |
+
"final_berry_pos": [
|
| 61 |
+
0.4138,
|
| 62 |
+
-0.1132,
|
| 63 |
+
0.2946
|
| 64 |
+
],
|
| 65 |
+
"min_mouth_dist": 0.1513,
|
| 66 |
+
"gif_path": null,
|
| 67 |
+
"mp4_path": null
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"episode": 4,
|
| 71 |
+
"task": "go_eat_berry",
|
| 72 |
+
"success": false,
|
| 73 |
+
"grasped": false,
|
| 74 |
+
"eaten": false,
|
| 75 |
+
"final_berry_pos": [
|
| 76 |
+
0.3805,
|
| 77 |
+
-0.0706,
|
| 78 |
+
0.2946
|
| 79 |
+
],
|
| 80 |
+
"min_mouth_dist": 0.1851,
|
| 81 |
+
"gif_path": null,
|
| 82 |
+
"mp4_path": null
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"episode": 5,
|
| 86 |
+
"task": "go_eat_berry",
|
| 87 |
+
"success": false,
|
| 88 |
+
"grasped": false,
|
| 89 |
+
"eaten": false,
|
| 90 |
+
"final_berry_pos": [
|
| 91 |
+
0.3862,
|
| 92 |
+
-0.0872,
|
| 93 |
+
0.2946
|
| 94 |
+
],
|
| 95 |
+
"min_mouth_dist": 0.1842,
|
| 96 |
+
"gif_path": null,
|
| 97 |
+
"mp4_path": null
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"episode": 6,
|
| 101 |
+
"task": "go_eat_berry",
|
| 102 |
+
"success": false,
|
| 103 |
+
"grasped": false,
|
| 104 |
+
"eaten": false,
|
| 105 |
+
"final_berry_pos": [
|
| 106 |
+
0.4196,
|
| 107 |
+
-0.1021,
|
| 108 |
+
0.2946
|
| 109 |
+
],
|
| 110 |
+
"min_mouth_dist": 0.1765,
|
| 111 |
+
"gif_path": null,
|
| 112 |
+
"mp4_path": null
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"episode": 7,
|
| 116 |
+
"task": "go_eat_berry",
|
| 117 |
+
"success": false,
|
| 118 |
+
"grasped": false,
|
| 119 |
+
"eaten": false,
|
| 120 |
+
"final_berry_pos": [
|
| 121 |
+
0.4174,
|
| 122 |
+
-0.0912,
|
| 123 |
+
0.2946
|
| 124 |
+
],
|
| 125 |
+
"min_mouth_dist": 0.1943,
|
| 126 |
+
"gif_path": null,
|
| 127 |
+
"mp4_path": null
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"episode": 8,
|
| 131 |
+
"task": "go_eat_berry",
|
| 132 |
+
"success": false,
|
| 133 |
+
"grasped": false,
|
| 134 |
+
"eaten": false,
|
| 135 |
+
"final_berry_pos": [
|
| 136 |
+
0.3779,
|
| 137 |
+
-0.0662,
|
| 138 |
+
0.2946
|
| 139 |
+
],
|
| 140 |
+
"min_mouth_dist": 0.1782,
|
| 141 |
+
"gif_path": null,
|
| 142 |
+
"mp4_path": null
|
| 143 |
+
},
|
| 144 |
+
{
|
| 145 |
+
"episode": 9,
|
| 146 |
+
"task": "go_eat_berry",
|
| 147 |
+
"success": false,
|
| 148 |
+
"grasped": false,
|
| 149 |
+
"eaten": false,
|
| 150 |
+
"final_berry_pos": [
|
| 151 |
+
0.3842,
|
| 152 |
+
-0.0977,
|
| 153 |
+
0.2946
|
| 154 |
+
],
|
| 155 |
+
"min_mouth_dist": 0.1868,
|
| 156 |
+
"gif_path": null,
|
| 157 |
+
"mp4_path": null
|
| 158 |
+
},
|
| 159 |
+
{
|
| 160 |
+
"episode": 10,
|
| 161 |
+
"task": "go_eat_berry",
|
| 162 |
+
"success": false,
|
| 163 |
+
"grasped": false,
|
| 164 |
+
"eaten": false,
|
| 165 |
+
"final_berry_pos": [
|
| 166 |
+
0.3947,
|
| 167 |
+
-0.0885,
|
| 168 |
+
0.2946
|
| 169 |
+
],
|
| 170 |
+
"min_mouth_dist": 0.1848,
|
| 171 |
+
"gif_path": null,
|
| 172 |
+
"mp4_path": null
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"episode": 11,
|
| 176 |
+
"task": "go_eat_berry",
|
| 177 |
+
"success": false,
|
| 178 |
+
"grasped": false,
|
| 179 |
+
"eaten": false,
|
| 180 |
+
"final_berry_pos": [
|
| 181 |
+
0.3841,
|
| 182 |
+
-0.0773,
|
| 183 |
+
0.2946
|
| 184 |
+
],
|
| 185 |
+
"min_mouth_dist": 0.1863,
|
| 186 |
+
"gif_path": null,
|
| 187 |
+
"mp4_path": null
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"episode": 12,
|
| 191 |
+
"task": "go_eat_berry",
|
| 192 |
+
"success": false,
|
| 193 |
+
"grasped": false,
|
| 194 |
+
"eaten": false,
|
| 195 |
+
"final_berry_pos": [
|
| 196 |
+
0.3818,
|
| 197 |
+
-0.1127,
|
| 198 |
+
0.2946
|
| 199 |
+
],
|
| 200 |
+
"min_mouth_dist": 0.1869,
|
| 201 |
+
"gif_path": null,
|
| 202 |
+
"mp4_path": null
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"episode": 13,
|
| 206 |
+
"task": "go_eat_berry",
|
| 207 |
+
"success": false,
|
| 208 |
+
"grasped": false,
|
| 209 |
+
"eaten": false,
|
| 210 |
+
"final_berry_pos": [
|
| 211 |
+
0.4061,
|
| 212 |
+
-0.0867,
|
| 213 |
+
0.2946
|
| 214 |
+
],
|
| 215 |
+
"min_mouth_dist": 0.2001,
|
| 216 |
+
"gif_path": null,
|
| 217 |
+
"mp4_path": null
|
| 218 |
+
},
|
| 219 |
+
{
|
| 220 |
+
"episode": 14,
|
| 221 |
+
"task": "go_eat_berry",
|
| 222 |
+
"success": false,
|
| 223 |
+
"grasped": false,
|
| 224 |
+
"eaten": false,
|
| 225 |
+
"final_berry_pos": [
|
| 226 |
+
0.4092,
|
| 227 |
+
-0.0754,
|
| 228 |
+
0.2946
|
| 229 |
+
],
|
| 230 |
+
"min_mouth_dist": 0.1862,
|
| 231 |
+
"gif_path": null,
|
| 232 |
+
"mp4_path": null
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"episode": 15,
|
| 236 |
+
"task": "go_eat_berry",
|
| 237 |
+
"success": false,
|
| 238 |
+
"grasped": false,
|
| 239 |
+
"eaten": false,
|
| 240 |
+
"final_berry_pos": [
|
| 241 |
+
0.4105,
|
| 242 |
+
-0.12,
|
| 243 |
+
0.2946
|
| 244 |
+
],
|
| 245 |
+
"min_mouth_dist": 0.1557,
|
| 246 |
+
"gif_path": null,
|
| 247 |
+
"mp4_path": null
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"episode": 16,
|
| 251 |
+
"task": "go_eat_berry",
|
| 252 |
+
"success": false,
|
| 253 |
+
"grasped": false,
|
| 254 |
+
"eaten": false,
|
| 255 |
+
"final_berry_pos": [
|
| 256 |
+
0.3825,
|
| 257 |
+
-0.1002,
|
| 258 |
+
0.2946
|
| 259 |
+
],
|
| 260 |
+
"min_mouth_dist": 0.1874,
|
| 261 |
+
"gif_path": null,
|
| 262 |
+
"mp4_path": null
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"episode": 17,
|
| 266 |
+
"task": "go_eat_berry",
|
| 267 |
+
"success": false,
|
| 268 |
+
"grasped": false,
|
| 269 |
+
"eaten": false,
|
| 270 |
+
"final_berry_pos": [
|
| 271 |
+
0.4069,
|
| 272 |
+
-0.1282,
|
| 273 |
+
0.2946
|
| 274 |
+
],
|
| 275 |
+
"min_mouth_dist": 0.1763,
|
| 276 |
+
"gif_path": null,
|
| 277 |
+
"mp4_path": null
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"episode": 18,
|
| 281 |
+
"task": "go_eat_berry",
|
| 282 |
+
"success": false,
|
| 283 |
+
"grasped": false,
|
| 284 |
+
"eaten": false,
|
| 285 |
+
"final_berry_pos": [
|
| 286 |
+
0.4126,
|
| 287 |
+
-0.0932,
|
| 288 |
+
0.2946
|
| 289 |
+
],
|
| 290 |
+
"min_mouth_dist": 0.1964,
|
| 291 |
+
"gif_path": null,
|
| 292 |
+
"mp4_path": null
|
| 293 |
+
},
|
| 294 |
+
{
|
| 295 |
+
"episode": 19,
|
| 296 |
+
"task": "go_eat_berry",
|
| 297 |
+
"success": false,
|
| 298 |
+
"grasped": false,
|
| 299 |
+
"eaten": false,
|
| 300 |
+
"final_berry_pos": [
|
| 301 |
+
0.4128,
|
| 302 |
+
-0.0942,
|
| 303 |
+
0.2946
|
| 304 |
+
],
|
| 305 |
+
"min_mouth_dist": 0.1962,
|
| 306 |
+
"gif_path": null,
|
| 307 |
+
"mp4_path": null
|
| 308 |
+
}
|
| 309 |
+
]
|
| 310 |
+
}
|
checkpoints/fireboy_articulated_go_eat_berry/faithful_articulated_policy.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:00b075f9085647088d8e47a13795f44edd7ac10ac01f6a8ad95731c0b99a030c
|
| 3 |
+
size 905291
|
checkpoints/fireboy_articulated_go_eat_berry/faithful_articulated_policy.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:08ddb7a607d13bfcd902168aff550207f9124a2bb3a61d1a2716add764395124
|
| 3 |
+
size 906896
|
checkpoints/fireboy_articulated_go_eat_berry_chunk/eval_go_eat_berry_chunk.json
ADDED
|
@@ -0,0 +1,412 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_articulated_go_eat_berry_chunk/faithful_articulated_chunk_policy.pt",
|
| 3 |
+
"task": "go_eat_berry",
|
| 4 |
+
"episodes": 20,
|
| 5 |
+
"successes": 20,
|
| 6 |
+
"success_rate": 1.0,
|
| 7 |
+
"smooth_alpha": 0.0,
|
| 8 |
+
"replan_interval": 8,
|
| 9 |
+
"chunk_steps": 16,
|
| 10 |
+
"reports": [
|
| 11 |
+
{
|
| 12 |
+
"episode": 0,
|
| 13 |
+
"task": "go_eat_berry",
|
| 14 |
+
"success": true,
|
| 15 |
+
"grasped": true,
|
| 16 |
+
"eaten": true,
|
| 17 |
+
"final_berry_pos": [
|
| 18 |
+
0.3827,
|
| 19 |
+
0.1994,
|
| 20 |
+
0.4983
|
| 21 |
+
],
|
| 22 |
+
"final_root_xy": [
|
| 23 |
+
0.1069,
|
| 24 |
+
0.4354
|
| 25 |
+
],
|
| 26 |
+
"target_xy": null,
|
| 27 |
+
"min_mouth_dist": 0.1256,
|
| 28 |
+
"gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/learned_chunk/faithful_chunk_go_eat_berry_policy_ep000.gif",
|
| 29 |
+
"mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/learned_chunk/faithful_chunk_go_eat_berry_policy_ep000.mp4"
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"episode": 1,
|
| 33 |
+
"task": "go_eat_berry",
|
| 34 |
+
"success": true,
|
| 35 |
+
"grasped": true,
|
| 36 |
+
"eaten": true,
|
| 37 |
+
"final_berry_pos": [
|
| 38 |
+
0.3604,
|
| 39 |
+
0.1977,
|
| 40 |
+
0.496
|
| 41 |
+
],
|
| 42 |
+
"final_root_xy": [
|
| 43 |
+
0.0815,
|
| 44 |
+
0.4247
|
| 45 |
+
],
|
| 46 |
+
"target_xy": null,
|
| 47 |
+
"min_mouth_dist": 0.1135,
|
| 48 |
+
"gif_path": null,
|
| 49 |
+
"mp4_path": null
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"episode": 2,
|
| 53 |
+
"task": "go_eat_berry",
|
| 54 |
+
"success": true,
|
| 55 |
+
"grasped": true,
|
| 56 |
+
"eaten": true,
|
| 57 |
+
"final_berry_pos": [
|
| 58 |
+
0.5258,
|
| 59 |
+
0.3432,
|
| 60 |
+
0.4625
|
| 61 |
+
],
|
| 62 |
+
"final_root_xy": [
|
| 63 |
+
0.1761,
|
| 64 |
+
0.4494
|
| 65 |
+
],
|
| 66 |
+
"target_xy": null,
|
| 67 |
+
"min_mouth_dist": 0.1102,
|
| 68 |
+
"gif_path": null,
|
| 69 |
+
"mp4_path": null
|
| 70 |
+
},
|
| 71 |
+
{
|
| 72 |
+
"episode": 3,
|
| 73 |
+
"task": "go_eat_berry",
|
| 74 |
+
"success": true,
|
| 75 |
+
"grasped": true,
|
| 76 |
+
"eaten": true,
|
| 77 |
+
"final_berry_pos": [
|
| 78 |
+
0.4192,
|
| 79 |
+
0.2008,
|
| 80 |
+
0.4974
|
| 81 |
+
],
|
| 82 |
+
"final_root_xy": [
|
| 83 |
+
0.1404,
|
| 84 |
+
0.4364
|
| 85 |
+
],
|
| 86 |
+
"target_xy": null,
|
| 87 |
+
"min_mouth_dist": 0.1211,
|
| 88 |
+
"gif_path": null,
|
| 89 |
+
"mp4_path": null
|
| 90 |
+
},
|
| 91 |
+
{
|
| 92 |
+
"episode": 4,
|
| 93 |
+
"task": "go_eat_berry",
|
| 94 |
+
"success": true,
|
| 95 |
+
"grasped": true,
|
| 96 |
+
"eaten": true,
|
| 97 |
+
"final_berry_pos": [
|
| 98 |
+
0.5254,
|
| 99 |
+
0.3607,
|
| 100 |
+
0.4755
|
| 101 |
+
],
|
| 102 |
+
"final_root_xy": [
|
| 103 |
+
0.1704,
|
| 104 |
+
0.4562
|
| 105 |
+
],
|
| 106 |
+
"target_xy": null,
|
| 107 |
+
"min_mouth_dist": 0.128,
|
| 108 |
+
"gif_path": null,
|
| 109 |
+
"mp4_path": null
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"episode": 5,
|
| 113 |
+
"task": "go_eat_berry",
|
| 114 |
+
"success": true,
|
| 115 |
+
"grasped": true,
|
| 116 |
+
"eaten": true,
|
| 117 |
+
"final_berry_pos": [
|
| 118 |
+
0.3436,
|
| 119 |
+
0.2135,
|
| 120 |
+
0.4886
|
| 121 |
+
],
|
| 122 |
+
"final_root_xy": [
|
| 123 |
+
0.0645,
|
| 124 |
+
0.43
|
| 125 |
+
],
|
| 126 |
+
"target_xy": null,
|
| 127 |
+
"min_mouth_dist": 0.1054,
|
| 128 |
+
"gif_path": null,
|
| 129 |
+
"mp4_path": null
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"episode": 6,
|
| 133 |
+
"task": "go_eat_berry",
|
| 134 |
+
"success": true,
|
| 135 |
+
"grasped": true,
|
| 136 |
+
"eaten": true,
|
| 137 |
+
"final_berry_pos": [
|
| 138 |
+
0.4254,
|
| 139 |
+
0.2183,
|
| 140 |
+
0.499
|
| 141 |
+
],
|
| 142 |
+
"final_root_xy": [
|
| 143 |
+
0.1414,
|
| 144 |
+
0.4502
|
| 145 |
+
],
|
| 146 |
+
"target_xy": null,
|
| 147 |
+
"min_mouth_dist": 0.124,
|
| 148 |
+
"gif_path": null,
|
| 149 |
+
"mp4_path": null
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"episode": 7,
|
| 153 |
+
"task": "go_eat_berry",
|
| 154 |
+
"success": true,
|
| 155 |
+
"grasped": true,
|
| 156 |
+
"eaten": true,
|
| 157 |
+
"final_berry_pos": [
|
| 158 |
+
0.412,
|
| 159 |
+
0.1996,
|
| 160 |
+
0.5134
|
| 161 |
+
],
|
| 162 |
+
"final_root_xy": [
|
| 163 |
+
0.1475,
|
| 164 |
+
0.4521
|
| 165 |
+
],
|
| 166 |
+
"target_xy": null,
|
| 167 |
+
"min_mouth_dist": 0.1374,
|
| 168 |
+
"gif_path": null,
|
| 169 |
+
"mp4_path": null
|
| 170 |
+
},
|
| 171 |
+
{
|
| 172 |
+
"episode": 8,
|
| 173 |
+
"task": "go_eat_berry",
|
| 174 |
+
"success": true,
|
| 175 |
+
"grasped": true,
|
| 176 |
+
"eaten": true,
|
| 177 |
+
"final_berry_pos": [
|
| 178 |
+
0.5461,
|
| 179 |
+
0.3532,
|
| 180 |
+
0.4673
|
| 181 |
+
],
|
| 182 |
+
"final_root_xy": [
|
| 183 |
+
0.1853,
|
| 184 |
+
0.4397
|
| 185 |
+
],
|
| 186 |
+
"target_xy": null,
|
| 187 |
+
"min_mouth_dist": 0.136,
|
| 188 |
+
"gif_path": null,
|
| 189 |
+
"mp4_path": null
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"episode": 9,
|
| 193 |
+
"task": "go_eat_berry",
|
| 194 |
+
"success": true,
|
| 195 |
+
"grasped": true,
|
| 196 |
+
"eaten": true,
|
| 197 |
+
"final_berry_pos": [
|
| 198 |
+
0.3188,
|
| 199 |
+
0.2145,
|
| 200 |
+
0.4867
|
| 201 |
+
],
|
| 202 |
+
"final_root_xy": [
|
| 203 |
+
0.0386,
|
| 204 |
+
0.4206
|
| 205 |
+
],
|
| 206 |
+
"target_xy": null,
|
| 207 |
+
"min_mouth_dist": 0.0963,
|
| 208 |
+
"gif_path": null,
|
| 209 |
+
"mp4_path": null
|
| 210 |
+
},
|
| 211 |
+
{
|
| 212 |
+
"episode": 10,
|
| 213 |
+
"task": "go_eat_berry",
|
| 214 |
+
"success": true,
|
| 215 |
+
"grasped": true,
|
| 216 |
+
"eaten": true,
|
| 217 |
+
"final_berry_pos": [
|
| 218 |
+
0.3831,
|
| 219 |
+
0.2037,
|
| 220 |
+
0.4953
|
| 221 |
+
],
|
| 222 |
+
"final_root_xy": [
|
| 223 |
+
0.1077,
|
| 224 |
+
0.438
|
| 225 |
+
],
|
| 226 |
+
"target_xy": null,
|
| 227 |
+
"min_mouth_dist": 0.1235,
|
| 228 |
+
"gif_path": null,
|
| 229 |
+
"mp4_path": null
|
| 230 |
+
},
|
| 231 |
+
{
|
| 232 |
+
"episode": 11,
|
| 233 |
+
"task": "go_eat_berry",
|
| 234 |
+
"success": true,
|
| 235 |
+
"grasped": true,
|
| 236 |
+
"eaten": true,
|
| 237 |
+
"final_berry_pos": [
|
| 238 |
+
0.1367,
|
| 239 |
+
0.1761,
|
| 240 |
+
0.4993
|
| 241 |
+
],
|
| 242 |
+
"final_root_xy": [
|
| 243 |
+
-0.1311,
|
| 244 |
+
0.431
|
| 245 |
+
],
|
| 246 |
+
"target_xy": null,
|
| 247 |
+
"min_mouth_dist": 0.1379,
|
| 248 |
+
"gif_path": null,
|
| 249 |
+
"mp4_path": null
|
| 250 |
+
},
|
| 251 |
+
{
|
| 252 |
+
"episode": 12,
|
| 253 |
+
"task": "go_eat_berry",
|
| 254 |
+
"success": true,
|
| 255 |
+
"grasped": true,
|
| 256 |
+
"eaten": true,
|
| 257 |
+
"final_berry_pos": [
|
| 258 |
+
0.3092,
|
| 259 |
+
0.2152,
|
| 260 |
+
0.4891
|
| 261 |
+
],
|
| 262 |
+
"final_root_xy": [
|
| 263 |
+
0.0277,
|
| 264 |
+
0.42
|
| 265 |
+
],
|
| 266 |
+
"target_xy": null,
|
| 267 |
+
"min_mouth_dist": 0.0996,
|
| 268 |
+
"gif_path": null,
|
| 269 |
+
"mp4_path": null
|
| 270 |
+
},
|
| 271 |
+
{
|
| 272 |
+
"episode": 13,
|
| 273 |
+
"task": "go_eat_berry",
|
| 274 |
+
"success": true,
|
| 275 |
+
"grasped": true,
|
| 276 |
+
"eaten": true,
|
| 277 |
+
"final_berry_pos": [
|
| 278 |
+
0.3957,
|
| 279 |
+
0.2166,
|
| 280 |
+
0.4988
|
| 281 |
+
],
|
| 282 |
+
"final_root_xy": [
|
| 283 |
+
0.1153,
|
| 284 |
+
0.4493
|
| 285 |
+
],
|
| 286 |
+
"target_xy": null,
|
| 287 |
+
"min_mouth_dist": 0.1273,
|
| 288 |
+
"gif_path": null,
|
| 289 |
+
"mp4_path": null
|
| 290 |
+
},
|
| 291 |
+
{
|
| 292 |
+
"episode": 14,
|
| 293 |
+
"task": "go_eat_berry",
|
| 294 |
+
"success": true,
|
| 295 |
+
"grasped": true,
|
| 296 |
+
"eaten": true,
|
| 297 |
+
"final_berry_pos": [
|
| 298 |
+
0.4509,
|
| 299 |
+
0.3089,
|
| 300 |
+
0.4821
|
| 301 |
+
],
|
| 302 |
+
"final_root_xy": [
|
| 303 |
+
0.1283,
|
| 304 |
+
0.4981
|
| 305 |
+
],
|
| 306 |
+
"target_xy": null,
|
| 307 |
+
"min_mouth_dist": 0.1336,
|
| 308 |
+
"gif_path": null,
|
| 309 |
+
"mp4_path": null
|
| 310 |
+
},
|
| 311 |
+
{
|
| 312 |
+
"episode": 15,
|
| 313 |
+
"task": "go_eat_berry",
|
| 314 |
+
"success": true,
|
| 315 |
+
"grasped": true,
|
| 316 |
+
"eaten": true,
|
| 317 |
+
"final_berry_pos": [
|
| 318 |
+
0.3722,
|
| 319 |
+
0.1525,
|
| 320 |
+
0.5046
|
| 321 |
+
],
|
| 322 |
+
"final_root_xy": [
|
| 323 |
+
0.1083,
|
| 324 |
+
0.4137
|
| 325 |
+
],
|
| 326 |
+
"target_xy": null,
|
| 327 |
+
"min_mouth_dist": 0.1351,
|
| 328 |
+
"gif_path": null,
|
| 329 |
+
"mp4_path": null
|
| 330 |
+
},
|
| 331 |
+
{
|
| 332 |
+
"episode": 16,
|
| 333 |
+
"task": "go_eat_berry",
|
| 334 |
+
"success": true,
|
| 335 |
+
"grasped": true,
|
| 336 |
+
"eaten": true,
|
| 337 |
+
"final_berry_pos": [
|
| 338 |
+
0.3098,
|
| 339 |
+
0.218,
|
| 340 |
+
0.4866
|
| 341 |
+
],
|
| 342 |
+
"final_root_xy": [
|
| 343 |
+
0.029,
|
| 344 |
+
0.4214
|
| 345 |
+
],
|
| 346 |
+
"target_xy": null,
|
| 347 |
+
"min_mouth_dist": 0.0954,
|
| 348 |
+
"gif_path": null,
|
| 349 |
+
"mp4_path": null
|
| 350 |
+
},
|
| 351 |
+
{
|
| 352 |
+
"episode": 17,
|
| 353 |
+
"task": "go_eat_berry",
|
| 354 |
+
"success": true,
|
| 355 |
+
"grasped": true,
|
| 356 |
+
"eaten": true,
|
| 357 |
+
"final_berry_pos": [
|
| 358 |
+
0.3543,
|
| 359 |
+
0.143,
|
| 360 |
+
0.5059
|
| 361 |
+
],
|
| 362 |
+
"final_root_xy": [
|
| 363 |
+
0.0934,
|
| 364 |
+
0.4081
|
| 365 |
+
],
|
| 366 |
+
"target_xy": null,
|
| 367 |
+
"min_mouth_dist": 0.1374,
|
| 368 |
+
"gif_path": null,
|
| 369 |
+
"mp4_path": null
|
| 370 |
+
},
|
| 371 |
+
{
|
| 372 |
+
"episode": 18,
|
| 373 |
+
"task": "go_eat_berry",
|
| 374 |
+
"success": true,
|
| 375 |
+
"grasped": true,
|
| 376 |
+
"eaten": true,
|
| 377 |
+
"final_berry_pos": [
|
| 378 |
+
0.41,
|
| 379 |
+
0.2121,
|
| 380 |
+
0.4999
|
| 381 |
+
],
|
| 382 |
+
"final_root_xy": [
|
| 383 |
+
0.1296,
|
| 384 |
+
0.4473
|
| 385 |
+
],
|
| 386 |
+
"target_xy": null,
|
| 387 |
+
"min_mouth_dist": 0.128,
|
| 388 |
+
"gif_path": null,
|
| 389 |
+
"mp4_path": null
|
| 390 |
+
},
|
| 391 |
+
{
|
| 392 |
+
"episode": 19,
|
| 393 |
+
"task": "go_eat_berry",
|
| 394 |
+
"success": true,
|
| 395 |
+
"grasped": true,
|
| 396 |
+
"eaten": true,
|
| 397 |
+
"final_berry_pos": [
|
| 398 |
+
0.4115,
|
| 399 |
+
0.2098,
|
| 400 |
+
0.5002
|
| 401 |
+
],
|
| 402 |
+
"final_root_xy": [
|
| 403 |
+
0.1319,
|
| 404 |
+
0.4465
|
| 405 |
+
],
|
| 406 |
+
"target_xy": null,
|
| 407 |
+
"min_mouth_dist": 0.1288,
|
| 408 |
+
"gif_path": null,
|
| 409 |
+
"mp4_path": null
|
| 410 |
+
}
|
| 411 |
+
]
|
| 412 |
+
}
|
checkpoints/fireboy_articulated_go_eat_berry_chunk/faithful_articulated_chunk_policy.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2218e792a761af8ae2c25f3332b7e3962672cf318b63b2e569f0b9572ae34767
|
| 3 |
+
size 2168972
|
checkpoints/fireboy_articulated_go_to_point/eval_go_to_point.json
ADDED
|
@@ -0,0 +1,310 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_articulated_go_to_point/faithful_articulated_policy.pt",
|
| 3 |
+
"task": "go_to_point",
|
| 4 |
+
"episodes": 20,
|
| 5 |
+
"successes": 0,
|
| 6 |
+
"success_rate": 0.0,
|
| 7 |
+
"smooth_alpha": 0.0,
|
| 8 |
+
"reports": [
|
| 9 |
+
{
|
| 10 |
+
"episode": 0,
|
| 11 |
+
"task": "go_to_point",
|
| 12 |
+
"success": false,
|
| 13 |
+
"grasped": false,
|
| 14 |
+
"eaten": false,
|
| 15 |
+
"final_berry_pos": [
|
| 16 |
+
0.4435,
|
| 17 |
+
0.0662,
|
| 18 |
+
0.0546
|
| 19 |
+
],
|
| 20 |
+
"min_mouth_dist": 0.27,
|
| 21 |
+
"gif_path": null,
|
| 22 |
+
"mp4_path": null
|
| 23 |
+
},
|
| 24 |
+
{
|
| 25 |
+
"episode": 1,
|
| 26 |
+
"task": "go_to_point",
|
| 27 |
+
"success": false,
|
| 28 |
+
"grasped": false,
|
| 29 |
+
"eaten": false,
|
| 30 |
+
"final_berry_pos": [
|
| 31 |
+
0.4717,
|
| 32 |
+
0.1481,
|
| 33 |
+
0.0546
|
| 34 |
+
],
|
| 35 |
+
"min_mouth_dist": 0.286,
|
| 36 |
+
"gif_path": null,
|
| 37 |
+
"mp4_path": null
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"episode": 2,
|
| 41 |
+
"task": "go_to_point",
|
| 42 |
+
"success": false,
|
| 43 |
+
"grasped": false,
|
| 44 |
+
"eaten": false,
|
| 45 |
+
"final_berry_pos": [
|
| 46 |
+
0.5118,
|
| 47 |
+
0.1584,
|
| 48 |
+
0.0546
|
| 49 |
+
],
|
| 50 |
+
"min_mouth_dist": 0.2993,
|
| 51 |
+
"gif_path": null,
|
| 52 |
+
"mp4_path": null
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"episode": 3,
|
| 56 |
+
"task": "go_to_point",
|
| 57 |
+
"success": false,
|
| 58 |
+
"grasped": false,
|
| 59 |
+
"eaten": false,
|
| 60 |
+
"final_berry_pos": [
|
| 61 |
+
0.3786,
|
| 62 |
+
0.1362,
|
| 63 |
+
0.0546
|
| 64 |
+
],
|
| 65 |
+
"min_mouth_dist": 0.2334,
|
| 66 |
+
"gif_path": null,
|
| 67 |
+
"mp4_path": null
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"episode": 4,
|
| 71 |
+
"task": "go_to_point",
|
| 72 |
+
"success": false,
|
| 73 |
+
"grasped": false,
|
| 74 |
+
"eaten": false,
|
| 75 |
+
"final_berry_pos": [
|
| 76 |
+
0.4632,
|
| 77 |
+
-0.2449,
|
| 78 |
+
0.0546
|
| 79 |
+
],
|
| 80 |
+
"min_mouth_dist": 0.3314,
|
| 81 |
+
"gif_path": null,
|
| 82 |
+
"mp4_path": null
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"episode": 5,
|
| 86 |
+
"task": "go_to_point",
|
| 87 |
+
"success": false,
|
| 88 |
+
"grasped": false,
|
| 89 |
+
"eaten": false,
|
| 90 |
+
"final_berry_pos": [
|
| 91 |
+
0.4482,
|
| 92 |
+
-0.1616,
|
| 93 |
+
0.2946
|
| 94 |
+
],
|
| 95 |
+
"min_mouth_dist": 0.2969,
|
| 96 |
+
"gif_path": null,
|
| 97 |
+
"mp4_path": null
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"episode": 6,
|
| 101 |
+
"task": "go_to_point",
|
| 102 |
+
"success": false,
|
| 103 |
+
"grasped": false,
|
| 104 |
+
"eaten": false,
|
| 105 |
+
"final_berry_pos": [
|
| 106 |
+
0.3829,
|
| 107 |
+
0.2046,
|
| 108 |
+
0.0546
|
| 109 |
+
],
|
| 110 |
+
"min_mouth_dist": 0.241,
|
| 111 |
+
"gif_path": null,
|
| 112 |
+
"mp4_path": null
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"episode": 7,
|
| 116 |
+
"task": "go_to_point",
|
| 117 |
+
"success": false,
|
| 118 |
+
"grasped": false,
|
| 119 |
+
"eaten": false,
|
| 120 |
+
"final_berry_pos": [
|
| 121 |
+
0.4217,
|
| 122 |
+
0.1965,
|
| 123 |
+
0.0546
|
| 124 |
+
],
|
| 125 |
+
"min_mouth_dist": 0.2539,
|
| 126 |
+
"gif_path": null,
|
| 127 |
+
"mp4_path": null
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"episode": 8,
|
| 131 |
+
"task": "go_to_point",
|
| 132 |
+
"success": false,
|
| 133 |
+
"grasped": false,
|
| 134 |
+
"eaten": false,
|
| 135 |
+
"final_berry_pos": [
|
| 136 |
+
0.4566,
|
| 137 |
+
-0.2821,
|
| 138 |
+
0.0546
|
| 139 |
+
],
|
| 140 |
+
"min_mouth_dist": 0.3392,
|
| 141 |
+
"gif_path": null,
|
| 142 |
+
"mp4_path": null
|
| 143 |
+
},
|
| 144 |
+
{
|
| 145 |
+
"episode": 9,
|
| 146 |
+
"task": "go_to_point",
|
| 147 |
+
"success": false,
|
| 148 |
+
"grasped": false,
|
| 149 |
+
"eaten": false,
|
| 150 |
+
"final_berry_pos": [
|
| 151 |
+
0.412,
|
| 152 |
+
-0.1724,
|
| 153 |
+
0.2946
|
| 154 |
+
],
|
| 155 |
+
"min_mouth_dist": 0.2839,
|
| 156 |
+
"gif_path": null,
|
| 157 |
+
"mp4_path": null
|
| 158 |
+
},
|
| 159 |
+
{
|
| 160 |
+
"episode": 10,
|
| 161 |
+
"task": "go_to_point",
|
| 162 |
+
"success": false,
|
| 163 |
+
"grasped": false,
|
| 164 |
+
"eaten": false,
|
| 165 |
+
"final_berry_pos": [
|
| 166 |
+
0.4686,
|
| 167 |
+
-0.0626,
|
| 168 |
+
0.2946
|
| 169 |
+
],
|
| 170 |
+
"min_mouth_dist": 0.2858,
|
| 171 |
+
"gif_path": null,
|
| 172 |
+
"mp4_path": null
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"episode": 11,
|
| 176 |
+
"task": "go_to_point",
|
| 177 |
+
"success": false,
|
| 178 |
+
"grasped": false,
|
| 179 |
+
"eaten": false,
|
| 180 |
+
"final_berry_pos": [
|
| 181 |
+
0.4654,
|
| 182 |
+
-0.1958,
|
| 183 |
+
0.2923
|
| 184 |
+
],
|
| 185 |
+
"min_mouth_dist": 0.3151,
|
| 186 |
+
"gif_path": null,
|
| 187 |
+
"mp4_path": null
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"episode": 12,
|
| 191 |
+
"task": "go_to_point",
|
| 192 |
+
"success": false,
|
| 193 |
+
"grasped": false,
|
| 194 |
+
"eaten": false,
|
| 195 |
+
"final_berry_pos": [
|
| 196 |
+
0.3628,
|
| 197 |
+
-0.1773,
|
| 198 |
+
0.2946
|
| 199 |
+
],
|
| 200 |
+
"min_mouth_dist": 0.2696,
|
| 201 |
+
"gif_path": null,
|
| 202 |
+
"mp4_path": null
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"episode": 13,
|
| 206 |
+
"task": "go_to_point",
|
| 207 |
+
"success": false,
|
| 208 |
+
"grasped": false,
|
| 209 |
+
"eaten": false,
|
| 210 |
+
"final_berry_pos": [
|
| 211 |
+
0.4724,
|
| 212 |
+
0.073,
|
| 213 |
+
0.0546
|
| 214 |
+
],
|
| 215 |
+
"min_mouth_dist": 0.276,
|
| 216 |
+
"gif_path": null,
|
| 217 |
+
"mp4_path": null
|
| 218 |
+
},
|
| 219 |
+
{
|
| 220 |
+
"episode": 14,
|
| 221 |
+
"task": "go_to_point",
|
| 222 |
+
"success": false,
|
| 223 |
+
"grasped": false,
|
| 224 |
+
"eaten": false,
|
| 225 |
+
"final_berry_pos": [
|
| 226 |
+
0.4968,
|
| 227 |
+
0.1166,
|
| 228 |
+
0.0546
|
| 229 |
+
],
|
| 230 |
+
"min_mouth_dist": 0.2787,
|
| 231 |
+
"gif_path": null,
|
| 232 |
+
"mp4_path": null
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"episode": 15,
|
| 236 |
+
"task": "go_to_point",
|
| 237 |
+
"success": false,
|
| 238 |
+
"grasped": false,
|
| 239 |
+
"eaten": false,
|
| 240 |
+
"final_berry_pos": [
|
| 241 |
+
0.3697,
|
| 242 |
+
0.0994,
|
| 243 |
+
0.0546
|
| 244 |
+
],
|
| 245 |
+
"min_mouth_dist": 0.2283,
|
| 246 |
+
"gif_path": null,
|
| 247 |
+
"mp4_path": null
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"episode": 16,
|
| 251 |
+
"task": "go_to_point",
|
| 252 |
+
"success": false,
|
| 253 |
+
"grasped": false,
|
| 254 |
+
"eaten": false,
|
| 255 |
+
"final_berry_pos": [
|
| 256 |
+
0.3977,
|
| 257 |
+
-0.1866,
|
| 258 |
+
0.2942
|
| 259 |
+
],
|
| 260 |
+
"min_mouth_dist": 0.2818,
|
| 261 |
+
"gif_path": null,
|
| 262 |
+
"mp4_path": null
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"episode": 17,
|
| 266 |
+
"task": "go_to_point",
|
| 267 |
+
"success": false,
|
| 268 |
+
"grasped": false,
|
| 269 |
+
"eaten": false,
|
| 270 |
+
"final_berry_pos": [
|
| 271 |
+
0.3541,
|
| 272 |
+
0.062,
|
| 273 |
+
0.0546
|
| 274 |
+
],
|
| 275 |
+
"min_mouth_dist": 0.2225,
|
| 276 |
+
"gif_path": null,
|
| 277 |
+
"mp4_path": null
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"episode": 18,
|
| 281 |
+
"task": "go_to_point",
|
| 282 |
+
"success": false,
|
| 283 |
+
"grasped": false,
|
| 284 |
+
"eaten": false,
|
| 285 |
+
"final_berry_pos": [
|
| 286 |
+
0.4367,
|
| 287 |
+
0.1429,
|
| 288 |
+
0.0546
|
| 289 |
+
],
|
| 290 |
+
"min_mouth_dist": 0.2579,
|
| 291 |
+
"gif_path": null,
|
| 292 |
+
"mp4_path": null
|
| 293 |
+
},
|
| 294 |
+
{
|
| 295 |
+
"episode": 19,
|
| 296 |
+
"task": "go_to_point",
|
| 297 |
+
"success": false,
|
| 298 |
+
"grasped": false,
|
| 299 |
+
"eaten": false,
|
| 300 |
+
"final_berry_pos": [
|
| 301 |
+
0.4333,
|
| 302 |
+
0.144,
|
| 303 |
+
0.0546
|
| 304 |
+
],
|
| 305 |
+
"min_mouth_dist": 0.268,
|
| 306 |
+
"gif_path": null,
|
| 307 |
+
"mp4_path": null
|
| 308 |
+
}
|
| 309 |
+
]
|
| 310 |
+
}
|
checkpoints/fireboy_articulated_go_to_point/faithful_articulated_policy.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7241a92e7a34c50902b7fa9593dc427cdf3fbd46665f8ac907a151b559a9b5c1
|
| 3 |
+
size 905291
|
checkpoints/fireboy_articulated_go_to_point/faithful_articulated_policy.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8d4dbc4e61821f58c855ef00e21f14aa98363fe7785bda541670290175f129e7
|
| 3 |
+
size 906832
|
checkpoints/fireboy_articulated_go_to_point_clock/eval_go_to_point_clock_fixed_target.json
ADDED
|
@@ -0,0 +1,470 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "build/checkpoints/fireboy_articulated_go_to_point_clock/faithful_articulated_policy.pt",
|
| 3 |
+
"task": "go_to_point",
|
| 4 |
+
"episodes": 20,
|
| 5 |
+
"successes": 20,
|
| 6 |
+
"success_rate": 1.0,
|
| 7 |
+
"smooth_alpha": 0.0,
|
| 8 |
+
"reports": [
|
| 9 |
+
{
|
| 10 |
+
"episode": 0,
|
| 11 |
+
"task": "go_to_point",
|
| 12 |
+
"success": true,
|
| 13 |
+
"grasped": false,
|
| 14 |
+
"eaten": false,
|
| 15 |
+
"final_berry_pos": [
|
| 16 |
+
0.4435,
|
| 17 |
+
0.0662,
|
| 18 |
+
0.0546
|
| 19 |
+
],
|
| 20 |
+
"final_root_xy": [
|
| 21 |
+
0.3626,
|
| 22 |
+
0.0569
|
| 23 |
+
],
|
| 24 |
+
"target_xy": [
|
| 25 |
+
0.4435,
|
| 26 |
+
0.0063
|
| 27 |
+
],
|
| 28 |
+
"min_mouth_dist": 0.2387,
|
| 29 |
+
"gif_path": null,
|
| 30 |
+
"mp4_path": null
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"episode": 1,
|
| 34 |
+
"task": "go_to_point",
|
| 35 |
+
"success": true,
|
| 36 |
+
"grasped": false,
|
| 37 |
+
"eaten": false,
|
| 38 |
+
"final_berry_pos": [
|
| 39 |
+
0.4717,
|
| 40 |
+
0.1481,
|
| 41 |
+
0.0546
|
| 42 |
+
],
|
| 43 |
+
"final_root_xy": [
|
| 44 |
+
0.3789,
|
| 45 |
+
0.1157
|
| 46 |
+
],
|
| 47 |
+
"target_xy": [
|
| 48 |
+
0.4717,
|
| 49 |
+
0.1481
|
| 50 |
+
],
|
| 51 |
+
"min_mouth_dist": 0.3103,
|
| 52 |
+
"gif_path": null,
|
| 53 |
+
"mp4_path": null
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"episode": 2,
|
| 57 |
+
"task": "go_to_point",
|
| 58 |
+
"success": true,
|
| 59 |
+
"grasped": false,
|
| 60 |
+
"eaten": false,
|
| 61 |
+
"final_berry_pos": [
|
| 62 |
+
0.5118,
|
| 63 |
+
0.1584,
|
| 64 |
+
0.0546
|
| 65 |
+
],
|
| 66 |
+
"final_root_xy": [
|
| 67 |
+
0.4149,
|
| 68 |
+
0.1395
|
| 69 |
+
],
|
| 70 |
+
"target_xy": [
|
| 71 |
+
0.5118,
|
| 72 |
+
0.1584
|
| 73 |
+
],
|
| 74 |
+
"min_mouth_dist": 0.3345,
|
| 75 |
+
"gif_path": null,
|
| 76 |
+
"mp4_path": null
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"episode": 3,
|
| 80 |
+
"task": "go_to_point",
|
| 81 |
+
"success": true,
|
| 82 |
+
"grasped": false,
|
| 83 |
+
"eaten": false,
|
| 84 |
+
"final_berry_pos": [
|
| 85 |
+
0.3786,
|
| 86 |
+
0.1362,
|
| 87 |
+
0.0546
|
| 88 |
+
],
|
| 89 |
+
"final_root_xy": [
|
| 90 |
+
0.2904,
|
| 91 |
+
0.1002
|
| 92 |
+
],
|
| 93 |
+
"target_xy": [
|
| 94 |
+
0.3786,
|
| 95 |
+
0.1362
|
| 96 |
+
],
|
| 97 |
+
"min_mouth_dist": 0.2734,
|
| 98 |
+
"gif_path": null,
|
| 99 |
+
"mp4_path": null
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"episode": 4,
|
| 103 |
+
"task": "go_to_point",
|
| 104 |
+
"success": true,
|
| 105 |
+
"grasped": false,
|
| 106 |
+
"eaten": false,
|
| 107 |
+
"final_berry_pos": [
|
| 108 |
+
0.4632,
|
| 109 |
+
-0.2449,
|
| 110 |
+
0.0546
|
| 111 |
+
],
|
| 112 |
+
"final_root_xy": [
|
| 113 |
+
0.3721,
|
| 114 |
+
-0.236
|
| 115 |
+
],
|
| 116 |
+
"target_xy": [
|
| 117 |
+
0.4632,
|
| 118 |
+
-0.2449
|
| 119 |
+
],
|
| 120 |
+
"min_mouth_dist": 0.3257,
|
| 121 |
+
"gif_path": null,
|
| 122 |
+
"mp4_path": null
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"episode": 5,
|
| 126 |
+
"task": "go_to_point",
|
| 127 |
+
"success": true,
|
| 128 |
+
"grasped": false,
|
| 129 |
+
"eaten": false,
|
| 130 |
+
"final_berry_pos": [
|
| 131 |
+
0.4482,
|
| 132 |
+
-0.1616,
|
| 133 |
+
0.2946
|
| 134 |
+
],
|
| 135 |
+
"final_root_xy": [
|
| 136 |
+
0.3663,
|
| 137 |
+
-0.1306
|
| 138 |
+
],
|
| 139 |
+
"target_xy": [
|
| 140 |
+
0.4482,
|
| 141 |
+
-0.1616
|
| 142 |
+
],
|
| 143 |
+
"min_mouth_dist": 0.2333,
|
| 144 |
+
"gif_path": null,
|
| 145 |
+
"mp4_path": null
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"episode": 6,
|
| 149 |
+
"task": "go_to_point",
|
| 150 |
+
"success": true,
|
| 151 |
+
"grasped": false,
|
| 152 |
+
"eaten": false,
|
| 153 |
+
"final_berry_pos": [
|
| 154 |
+
0.3829,
|
| 155 |
+
0.2046,
|
| 156 |
+
0.0546
|
| 157 |
+
],
|
| 158 |
+
"final_root_xy": [
|
| 159 |
+
0.2999,
|
| 160 |
+
0.1588
|
| 161 |
+
],
|
| 162 |
+
"target_xy": [
|
| 163 |
+
0.3829,
|
| 164 |
+
0.2046
|
| 165 |
+
],
|
| 166 |
+
"min_mouth_dist": 0.2885,
|
| 167 |
+
"gif_path": null,
|
| 168 |
+
"mp4_path": null
|
| 169 |
+
},
|
| 170 |
+
{
|
| 171 |
+
"episode": 7,
|
| 172 |
+
"task": "go_to_point",
|
| 173 |
+
"success": true,
|
| 174 |
+
"grasped": false,
|
| 175 |
+
"eaten": false,
|
| 176 |
+
"final_berry_pos": [
|
| 177 |
+
0.4217,
|
| 178 |
+
0.1965,
|
| 179 |
+
0.0546
|
| 180 |
+
],
|
| 181 |
+
"final_root_xy": [
|
| 182 |
+
0.3361,
|
| 183 |
+
0.1542
|
| 184 |
+
],
|
| 185 |
+
"target_xy": [
|
| 186 |
+
0.4217,
|
| 187 |
+
0.1965
|
| 188 |
+
],
|
| 189 |
+
"min_mouth_dist": 0.3008,
|
| 190 |
+
"gif_path": null,
|
| 191 |
+
"mp4_path": null
|
| 192 |
+
},
|
| 193 |
+
{
|
| 194 |
+
"episode": 8,
|
| 195 |
+
"task": "go_to_point",
|
| 196 |
+
"success": true,
|
| 197 |
+
"grasped": false,
|
| 198 |
+
"eaten": false,
|
| 199 |
+
"final_berry_pos": [
|
| 200 |
+
0.4566,
|
| 201 |
+
-0.2821,
|
| 202 |
+
0.0546
|
| 203 |
+
],
|
| 204 |
+
"final_root_xy": [
|
| 205 |
+
0.39,
|
| 206 |
+
-0.2106
|
| 207 |
+
],
|
| 208 |
+
"target_xy": [
|
| 209 |
+
0.4566,
|
| 210 |
+
-0.2821
|
| 211 |
+
],
|
| 212 |
+
"min_mouth_dist": 0.3325,
|
| 213 |
+
"gif_path": null,
|
| 214 |
+
"mp4_path": null
|
| 215 |
+
},
|
| 216 |
+
{
|
| 217 |
+
"episode": 9,
|
| 218 |
+
"task": "go_to_point",
|
| 219 |
+
"success": true,
|
| 220 |
+
"grasped": false,
|
| 221 |
+
"eaten": false,
|
| 222 |
+
"final_berry_pos": [
|
| 223 |
+
0.412,
|
| 224 |
+
-0.1724,
|
| 225 |
+
0.2946
|
| 226 |
+
],
|
| 227 |
+
"final_root_xy": [
|
| 228 |
+
0.3224,
|
| 229 |
+
-0.1385
|
| 230 |
+
],
|
| 231 |
+
"target_xy": [
|
| 232 |
+
0.412,
|
| 233 |
+
-0.1724
|
| 234 |
+
],
|
| 235 |
+
"min_mouth_dist": 0.2282,
|
| 236 |
+
"gif_path": null,
|
| 237 |
+
"mp4_path": null
|
| 238 |
+
},
|
| 239 |
+
{
|
| 240 |
+
"episode": 10,
|
| 241 |
+
"task": "go_to_point",
|
| 242 |
+
"success": true,
|
| 243 |
+
"grasped": false,
|
| 244 |
+
"eaten": false,
|
| 245 |
+
"final_berry_pos": [
|
| 246 |
+
0.4686,
|
| 247 |
+
-0.0626,
|
| 248 |
+
0.2946
|
| 249 |
+
],
|
| 250 |
+
"final_root_xy": [
|
| 251 |
+
0.3732,
|
| 252 |
+
-0.0515
|
| 253 |
+
],
|
| 254 |
+
"target_xy": [
|
| 255 |
+
0.4686,
|
| 256 |
+
-0.0626
|
| 257 |
+
],
|
| 258 |
+
"min_mouth_dist": 0.2335,
|
| 259 |
+
"gif_path": null,
|
| 260 |
+
"mp4_path": null
|
| 261 |
+
},
|
| 262 |
+
{
|
| 263 |
+
"episode": 11,
|
| 264 |
+
"task": "go_to_point",
|
| 265 |
+
"success": true,
|
| 266 |
+
"grasped": false,
|
| 267 |
+
"eaten": false,
|
| 268 |
+
"final_berry_pos": [
|
| 269 |
+
0.4654,
|
| 270 |
+
-0.1958,
|
| 271 |
+
0.2923
|
| 272 |
+
],
|
| 273 |
+
"final_root_xy": [
|
| 274 |
+
0.3844,
|
| 275 |
+
-0.1614
|
| 276 |
+
],
|
| 277 |
+
"target_xy": [
|
| 278 |
+
0.4654,
|
| 279 |
+
-0.1955
|
| 280 |
+
],
|
| 281 |
+
"min_mouth_dist": 0.2289,
|
| 282 |
+
"gif_path": null,
|
| 283 |
+
"mp4_path": null
|
| 284 |
+
},
|
| 285 |
+
{
|
| 286 |
+
"episode": 12,
|
| 287 |
+
"task": "go_to_point",
|
| 288 |
+
"success": true,
|
| 289 |
+
"grasped": false,
|
| 290 |
+
"eaten": false,
|
| 291 |
+
"final_berry_pos": [
|
| 292 |
+
0.3628,
|
| 293 |
+
-0.1773,
|
| 294 |
+
0.2946
|
| 295 |
+
],
|
| 296 |
+
"final_root_xy": [
|
| 297 |
+
0.2757,
|
| 298 |
+
-0.1308
|
| 299 |
+
],
|
| 300 |
+
"target_xy": [
|
| 301 |
+
0.3628,
|
| 302 |
+
-0.1773
|
| 303 |
+
],
|
| 304 |
+
"min_mouth_dist": 0.2101,
|
| 305 |
+
"gif_path": null,
|
| 306 |
+
"mp4_path": null
|
| 307 |
+
},
|
| 308 |
+
{
|
| 309 |
+
"episode": 13,
|
| 310 |
+
"task": "go_to_point",
|
| 311 |
+
"success": true,
|
| 312 |
+
"grasped": false,
|
| 313 |
+
"eaten": false,
|
| 314 |
+
"final_berry_pos": [
|
| 315 |
+
0.4724,
|
| 316 |
+
0.073,
|
| 317 |
+
0.0546
|
| 318 |
+
],
|
| 319 |
+
"final_root_xy": [
|
| 320 |
+
0.3733,
|
| 321 |
+
0.0624
|
| 322 |
+
],
|
| 323 |
+
"target_xy": [
|
| 324 |
+
0.4724,
|
| 325 |
+
0.073
|
| 326 |
+
],
|
| 327 |
+
"min_mouth_dist": 0.2935,
|
| 328 |
+
"gif_path": null,
|
| 329 |
+
"mp4_path": null
|
| 330 |
+
},
|
| 331 |
+
{
|
| 332 |
+
"episode": 14,
|
| 333 |
+
"task": "go_to_point",
|
| 334 |
+
"success": true,
|
| 335 |
+
"grasped": false,
|
| 336 |
+
"eaten": false,
|
| 337 |
+
"final_berry_pos": [
|
| 338 |
+
0.4968,
|
| 339 |
+
0.1166,
|
| 340 |
+
0.0546
|
| 341 |
+
],
|
| 342 |
+
"final_root_xy": [
|
| 343 |
+
0.4033,
|
| 344 |
+
0.0935
|
| 345 |
+
],
|
| 346 |
+
"target_xy": [
|
| 347 |
+
0.4968,
|
| 348 |
+
0.1166
|
| 349 |
+
],
|
| 350 |
+
"min_mouth_dist": 0.3167,
|
| 351 |
+
"gif_path": null,
|
| 352 |
+
"mp4_path": null
|
| 353 |
+
},
|
| 354 |
+
{
|
| 355 |
+
"episode": 15,
|
| 356 |
+
"task": "go_to_point",
|
| 357 |
+
"success": true,
|
| 358 |
+
"grasped": false,
|
| 359 |
+
"eaten": false,
|
| 360 |
+
"final_berry_pos": [
|
| 361 |
+
0.3697,
|
| 362 |
+
0.0994,
|
| 363 |
+
0.0546
|
| 364 |
+
],
|
| 365 |
+
"final_root_xy": [
|
| 366 |
+
0.2797,
|
| 367 |
+
0.0699
|
| 368 |
+
],
|
| 369 |
+
"target_xy": [
|
| 370 |
+
0.3697,
|
| 371 |
+
0.0994
|
| 372 |
+
],
|
| 373 |
+
"min_mouth_dist": 0.2654,
|
| 374 |
+
"gif_path": null,
|
| 375 |
+
"mp4_path": null
|
| 376 |
+
},
|
| 377 |
+
{
|
| 378 |
+
"episode": 16,
|
| 379 |
+
"task": "go_to_point",
|
| 380 |
+
"success": true,
|
| 381 |
+
"grasped": false,
|
| 382 |
+
"eaten": false,
|
| 383 |
+
"final_berry_pos": [
|
| 384 |
+
0.3977,
|
| 385 |
+
-0.1866,
|
| 386 |
+
0.2942
|
| 387 |
+
],
|
| 388 |
+
"final_root_xy": [
|
| 389 |
+
0.3111,
|
| 390 |
+
-0.1474
|
| 391 |
+
],
|
| 392 |
+
"target_xy": [
|
| 393 |
+
0.3977,
|
| 394 |
+
-0.1866
|
| 395 |
+
],
|
| 396 |
+
"min_mouth_dist": 0.2247,
|
| 397 |
+
"gif_path": null,
|
| 398 |
+
"mp4_path": null
|
| 399 |
+
},
|
| 400 |
+
{
|
| 401 |
+
"episode": 17,
|
| 402 |
+
"task": "go_to_point",
|
| 403 |
+
"success": true,
|
| 404 |
+
"grasped": false,
|
| 405 |
+
"eaten": false,
|
| 406 |
+
"final_berry_pos": [
|
| 407 |
+
0.3541,
|
| 408 |
+
0.062,
|
| 409 |
+
0.0546
|
| 410 |
+
],
|
| 411 |
+
"final_root_xy": [
|
| 412 |
+
0.2592,
|
| 413 |
+
0.0399
|
| 414 |
+
],
|
| 415 |
+
"target_xy": [
|
| 416 |
+
0.3541,
|
| 417 |
+
0.062
|
| 418 |
+
],
|
| 419 |
+
"min_mouth_dist": 0.2528,
|
| 420 |
+
"gif_path": null,
|
| 421 |
+
"mp4_path": null
|
| 422 |
+
},
|
| 423 |
+
{
|
| 424 |
+
"episode": 18,
|
| 425 |
+
"task": "go_to_point",
|
| 426 |
+
"success": true,
|
| 427 |
+
"grasped": false,
|
| 428 |
+
"eaten": false,
|
| 429 |
+
"final_berry_pos": [
|
| 430 |
+
0.4367,
|
| 431 |
+
0.1429,
|
| 432 |
+
0.0546
|
| 433 |
+
],
|
| 434 |
+
"final_root_xy": [
|
| 435 |
+
0.3435,
|
| 436 |
+
0.1127
|
| 437 |
+
],
|
| 438 |
+
"target_xy": [
|
| 439 |
+
0.4367,
|
| 440 |
+
0.1429
|
| 441 |
+
],
|
| 442 |
+
"min_mouth_dist": 0.2933,
|
| 443 |
+
"gif_path": null,
|
| 444 |
+
"mp4_path": null
|
| 445 |
+
},
|
| 446 |
+
{
|
| 447 |
+
"episode": 19,
|
| 448 |
+
"task": "go_to_point",
|
| 449 |
+
"success": true,
|
| 450 |
+
"grasped": false,
|
| 451 |
+
"eaten": false,
|
| 452 |
+
"final_berry_pos": [
|
| 453 |
+
0.4333,
|
| 454 |
+
0.144,
|
| 455 |
+
0.0546
|
| 456 |
+
],
|
| 457 |
+
"final_root_xy": [
|
| 458 |
+
0.3411,
|
| 459 |
+
0.1137
|
| 460 |
+
],
|
| 461 |
+
"target_xy": [
|
| 462 |
+
0.4333,
|
| 463 |
+
0.144
|
| 464 |
+
],
|
| 465 |
+
"min_mouth_dist": 0.2922,
|
| 466 |
+
"gif_path": null,
|
| 467 |
+
"mp4_path": null
|
| 468 |
+
}
|
| 469 |
+
]
|
| 470 |
+
}
|
checkpoints/fireboy_articulated_go_to_point_clock/faithful_articulated_policy.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1ef1bda7fe07bbb61f3b05e24388b8fdd04ac12c09ee8f9dd3be5ab85972e12d
|
| 3 |
+
size 687591
|
checkpoints/fireboy_articulated_go_to_point_clock/faithful_articulated_policy.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0d7bac6a5308041f3d88e93d00eb8404f74e63f92992cb9cb609b11d934c7eab
|
| 3 |
+
size 688720
|
checkpoints/fireboy_articulated_pick_up/eval_pick_up.json
ADDED
|
@@ -0,0 +1,310 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_articulated_pick_up/faithful_articulated_policy.pt",
|
| 3 |
+
"task": "pick_up",
|
| 4 |
+
"episodes": 20,
|
| 5 |
+
"successes": 0,
|
| 6 |
+
"success_rate": 0.0,
|
| 7 |
+
"smooth_alpha": 0.0,
|
| 8 |
+
"reports": [
|
| 9 |
+
{
|
| 10 |
+
"episode": 0,
|
| 11 |
+
"task": "pick_up",
|
| 12 |
+
"success": false,
|
| 13 |
+
"grasped": false,
|
| 14 |
+
"eaten": false,
|
| 15 |
+
"final_berry_pos": [
|
| 16 |
+
0.4006,
|
| 17 |
+
-0.0988,
|
| 18 |
+
0.2946
|
| 19 |
+
],
|
| 20 |
+
"min_mouth_dist": 0.2487,
|
| 21 |
+
"gif_path": null,
|
| 22 |
+
"mp4_path": null
|
| 23 |
+
},
|
| 24 |
+
{
|
| 25 |
+
"episode": 1,
|
| 26 |
+
"task": "pick_up",
|
| 27 |
+
"success": false,
|
| 28 |
+
"grasped": false,
|
| 29 |
+
"eaten": false,
|
| 30 |
+
"final_berry_pos": [
|
| 31 |
+
0.4122,
|
| 32 |
+
-0.081,
|
| 33 |
+
0.2946
|
| 34 |
+
],
|
| 35 |
+
"min_mouth_dist": 0.2548,
|
| 36 |
+
"gif_path": null,
|
| 37 |
+
"mp4_path": null
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"episode": 2,
|
| 41 |
+
"task": "pick_up",
|
| 42 |
+
"success": false,
|
| 43 |
+
"grasped": false,
|
| 44 |
+
"eaten": false,
|
| 45 |
+
"final_berry_pos": [
|
| 46 |
+
0.412,
|
| 47 |
+
-0.0665,
|
| 48 |
+
0.2946
|
| 49 |
+
],
|
| 50 |
+
"min_mouth_dist": 0.2541,
|
| 51 |
+
"gif_path": null,
|
| 52 |
+
"mp4_path": null
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"episode": 3,
|
| 56 |
+
"task": "pick_up",
|
| 57 |
+
"success": false,
|
| 58 |
+
"grasped": false,
|
| 59 |
+
"eaten": false,
|
| 60 |
+
"final_berry_pos": [
|
| 61 |
+
0.4138,
|
| 62 |
+
-0.1132,
|
| 63 |
+
0.2946
|
| 64 |
+
],
|
| 65 |
+
"min_mouth_dist": 0.2507,
|
| 66 |
+
"gif_path": null,
|
| 67 |
+
"mp4_path": null
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"episode": 4,
|
| 71 |
+
"task": "pick_up",
|
| 72 |
+
"success": false,
|
| 73 |
+
"grasped": false,
|
| 74 |
+
"eaten": false,
|
| 75 |
+
"final_berry_pos": [
|
| 76 |
+
0.3805,
|
| 77 |
+
-0.0706,
|
| 78 |
+
0.2946
|
| 79 |
+
],
|
| 80 |
+
"min_mouth_dist": 0.2426,
|
| 81 |
+
"gif_path": null,
|
| 82 |
+
"mp4_path": null
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"episode": 5,
|
| 86 |
+
"task": "pick_up",
|
| 87 |
+
"success": false,
|
| 88 |
+
"grasped": false,
|
| 89 |
+
"eaten": false,
|
| 90 |
+
"final_berry_pos": [
|
| 91 |
+
0.3862,
|
| 92 |
+
-0.0872,
|
| 93 |
+
0.2946
|
| 94 |
+
],
|
| 95 |
+
"min_mouth_dist": 0.2439,
|
| 96 |
+
"gif_path": null,
|
| 97 |
+
"mp4_path": null
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"episode": 6,
|
| 101 |
+
"task": "pick_up",
|
| 102 |
+
"success": false,
|
| 103 |
+
"grasped": false,
|
| 104 |
+
"eaten": false,
|
| 105 |
+
"final_berry_pos": [
|
| 106 |
+
0.4196,
|
| 107 |
+
-0.1021,
|
| 108 |
+
0.2946
|
| 109 |
+
],
|
| 110 |
+
"min_mouth_dist": 0.2609,
|
| 111 |
+
"gif_path": null,
|
| 112 |
+
"mp4_path": null
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"episode": 7,
|
| 116 |
+
"task": "pick_up",
|
| 117 |
+
"success": false,
|
| 118 |
+
"grasped": false,
|
| 119 |
+
"eaten": false,
|
| 120 |
+
"final_berry_pos": [
|
| 121 |
+
0.4174,
|
| 122 |
+
-0.0912,
|
| 123 |
+
0.2946
|
| 124 |
+
],
|
| 125 |
+
"min_mouth_dist": 0.2571,
|
| 126 |
+
"gif_path": null,
|
| 127 |
+
"mp4_path": null
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"episode": 8,
|
| 131 |
+
"task": "pick_up",
|
| 132 |
+
"success": false,
|
| 133 |
+
"grasped": false,
|
| 134 |
+
"eaten": false,
|
| 135 |
+
"final_berry_pos": [
|
| 136 |
+
0.3779,
|
| 137 |
+
-0.0662,
|
| 138 |
+
0.2946
|
| 139 |
+
],
|
| 140 |
+
"min_mouth_dist": 0.242,
|
| 141 |
+
"gif_path": null,
|
| 142 |
+
"mp4_path": null
|
| 143 |
+
},
|
| 144 |
+
{
|
| 145 |
+
"episode": 9,
|
| 146 |
+
"task": "pick_up",
|
| 147 |
+
"success": false,
|
| 148 |
+
"grasped": false,
|
| 149 |
+
"eaten": false,
|
| 150 |
+
"final_berry_pos": [
|
| 151 |
+
0.3842,
|
| 152 |
+
-0.0977,
|
| 153 |
+
0.2946
|
| 154 |
+
],
|
| 155 |
+
"min_mouth_dist": 0.2434,
|
| 156 |
+
"gif_path": null,
|
| 157 |
+
"mp4_path": null
|
| 158 |
+
},
|
| 159 |
+
{
|
| 160 |
+
"episode": 10,
|
| 161 |
+
"task": "pick_up",
|
| 162 |
+
"success": false,
|
| 163 |
+
"grasped": false,
|
| 164 |
+
"eaten": false,
|
| 165 |
+
"final_berry_pos": [
|
| 166 |
+
0.3947,
|
| 167 |
+
-0.0885,
|
| 168 |
+
0.2946
|
| 169 |
+
],
|
| 170 |
+
"min_mouth_dist": 0.247,
|
| 171 |
+
"gif_path": null,
|
| 172 |
+
"mp4_path": null
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"episode": 11,
|
| 176 |
+
"task": "pick_up",
|
| 177 |
+
"success": false,
|
| 178 |
+
"grasped": false,
|
| 179 |
+
"eaten": false,
|
| 180 |
+
"final_berry_pos": [
|
| 181 |
+
0.3841,
|
| 182 |
+
-0.0773,
|
| 183 |
+
0.2946
|
| 184 |
+
],
|
| 185 |
+
"min_mouth_dist": 0.2431,
|
| 186 |
+
"gif_path": null,
|
| 187 |
+
"mp4_path": null
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"episode": 12,
|
| 191 |
+
"task": "pick_up",
|
| 192 |
+
"success": false,
|
| 193 |
+
"grasped": false,
|
| 194 |
+
"eaten": false,
|
| 195 |
+
"final_berry_pos": [
|
| 196 |
+
0.3818,
|
| 197 |
+
-0.1127,
|
| 198 |
+
0.2946
|
| 199 |
+
],
|
| 200 |
+
"min_mouth_dist": 0.2438,
|
| 201 |
+
"gif_path": null,
|
| 202 |
+
"mp4_path": null
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"episode": 13,
|
| 206 |
+
"task": "pick_up",
|
| 207 |
+
"success": false,
|
| 208 |
+
"grasped": false,
|
| 209 |
+
"eaten": false,
|
| 210 |
+
"final_berry_pos": [
|
| 211 |
+
0.4061,
|
| 212 |
+
-0.0867,
|
| 213 |
+
0.2946
|
| 214 |
+
],
|
| 215 |
+
"min_mouth_dist": 0.2514,
|
| 216 |
+
"gif_path": null,
|
| 217 |
+
"mp4_path": null
|
| 218 |
+
},
|
| 219 |
+
{
|
| 220 |
+
"episode": 14,
|
| 221 |
+
"task": "pick_up",
|
| 222 |
+
"success": false,
|
| 223 |
+
"grasped": false,
|
| 224 |
+
"eaten": false,
|
| 225 |
+
"final_berry_pos": [
|
| 226 |
+
0.4092,
|
| 227 |
+
-0.0754,
|
| 228 |
+
0.2946
|
| 229 |
+
],
|
| 230 |
+
"min_mouth_dist": 0.2538,
|
| 231 |
+
"gif_path": null,
|
| 232 |
+
"mp4_path": null
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"episode": 15,
|
| 236 |
+
"task": "pick_up",
|
| 237 |
+
"success": false,
|
| 238 |
+
"grasped": false,
|
| 239 |
+
"eaten": false,
|
| 240 |
+
"final_berry_pos": [
|
| 241 |
+
0.4105,
|
| 242 |
+
-0.12,
|
| 243 |
+
0.2946
|
| 244 |
+
],
|
| 245 |
+
"min_mouth_dist": 0.2406,
|
| 246 |
+
"gif_path": null,
|
| 247 |
+
"mp4_path": null
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"episode": 16,
|
| 251 |
+
"task": "pick_up",
|
| 252 |
+
"success": false,
|
| 253 |
+
"grasped": false,
|
| 254 |
+
"eaten": false,
|
| 255 |
+
"final_berry_pos": [
|
| 256 |
+
0.3825,
|
| 257 |
+
-0.1002,
|
| 258 |
+
0.2946
|
| 259 |
+
],
|
| 260 |
+
"min_mouth_dist": 0.2429,
|
| 261 |
+
"gif_path": null,
|
| 262 |
+
"mp4_path": null
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"episode": 17,
|
| 266 |
+
"task": "pick_up",
|
| 267 |
+
"success": false,
|
| 268 |
+
"grasped": false,
|
| 269 |
+
"eaten": false,
|
| 270 |
+
"final_berry_pos": [
|
| 271 |
+
0.4069,
|
| 272 |
+
-0.1282,
|
| 273 |
+
0.2946
|
| 274 |
+
],
|
| 275 |
+
"min_mouth_dist": 0.2315,
|
| 276 |
+
"gif_path": null,
|
| 277 |
+
"mp4_path": null
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"episode": 18,
|
| 281 |
+
"task": "pick_up",
|
| 282 |
+
"success": false,
|
| 283 |
+
"grasped": false,
|
| 284 |
+
"eaten": false,
|
| 285 |
+
"final_berry_pos": [
|
| 286 |
+
0.4126,
|
| 287 |
+
-0.0932,
|
| 288 |
+
0.2946
|
| 289 |
+
],
|
| 290 |
+
"min_mouth_dist": 0.2548,
|
| 291 |
+
"gif_path": null,
|
| 292 |
+
"mp4_path": null
|
| 293 |
+
},
|
| 294 |
+
{
|
| 295 |
+
"episode": 19,
|
| 296 |
+
"task": "pick_up",
|
| 297 |
+
"success": false,
|
| 298 |
+
"grasped": false,
|
| 299 |
+
"eaten": false,
|
| 300 |
+
"final_berry_pos": [
|
| 301 |
+
0.4128,
|
| 302 |
+
-0.0942,
|
| 303 |
+
0.2946
|
| 304 |
+
],
|
| 305 |
+
"min_mouth_dist": 0.2551,
|
| 306 |
+
"gif_path": null,
|
| 307 |
+
"mp4_path": null
|
| 308 |
+
}
|
| 309 |
+
]
|
| 310 |
+
}
|
checkpoints/fireboy_articulated_pick_up/faithful_articulated_policy.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c8d5664614717d53075b9755ba89ecd457875a5824e5319f8240a31f86eb7afb
|
| 3 |
+
size 905291
|
checkpoints/fireboy_articulated_pick_up/faithful_articulated_policy.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:43ff71f3fe675fd651a97b27ecf80efbc9b76badf93f7cc8b5ced7ac4bb8e33e
|
| 3 |
+
size 906832
|
checkpoints/fireboy_articulated_pick_up_chunk/eval_pick_up_chunk.json
ADDED
|
@@ -0,0 +1,412 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_articulated_pick_up_chunk/faithful_articulated_chunk_policy.pt",
|
| 3 |
+
"task": "pick_up",
|
| 4 |
+
"episodes": 20,
|
| 5 |
+
"successes": 20,
|
| 6 |
+
"success_rate": 1.0,
|
| 7 |
+
"smooth_alpha": 0.0,
|
| 8 |
+
"replan_interval": 8,
|
| 9 |
+
"chunk_steps": 16,
|
| 10 |
+
"reports": [
|
| 11 |
+
{
|
| 12 |
+
"episode": 0,
|
| 13 |
+
"task": "pick_up",
|
| 14 |
+
"success": true,
|
| 15 |
+
"grasped": true,
|
| 16 |
+
"eaten": false,
|
| 17 |
+
"final_berry_pos": [
|
| 18 |
+
0.5021,
|
| 19 |
+
0.1147,
|
| 20 |
+
0.3759
|
| 21 |
+
],
|
| 22 |
+
"final_root_xy": [
|
| 23 |
+
0.5057,
|
| 24 |
+
0.5514
|
| 25 |
+
],
|
| 26 |
+
"target_xy": null,
|
| 27 |
+
"min_mouth_dist": 0.2652,
|
| 28 |
+
"gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/learned_chunk/faithful_chunk_pick_up_policy_ep000.gif",
|
| 29 |
+
"mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/learned_chunk/faithful_chunk_pick_up_policy_ep000.mp4"
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"episode": 1,
|
| 33 |
+
"task": "pick_up",
|
| 34 |
+
"success": true,
|
| 35 |
+
"grasped": true,
|
| 36 |
+
"eaten": false,
|
| 37 |
+
"final_berry_pos": [
|
| 38 |
+
0.5022,
|
| 39 |
+
0.0723,
|
| 40 |
+
0.3613
|
| 41 |
+
],
|
| 42 |
+
"final_root_xy": [
|
| 43 |
+
0.4325,
|
| 44 |
+
0.5232
|
| 45 |
+
],
|
| 46 |
+
"target_xy": null,
|
| 47 |
+
"min_mouth_dist": 0.2637,
|
| 48 |
+
"gif_path": null,
|
| 49 |
+
"mp4_path": null
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"episode": 2,
|
| 53 |
+
"task": "pick_up",
|
| 54 |
+
"success": true,
|
| 55 |
+
"grasped": true,
|
| 56 |
+
"eaten": false,
|
| 57 |
+
"final_berry_pos": [
|
| 58 |
+
0.4697,
|
| 59 |
+
0.0598,
|
| 60 |
+
0.3669
|
| 61 |
+
],
|
| 62 |
+
"final_root_xy": [
|
| 63 |
+
0.4172,
|
| 64 |
+
0.5026
|
| 65 |
+
],
|
| 66 |
+
"target_xy": null,
|
| 67 |
+
"min_mouth_dist": 0.2617,
|
| 68 |
+
"gif_path": null,
|
| 69 |
+
"mp4_path": null
|
| 70 |
+
},
|
| 71 |
+
{
|
| 72 |
+
"episode": 3,
|
| 73 |
+
"task": "pick_up",
|
| 74 |
+
"success": true,
|
| 75 |
+
"grasped": true,
|
| 76 |
+
"eaten": false,
|
| 77 |
+
"final_berry_pos": [
|
| 78 |
+
0.537,
|
| 79 |
+
0.0833,
|
| 80 |
+
0.3759
|
| 81 |
+
],
|
| 82 |
+
"final_root_xy": [
|
| 83 |
+
0.5089,
|
| 84 |
+
0.5364
|
| 85 |
+
],
|
| 86 |
+
"target_xy": null,
|
| 87 |
+
"min_mouth_dist": 0.2651,
|
| 88 |
+
"gif_path": null,
|
| 89 |
+
"mp4_path": null
|
| 90 |
+
},
|
| 91 |
+
{
|
| 92 |
+
"episode": 4,
|
| 93 |
+
"task": "pick_up",
|
| 94 |
+
"success": true,
|
| 95 |
+
"grasped": true,
|
| 96 |
+
"eaten": false,
|
| 97 |
+
"final_berry_pos": [
|
| 98 |
+
0.3959,
|
| 99 |
+
0.0383,
|
| 100 |
+
0.3713
|
| 101 |
+
],
|
| 102 |
+
"final_root_xy": [
|
| 103 |
+
0.3696,
|
| 104 |
+
0.4767
|
| 105 |
+
],
|
| 106 |
+
"target_xy": null,
|
| 107 |
+
"min_mouth_dist": 0.2568,
|
| 108 |
+
"gif_path": null,
|
| 109 |
+
"mp4_path": null
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"episode": 5,
|
| 113 |
+
"task": "pick_up",
|
| 114 |
+
"success": true,
|
| 115 |
+
"grasped": true,
|
| 116 |
+
"eaten": false,
|
| 117 |
+
"final_berry_pos": [
|
| 118 |
+
0.4087,
|
| 119 |
+
0.0706,
|
| 120 |
+
0.362
|
| 121 |
+
],
|
| 122 |
+
"final_root_xy": [
|
| 123 |
+
0.3838,
|
| 124 |
+
0.5082
|
| 125 |
+
],
|
| 126 |
+
"target_xy": null,
|
| 127 |
+
"min_mouth_dist": 0.2632,
|
| 128 |
+
"gif_path": null,
|
| 129 |
+
"mp4_path": null
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"episode": 6,
|
| 133 |
+
"task": "pick_up",
|
| 134 |
+
"success": true,
|
| 135 |
+
"grasped": true,
|
| 136 |
+
"eaten": false,
|
| 137 |
+
"final_berry_pos": [
|
| 138 |
+
0.584,
|
| 139 |
+
0.0953,
|
| 140 |
+
0.3647
|
| 141 |
+
],
|
| 142 |
+
"final_root_xy": [
|
| 143 |
+
0.5544,
|
| 144 |
+
0.5396
|
| 145 |
+
],
|
| 146 |
+
"target_xy": null,
|
| 147 |
+
"min_mouth_dist": 0.2642,
|
| 148 |
+
"gif_path": null,
|
| 149 |
+
"mp4_path": null
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"episode": 7,
|
| 153 |
+
"task": "pick_up",
|
| 154 |
+
"success": true,
|
| 155 |
+
"grasped": true,
|
| 156 |
+
"eaten": false,
|
| 157 |
+
"final_berry_pos": [
|
| 158 |
+
0.5147,
|
| 159 |
+
0.0734,
|
| 160 |
+
0.3642
|
| 161 |
+
],
|
| 162 |
+
"final_root_xy": [
|
| 163 |
+
0.4332,
|
| 164 |
+
0.531
|
| 165 |
+
],
|
| 166 |
+
"target_xy": null,
|
| 167 |
+
"min_mouth_dist": 0.2636,
|
| 168 |
+
"gif_path": null,
|
| 169 |
+
"mp4_path": null
|
| 170 |
+
},
|
| 171 |
+
{
|
| 172 |
+
"episode": 8,
|
| 173 |
+
"task": "pick_up",
|
| 174 |
+
"success": true,
|
| 175 |
+
"grasped": true,
|
| 176 |
+
"eaten": false,
|
| 177 |
+
"final_berry_pos": [
|
| 178 |
+
0.393,
|
| 179 |
+
0.0359,
|
| 180 |
+
0.3707
|
| 181 |
+
],
|
| 182 |
+
"final_root_xy": [
|
| 183 |
+
0.3689,
|
| 184 |
+
0.4729
|
| 185 |
+
],
|
| 186 |
+
"target_xy": null,
|
| 187 |
+
"min_mouth_dist": 0.2549,
|
| 188 |
+
"gif_path": null,
|
| 189 |
+
"mp4_path": null
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"episode": 9,
|
| 193 |
+
"task": "pick_up",
|
| 194 |
+
"success": true,
|
| 195 |
+
"grasped": true,
|
| 196 |
+
"eaten": false,
|
| 197 |
+
"final_berry_pos": [
|
| 198 |
+
0.3924,
|
| 199 |
+
0.0429,
|
| 200 |
+
0.3648
|
| 201 |
+
],
|
| 202 |
+
"final_root_xy": [
|
| 203 |
+
0.391,
|
| 204 |
+
0.4749
|
| 205 |
+
],
|
| 206 |
+
"target_xy": null,
|
| 207 |
+
"min_mouth_dist": 0.2663,
|
| 208 |
+
"gif_path": null,
|
| 209 |
+
"mp4_path": null
|
| 210 |
+
},
|
| 211 |
+
{
|
| 212 |
+
"episode": 10,
|
| 213 |
+
"task": "pick_up",
|
| 214 |
+
"success": true,
|
| 215 |
+
"grasped": true,
|
| 216 |
+
"eaten": false,
|
| 217 |
+
"final_berry_pos": [
|
| 218 |
+
0.4223,
|
| 219 |
+
0.0752,
|
| 220 |
+
0.3671
|
| 221 |
+
],
|
| 222 |
+
"final_root_xy": [
|
| 223 |
+
0.3814,
|
| 224 |
+
0.5192
|
| 225 |
+
],
|
| 226 |
+
"target_xy": null,
|
| 227 |
+
"min_mouth_dist": 0.2652,
|
| 228 |
+
"gif_path": null,
|
| 229 |
+
"mp4_path": null
|
| 230 |
+
},
|
| 231 |
+
{
|
| 232 |
+
"episode": 11,
|
| 233 |
+
"task": "pick_up",
|
| 234 |
+
"success": true,
|
| 235 |
+
"grasped": true,
|
| 236 |
+
"eaten": false,
|
| 237 |
+
"final_berry_pos": [
|
| 238 |
+
0.3855,
|
| 239 |
+
0.0387,
|
| 240 |
+
0.3605
|
| 241 |
+
],
|
| 242 |
+
"final_root_xy": [
|
| 243 |
+
0.3773,
|
| 244 |
+
0.4717
|
| 245 |
+
],
|
| 246 |
+
"target_xy": null,
|
| 247 |
+
"min_mouth_dist": 0.2596,
|
| 248 |
+
"gif_path": null,
|
| 249 |
+
"mp4_path": null
|
| 250 |
+
},
|
| 251 |
+
{
|
| 252 |
+
"episode": 12,
|
| 253 |
+
"task": "pick_up",
|
| 254 |
+
"success": true,
|
| 255 |
+
"grasped": true,
|
| 256 |
+
"eaten": false,
|
| 257 |
+
"final_berry_pos": [
|
| 258 |
+
0.3815,
|
| 259 |
+
0.0465,
|
| 260 |
+
0.3704
|
| 261 |
+
],
|
| 262 |
+
"final_root_xy": [
|
| 263 |
+
0.3837,
|
| 264 |
+
0.4847
|
| 265 |
+
],
|
| 266 |
+
"target_xy": null,
|
| 267 |
+
"min_mouth_dist": 0.2672,
|
| 268 |
+
"gif_path": null,
|
| 269 |
+
"mp4_path": null
|
| 270 |
+
},
|
| 271 |
+
{
|
| 272 |
+
"episode": 13,
|
| 273 |
+
"task": "pick_up",
|
| 274 |
+
"success": true,
|
| 275 |
+
"grasped": true,
|
| 276 |
+
"eaten": false,
|
| 277 |
+
"final_berry_pos": [
|
| 278 |
+
0.4838,
|
| 279 |
+
0.0759,
|
| 280 |
+
0.362
|
| 281 |
+
],
|
| 282 |
+
"final_root_xy": [
|
| 283 |
+
0.419,
|
| 284 |
+
0.5257
|
| 285 |
+
],
|
| 286 |
+
"target_xy": null,
|
| 287 |
+
"min_mouth_dist": 0.2645,
|
| 288 |
+
"gif_path": null,
|
| 289 |
+
"mp4_path": null
|
| 290 |
+
},
|
| 291 |
+
{
|
| 292 |
+
"episode": 14,
|
| 293 |
+
"task": "pick_up",
|
| 294 |
+
"success": true,
|
| 295 |
+
"grasped": true,
|
| 296 |
+
"eaten": false,
|
| 297 |
+
"final_berry_pos": [
|
| 298 |
+
0.4616,
|
| 299 |
+
0.0263,
|
| 300 |
+
0.362
|
| 301 |
+
],
|
| 302 |
+
"final_root_xy": [
|
| 303 |
+
0.4113,
|
| 304 |
+
0.4682
|
| 305 |
+
],
|
| 306 |
+
"target_xy": null,
|
| 307 |
+
"min_mouth_dist": 0.263,
|
| 308 |
+
"gif_path": null,
|
| 309 |
+
"mp4_path": null
|
| 310 |
+
},
|
| 311 |
+
{
|
| 312 |
+
"episode": 15,
|
| 313 |
+
"task": "pick_up",
|
| 314 |
+
"success": true,
|
| 315 |
+
"grasped": true,
|
| 316 |
+
"eaten": false,
|
| 317 |
+
"final_berry_pos": [
|
| 318 |
+
0.4359,
|
| 319 |
+
0.063,
|
| 320 |
+
0.3604
|
| 321 |
+
],
|
| 322 |
+
"final_root_xy": [
|
| 323 |
+
0.4576,
|
| 324 |
+
0.4981
|
| 325 |
+
],
|
| 326 |
+
"target_xy": null,
|
| 327 |
+
"min_mouth_dist": 0.2656,
|
| 328 |
+
"gif_path": null,
|
| 329 |
+
"mp4_path": null
|
| 330 |
+
},
|
| 331 |
+
{
|
| 332 |
+
"episode": 16,
|
| 333 |
+
"task": "pick_up",
|
| 334 |
+
"success": true,
|
| 335 |
+
"grasped": true,
|
| 336 |
+
"eaten": false,
|
| 337 |
+
"final_berry_pos": [
|
| 338 |
+
0.3901,
|
| 339 |
+
0.0413,
|
| 340 |
+
0.3626
|
| 341 |
+
],
|
| 342 |
+
"final_root_xy": [
|
| 343 |
+
0.3902,
|
| 344 |
+
0.473
|
| 345 |
+
],
|
| 346 |
+
"target_xy": null,
|
| 347 |
+
"min_mouth_dist": 0.2668,
|
| 348 |
+
"gif_path": null,
|
| 349 |
+
"mp4_path": null
|
| 350 |
+
},
|
| 351 |
+
{
|
| 352 |
+
"episode": 17,
|
| 353 |
+
"task": "pick_up",
|
| 354 |
+
"success": true,
|
| 355 |
+
"grasped": true,
|
| 356 |
+
"eaten": false,
|
| 357 |
+
"final_berry_pos": [
|
| 358 |
+
0.4013,
|
| 359 |
+
0.0769,
|
| 360 |
+
0.3608
|
| 361 |
+
],
|
| 362 |
+
"final_root_xy": [
|
| 363 |
+
0.3872,
|
| 364 |
+
0.5106
|
| 365 |
+
],
|
| 366 |
+
"target_xy": null,
|
| 367 |
+
"min_mouth_dist": 0.2661,
|
| 368 |
+
"gif_path": null,
|
| 369 |
+
"mp4_path": null
|
| 370 |
+
},
|
| 371 |
+
{
|
| 372 |
+
"episode": 18,
|
| 373 |
+
"task": "pick_up",
|
| 374 |
+
"success": true,
|
| 375 |
+
"grasped": true,
|
| 376 |
+
"eaten": false,
|
| 377 |
+
"final_berry_pos": [
|
| 378 |
+
0.5625,
|
| 379 |
+
0.1072,
|
| 380 |
+
0.3634
|
| 381 |
+
],
|
| 382 |
+
"final_root_xy": [
|
| 383 |
+
0.5397,
|
| 384 |
+
0.5441
|
| 385 |
+
],
|
| 386 |
+
"target_xy": null,
|
| 387 |
+
"min_mouth_dist": 0.2641,
|
| 388 |
+
"gif_path": null,
|
| 389 |
+
"mp4_path": null
|
| 390 |
+
},
|
| 391 |
+
{
|
| 392 |
+
"episode": 19,
|
| 393 |
+
"task": "pick_up",
|
| 394 |
+
"success": true,
|
| 395 |
+
"grasped": true,
|
| 396 |
+
"eaten": false,
|
| 397 |
+
"final_berry_pos": [
|
| 398 |
+
0.5624,
|
| 399 |
+
0.1042,
|
| 400 |
+
0.3667
|
| 401 |
+
],
|
| 402 |
+
"final_root_xy": [
|
| 403 |
+
0.5387,
|
| 404 |
+
0.5433
|
| 405 |
+
],
|
| 406 |
+
"target_xy": null,
|
| 407 |
+
"min_mouth_dist": 0.2641,
|
| 408 |
+
"gif_path": null,
|
| 409 |
+
"mp4_path": null
|
| 410 |
+
}
|
| 411 |
+
]
|
| 412 |
+
}
|
checkpoints/fireboy_articulated_pick_up_chunk/faithful_articulated_chunk_policy.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e2d339bf8023f0af5d57c7a9b28ca87c4f7dbfdbd6837565e604d60ac5b4c6c5
|
| 3 |
+
size 2168844
|
checkpoints/fireboy_articulated_run_around/eval_run_around.json
ADDED
|
@@ -0,0 +1,310 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_articulated_run_around/faithful_articulated_policy.pt",
|
| 3 |
+
"task": "run_around",
|
| 4 |
+
"episodes": 20,
|
| 5 |
+
"successes": 20,
|
| 6 |
+
"success_rate": 1.0,
|
| 7 |
+
"smooth_alpha": 0.0,
|
| 8 |
+
"reports": [
|
| 9 |
+
{
|
| 10 |
+
"episode": 0,
|
| 11 |
+
"task": "run_around",
|
| 12 |
+
"success": true,
|
| 13 |
+
"grasped": false,
|
| 14 |
+
"eaten": false,
|
| 15 |
+
"final_berry_pos": [
|
| 16 |
+
0.4006,
|
| 17 |
+
-0.0988,
|
| 18 |
+
0.2946
|
| 19 |
+
],
|
| 20 |
+
"min_mouth_dist": 0.3071,
|
| 21 |
+
"gif_path": null,
|
| 22 |
+
"mp4_path": null
|
| 23 |
+
},
|
| 24 |
+
{
|
| 25 |
+
"episode": 1,
|
| 26 |
+
"task": "run_around",
|
| 27 |
+
"success": true,
|
| 28 |
+
"grasped": false,
|
| 29 |
+
"eaten": false,
|
| 30 |
+
"final_berry_pos": [
|
| 31 |
+
0.4122,
|
| 32 |
+
-0.081,
|
| 33 |
+
0.2946
|
| 34 |
+
],
|
| 35 |
+
"min_mouth_dist": 0.3046,
|
| 36 |
+
"gif_path": null,
|
| 37 |
+
"mp4_path": null
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"episode": 2,
|
| 41 |
+
"task": "run_around",
|
| 42 |
+
"success": true,
|
| 43 |
+
"grasped": false,
|
| 44 |
+
"eaten": false,
|
| 45 |
+
"final_berry_pos": [
|
| 46 |
+
0.412,
|
| 47 |
+
-0.0665,
|
| 48 |
+
0.2946
|
| 49 |
+
],
|
| 50 |
+
"min_mouth_dist": 0.3007,
|
| 51 |
+
"gif_path": null,
|
| 52 |
+
"mp4_path": null
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"episode": 3,
|
| 56 |
+
"task": "run_around",
|
| 57 |
+
"success": true,
|
| 58 |
+
"grasped": false,
|
| 59 |
+
"eaten": false,
|
| 60 |
+
"final_berry_pos": [
|
| 61 |
+
0.4138,
|
| 62 |
+
-0.1132,
|
| 63 |
+
0.2946
|
| 64 |
+
],
|
| 65 |
+
"min_mouth_dist": 0.3158,
|
| 66 |
+
"gif_path": null,
|
| 67 |
+
"mp4_path": null
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"episode": 4,
|
| 71 |
+
"task": "run_around",
|
| 72 |
+
"success": true,
|
| 73 |
+
"grasped": false,
|
| 74 |
+
"eaten": false,
|
| 75 |
+
"final_berry_pos": [
|
| 76 |
+
0.3805,
|
| 77 |
+
-0.0706,
|
| 78 |
+
0.2946
|
| 79 |
+
],
|
| 80 |
+
"min_mouth_dist": 0.2941,
|
| 81 |
+
"gif_path": null,
|
| 82 |
+
"mp4_path": null
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"episode": 5,
|
| 86 |
+
"task": "run_around",
|
| 87 |
+
"success": true,
|
| 88 |
+
"grasped": false,
|
| 89 |
+
"eaten": false,
|
| 90 |
+
"final_berry_pos": [
|
| 91 |
+
0.3862,
|
| 92 |
+
-0.0872,
|
| 93 |
+
0.2946
|
| 94 |
+
],
|
| 95 |
+
"min_mouth_dist": 0.3,
|
| 96 |
+
"gif_path": null,
|
| 97 |
+
"mp4_path": null
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"episode": 6,
|
| 101 |
+
"task": "run_around",
|
| 102 |
+
"success": true,
|
| 103 |
+
"grasped": false,
|
| 104 |
+
"eaten": false,
|
| 105 |
+
"final_berry_pos": [
|
| 106 |
+
0.4196,
|
| 107 |
+
-0.1021,
|
| 108 |
+
0.2946
|
| 109 |
+
],
|
| 110 |
+
"min_mouth_dist": 0.3135,
|
| 111 |
+
"gif_path": null,
|
| 112 |
+
"mp4_path": null
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"episode": 7,
|
| 116 |
+
"task": "run_around",
|
| 117 |
+
"success": true,
|
| 118 |
+
"grasped": false,
|
| 119 |
+
"eaten": false,
|
| 120 |
+
"final_berry_pos": [
|
| 121 |
+
0.4174,
|
| 122 |
+
-0.0912,
|
| 123 |
+
0.2946
|
| 124 |
+
],
|
| 125 |
+
"min_mouth_dist": 0.3092,
|
| 126 |
+
"gif_path": null,
|
| 127 |
+
"mp4_path": null
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"episode": 8,
|
| 131 |
+
"task": "run_around",
|
| 132 |
+
"success": true,
|
| 133 |
+
"grasped": false,
|
| 134 |
+
"eaten": false,
|
| 135 |
+
"final_berry_pos": [
|
| 136 |
+
0.3779,
|
| 137 |
+
-0.0662,
|
| 138 |
+
0.2946
|
| 139 |
+
],
|
| 140 |
+
"min_mouth_dist": 0.2925,
|
| 141 |
+
"gif_path": null,
|
| 142 |
+
"mp4_path": null
|
| 143 |
+
},
|
| 144 |
+
{
|
| 145 |
+
"episode": 9,
|
| 146 |
+
"task": "run_around",
|
| 147 |
+
"success": true,
|
| 148 |
+
"grasped": false,
|
| 149 |
+
"eaten": false,
|
| 150 |
+
"final_berry_pos": [
|
| 151 |
+
0.3842,
|
| 152 |
+
-0.0977,
|
| 153 |
+
0.2946
|
| 154 |
+
],
|
| 155 |
+
"min_mouth_dist": 0.303,
|
| 156 |
+
"gif_path": null,
|
| 157 |
+
"mp4_path": null
|
| 158 |
+
},
|
| 159 |
+
{
|
| 160 |
+
"episode": 10,
|
| 161 |
+
"task": "run_around",
|
| 162 |
+
"success": true,
|
| 163 |
+
"grasped": false,
|
| 164 |
+
"eaten": false,
|
| 165 |
+
"final_berry_pos": [
|
| 166 |
+
0.3947,
|
| 167 |
+
-0.0885,
|
| 168 |
+
0.2946
|
| 169 |
+
],
|
| 170 |
+
"min_mouth_dist": 0.3023,
|
| 171 |
+
"gif_path": null,
|
| 172 |
+
"mp4_path": null
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"episode": 11,
|
| 176 |
+
"task": "run_around",
|
| 177 |
+
"success": true,
|
| 178 |
+
"grasped": false,
|
| 179 |
+
"eaten": false,
|
| 180 |
+
"final_berry_pos": [
|
| 181 |
+
0.3841,
|
| 182 |
+
-0.0773,
|
| 183 |
+
0.2946
|
| 184 |
+
],
|
| 185 |
+
"min_mouth_dist": 0.2966,
|
| 186 |
+
"gif_path": null,
|
| 187 |
+
"mp4_path": null
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"episode": 12,
|
| 191 |
+
"task": "run_around",
|
| 192 |
+
"success": true,
|
| 193 |
+
"grasped": false,
|
| 194 |
+
"eaten": false,
|
| 195 |
+
"final_berry_pos": [
|
| 196 |
+
0.3818,
|
| 197 |
+
-0.1127,
|
| 198 |
+
0.2946
|
| 199 |
+
],
|
| 200 |
+
"min_mouth_dist": 0.308,
|
| 201 |
+
"gif_path": null,
|
| 202 |
+
"mp4_path": null
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"episode": 13,
|
| 206 |
+
"task": "run_around",
|
| 207 |
+
"success": true,
|
| 208 |
+
"grasped": false,
|
| 209 |
+
"eaten": false,
|
| 210 |
+
"final_berry_pos": [
|
| 211 |
+
0.4061,
|
| 212 |
+
-0.0867,
|
| 213 |
+
0.2946
|
| 214 |
+
],
|
| 215 |
+
"min_mouth_dist": 0.3046,
|
| 216 |
+
"gif_path": null,
|
| 217 |
+
"mp4_path": null
|
| 218 |
+
},
|
| 219 |
+
{
|
| 220 |
+
"episode": 14,
|
| 221 |
+
"task": "run_around",
|
| 222 |
+
"success": true,
|
| 223 |
+
"grasped": false,
|
| 224 |
+
"eaten": false,
|
| 225 |
+
"final_berry_pos": [
|
| 226 |
+
0.4092,
|
| 227 |
+
-0.0754,
|
| 228 |
+
0.2946
|
| 229 |
+
],
|
| 230 |
+
"min_mouth_dist": 0.3022,
|
| 231 |
+
"gif_path": null,
|
| 232 |
+
"mp4_path": null
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"episode": 15,
|
| 236 |
+
"task": "run_around",
|
| 237 |
+
"success": true,
|
| 238 |
+
"grasped": false,
|
| 239 |
+
"eaten": false,
|
| 240 |
+
"final_berry_pos": [
|
| 241 |
+
0.4105,
|
| 242 |
+
-0.12,
|
| 243 |
+
0.2946
|
| 244 |
+
],
|
| 245 |
+
"min_mouth_dist": 0.3175,
|
| 246 |
+
"gif_path": null,
|
| 247 |
+
"mp4_path": null
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"episode": 16,
|
| 251 |
+
"task": "run_around",
|
| 252 |
+
"success": true,
|
| 253 |
+
"grasped": false,
|
| 254 |
+
"eaten": false,
|
| 255 |
+
"final_berry_pos": [
|
| 256 |
+
0.3825,
|
| 257 |
+
-0.1002,
|
| 258 |
+
0.2946
|
| 259 |
+
],
|
| 260 |
+
"min_mouth_dist": 0.3036,
|
| 261 |
+
"gif_path": null,
|
| 262 |
+
"mp4_path": null
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"episode": 17,
|
| 266 |
+
"task": "run_around",
|
| 267 |
+
"success": true,
|
| 268 |
+
"grasped": false,
|
| 269 |
+
"eaten": false,
|
| 270 |
+
"final_berry_pos": [
|
| 271 |
+
0.4069,
|
| 272 |
+
-0.1282,
|
| 273 |
+
0.2946
|
| 274 |
+
],
|
| 275 |
+
"min_mouth_dist": 0.3199,
|
| 276 |
+
"gif_path": null,
|
| 277 |
+
"mp4_path": null
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"episode": 18,
|
| 281 |
+
"task": "run_around",
|
| 282 |
+
"success": true,
|
| 283 |
+
"grasped": false,
|
| 284 |
+
"eaten": false,
|
| 285 |
+
"final_berry_pos": [
|
| 286 |
+
0.4126,
|
| 287 |
+
-0.0932,
|
| 288 |
+
0.2946
|
| 289 |
+
],
|
| 290 |
+
"min_mouth_dist": 0.3084,
|
| 291 |
+
"gif_path": null,
|
| 292 |
+
"mp4_path": null
|
| 293 |
+
},
|
| 294 |
+
{
|
| 295 |
+
"episode": 19,
|
| 296 |
+
"task": "run_around",
|
| 297 |
+
"success": true,
|
| 298 |
+
"grasped": false,
|
| 299 |
+
"eaten": false,
|
| 300 |
+
"final_berry_pos": [
|
| 301 |
+
0.4128,
|
| 302 |
+
-0.0942,
|
| 303 |
+
0.2946
|
| 304 |
+
],
|
| 305 |
+
"min_mouth_dist": 0.3088,
|
| 306 |
+
"gif_path": null,
|
| 307 |
+
"mp4_path": null
|
| 308 |
+
}
|
| 309 |
+
]
|
| 310 |
+
}
|
checkpoints/fireboy_articulated_run_around/faithful_articulated_policy.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7051d1f8759e588072d0c9660f14df0a57dd225a44ba6be055536e2d33015310
|
| 3 |
+
size 905291
|
checkpoints/fireboy_articulated_run_around/faithful_articulated_policy.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0d47c532cfd272de671b7f8af478ffbd2c7f272a8c24346363e790220c72283c
|
| 3 |
+
size 906832
|
checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/eval_go_eat_berry_minicpm_vla.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_action_head.pt",
|
| 3 |
+
"task": "go_eat_berry",
|
| 4 |
+
"episodes": 2,
|
| 5 |
+
"successes": 0,
|
| 6 |
+
"success_rate": 0.0,
|
| 7 |
+
"replan_interval": 8,
|
| 8 |
+
"smooth_alpha": 0.0,
|
| 9 |
+
"reports": [
|
| 10 |
+
{
|
| 11 |
+
"episode": 0,
|
| 12 |
+
"task": "go_eat_berry",
|
| 13 |
+
"success": false,
|
| 14 |
+
"grasped": false,
|
| 15 |
+
"eaten": false,
|
| 16 |
+
"final_berry_pos": [
|
| 17 |
+
0.3899,
|
| 18 |
+
-0.0946,
|
| 19 |
+
0.2946
|
| 20 |
+
],
|
| 21 |
+
"final_root_xy": [
|
| 22 |
+
0.5008,
|
| 23 |
+
0.0015
|
| 24 |
+
],
|
| 25 |
+
"target_xy": null,
|
| 26 |
+
"min_mouth_dist": 0.2279,
|
| 27 |
+
"gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_go_eat_berry_policy_ep000.gif",
|
| 28 |
+
"mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_go_eat_berry_policy_ep000.mp4"
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"episode": 1,
|
| 32 |
+
"task": "go_eat_berry",
|
| 33 |
+
"success": false,
|
| 34 |
+
"grasped": false,
|
| 35 |
+
"eaten": false,
|
| 36 |
+
"final_berry_pos": [
|
| 37 |
+
0.4022,
|
| 38 |
+
-0.1129,
|
| 39 |
+
0.2946
|
| 40 |
+
],
|
| 41 |
+
"final_root_xy": [
|
| 42 |
+
0.4895,
|
| 43 |
+
0.0093
|
| 44 |
+
],
|
| 45 |
+
"target_xy": null,
|
| 46 |
+
"min_mouth_dist": 0.2245,
|
| 47 |
+
"gif_path": null,
|
| 48 |
+
"mp4_path": null
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/eval_go_to_point_minicpm_vla.json
ADDED
|
@@ -0,0 +1,57 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_action_head.pt",
|
| 3 |
+
"task": "go_to_point",
|
| 4 |
+
"episodes": 2,
|
| 5 |
+
"successes": 0,
|
| 6 |
+
"success_rate": 0.0,
|
| 7 |
+
"replan_interval": 8,
|
| 8 |
+
"smooth_alpha": 0.0,
|
| 9 |
+
"reports": [
|
| 10 |
+
{
|
| 11 |
+
"episode": 0,
|
| 12 |
+
"task": "go_to_point",
|
| 13 |
+
"success": false,
|
| 14 |
+
"grasped": false,
|
| 15 |
+
"eaten": false,
|
| 16 |
+
"final_berry_pos": [
|
| 17 |
+
0.441,
|
| 18 |
+
-0.1138,
|
| 19 |
+
0.2946
|
| 20 |
+
],
|
| 21 |
+
"final_root_xy": [
|
| 22 |
+
0.3415,
|
| 23 |
+
-0.3804
|
| 24 |
+
],
|
| 25 |
+
"target_xy": [
|
| 26 |
+
0.441,
|
| 27 |
+
-0.1138
|
| 28 |
+
],
|
| 29 |
+
"min_mouth_dist": 0.2175,
|
| 30 |
+
"gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_go_to_point_policy_ep000.gif",
|
| 31 |
+
"mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_go_to_point_policy_ep000.mp4"
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"episode": 1,
|
| 35 |
+
"task": "go_to_point",
|
| 36 |
+
"success": false,
|
| 37 |
+
"grasped": false,
|
| 38 |
+
"eaten": false,
|
| 39 |
+
"final_berry_pos": [
|
| 40 |
+
0.4026,
|
| 41 |
+
0.0752,
|
| 42 |
+
0.0546
|
| 43 |
+
],
|
| 44 |
+
"final_root_xy": [
|
| 45 |
+
0.2886,
|
| 46 |
+
-0.3908
|
| 47 |
+
],
|
| 48 |
+
"target_xy": [
|
| 49 |
+
0.4026,
|
| 50 |
+
0.0221
|
| 51 |
+
],
|
| 52 |
+
"min_mouth_dist": 0.2897,
|
| 53 |
+
"gif_path": null,
|
| 54 |
+
"mp4_path": null
|
| 55 |
+
}
|
| 56 |
+
]
|
| 57 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/eval_pick_up_minicpm_vla.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_action_head.pt",
|
| 3 |
+
"task": "pick_up",
|
| 4 |
+
"episodes": 2,
|
| 5 |
+
"successes": 2,
|
| 6 |
+
"success_rate": 1.0,
|
| 7 |
+
"replan_interval": 8,
|
| 8 |
+
"smooth_alpha": 0.0,
|
| 9 |
+
"reports": [
|
| 10 |
+
{
|
| 11 |
+
"episode": 0,
|
| 12 |
+
"task": "pick_up",
|
| 13 |
+
"success": true,
|
| 14 |
+
"grasped": true,
|
| 15 |
+
"eaten": false,
|
| 16 |
+
"final_berry_pos": [
|
| 17 |
+
0.3173,
|
| 18 |
+
-0.1034,
|
| 19 |
+
0.3662
|
| 20 |
+
],
|
| 21 |
+
"final_root_xy": [
|
| 22 |
+
0.4691,
|
| 23 |
+
0.2798
|
| 24 |
+
],
|
| 25 |
+
"target_xy": null,
|
| 26 |
+
"min_mouth_dist": 0.2278,
|
| 27 |
+
"gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_pick_up_policy_ep000.gif",
|
| 28 |
+
"mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_pick_up_policy_ep000.mp4"
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"episode": 1,
|
| 32 |
+
"task": "pick_up",
|
| 33 |
+
"success": true,
|
| 34 |
+
"grasped": true,
|
| 35 |
+
"eaten": false,
|
| 36 |
+
"final_berry_pos": [
|
| 37 |
+
0.2473,
|
| 38 |
+
-0.1149,
|
| 39 |
+
0.364
|
| 40 |
+
],
|
| 41 |
+
"final_root_xy": [
|
| 42 |
+
0.4181,
|
| 43 |
+
0.2162
|
| 44 |
+
],
|
| 45 |
+
"target_xy": null,
|
| 46 |
+
"min_mouth_dist": 0.2301,
|
| 47 |
+
"gif_path": null,
|
| 48 |
+
"mp4_path": null
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/eval_run_around_minicpm_vla.json
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_action_head.pt",
|
| 3 |
+
"task": "run_around",
|
| 4 |
+
"episodes": 2,
|
| 5 |
+
"successes": 2,
|
| 6 |
+
"success_rate": 1.0,
|
| 7 |
+
"replan_interval": 8,
|
| 8 |
+
"smooth_alpha": 0.0,
|
| 9 |
+
"reports": [
|
| 10 |
+
{
|
| 11 |
+
"episode": 0,
|
| 12 |
+
"task": "run_around",
|
| 13 |
+
"success": true,
|
| 14 |
+
"grasped": false,
|
| 15 |
+
"eaten": false,
|
| 16 |
+
"final_berry_pos": [
|
| 17 |
+
0.3899,
|
| 18 |
+
-0.0946,
|
| 19 |
+
0.2946
|
| 20 |
+
],
|
| 21 |
+
"final_root_xy": [
|
| 22 |
+
0.248,
|
| 23 |
+
-0.3786
|
| 24 |
+
],
|
| 25 |
+
"target_xy": null,
|
| 26 |
+
"min_mouth_dist": 0.3034,
|
| 27 |
+
"gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_run_around_policy_ep000.gif",
|
| 28 |
+
"mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_run_around_policy_ep000.mp4"
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"episode": 1,
|
| 32 |
+
"task": "run_around",
|
| 33 |
+
"success": true,
|
| 34 |
+
"grasped": false,
|
| 35 |
+
"eaten": false,
|
| 36 |
+
"final_berry_pos": [
|
| 37 |
+
0.4022,
|
| 38 |
+
-0.1129,
|
| 39 |
+
0.2946
|
| 40 |
+
],
|
| 41 |
+
"final_root_xy": [
|
| 42 |
+
0.1988,
|
| 43 |
+
-0.3893
|
| 44 |
+
],
|
| 45 |
+
"target_xy": null,
|
| 46 |
+
"min_mouth_dist": 0.3128,
|
| 47 |
+
"gif_path": null,
|
| 48 |
+
"mp4_path": null
|
| 49 |
+
}
|
| 50 |
+
]
|
| 51 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_embedding_cache.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b7c53616a0cab48907104c886749c6e303c934f4f5219dd26d4aaa534860015b
|
| 3 |
+
size 13117285
|
checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_action_head.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7fce1f337f3b5f8197a616aed6b42ef5e8b737cc1703bf2c3fabd19085c04169
|
| 3 |
+
size 4338444
|
checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/train_minicpm_vla_action_head.json
ADDED
|
@@ -0,0 +1,168 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"encoded": 25, "total": 3072, "cache_hits": 0}
|
| 2 |
+
{"encoded": 50, "total": 3072, "cache_hits": 0}
|
| 3 |
+
{"encoded": 75, "total": 3072, "cache_hits": 0}
|
| 4 |
+
{"encoded": 100, "total": 3072, "cache_hits": 0}
|
| 5 |
+
{"encoded": 125, "total": 3072, "cache_hits": 0}
|
| 6 |
+
{"encoded": 150, "total": 3072, "cache_hits": 0}
|
| 7 |
+
{"encoded": 175, "total": 3072, "cache_hits": 0}
|
| 8 |
+
{"encoded": 200, "total": 3072, "cache_hits": 0}
|
| 9 |
+
{"encoded": 225, "total": 3072, "cache_hits": 0}
|
| 10 |
+
{"encoded": 250, "total": 3072, "cache_hits": 0}
|
| 11 |
+
{"encoded": 275, "total": 3072, "cache_hits": 0}
|
| 12 |
+
{"encoded": 300, "total": 3072, "cache_hits": 0}
|
| 13 |
+
{"encoded": 325, "total": 3072, "cache_hits": 0}
|
| 14 |
+
{"encoded": 350, "total": 3072, "cache_hits": 0}
|
| 15 |
+
{"encoded": 375, "total": 3072, "cache_hits": 0}
|
| 16 |
+
{"encoded": 400, "total": 3072, "cache_hits": 0}
|
| 17 |
+
{"encoded": 425, "total": 3072, "cache_hits": 0}
|
| 18 |
+
{"encoded": 450, "total": 3072, "cache_hits": 0}
|
| 19 |
+
{"encoded": 475, "total": 3072, "cache_hits": 0}
|
| 20 |
+
{"encoded": 500, "total": 3072, "cache_hits": 0}
|
| 21 |
+
{"encoded": 525, "total": 3072, "cache_hits": 0}
|
| 22 |
+
{"encoded": 550, "total": 3072, "cache_hits": 0}
|
| 23 |
+
{"encoded": 575, "total": 3072, "cache_hits": 0}
|
| 24 |
+
{"encoded": 600, "total": 3072, "cache_hits": 0}
|
| 25 |
+
{"encoded": 625, "total": 3072, "cache_hits": 0}
|
| 26 |
+
{"encoded": 650, "total": 3072, "cache_hits": 0}
|
| 27 |
+
{"encoded": 675, "total": 3072, "cache_hits": 0}
|
| 28 |
+
{"encoded": 700, "total": 3072, "cache_hits": 0}
|
| 29 |
+
{"encoded": 725, "total": 3072, "cache_hits": 0}
|
| 30 |
+
{"encoded": 750, "total": 3072, "cache_hits": 0}
|
| 31 |
+
{"encoded": 775, "total": 3072, "cache_hits": 0}
|
| 32 |
+
{"encoded": 800, "total": 3072, "cache_hits": 0}
|
| 33 |
+
{"encoded": 825, "total": 3072, "cache_hits": 0}
|
| 34 |
+
{"encoded": 850, "total": 3072, "cache_hits": 0}
|
| 35 |
+
{"encoded": 875, "total": 3072, "cache_hits": 0}
|
| 36 |
+
{"encoded": 900, "total": 3072, "cache_hits": 0}
|
| 37 |
+
{"encoded": 925, "total": 3072, "cache_hits": 0}
|
| 38 |
+
{"encoded": 950, "total": 3072, "cache_hits": 0}
|
| 39 |
+
{"encoded": 975, "total": 3072, "cache_hits": 0}
|
| 40 |
+
{"encoded": 1000, "total": 3072, "cache_hits": 0}
|
| 41 |
+
{"encoded": 1025, "total": 3072, "cache_hits": 0}
|
| 42 |
+
{"encoded": 1050, "total": 3072, "cache_hits": 0}
|
| 43 |
+
{"encoded": 1075, "total": 3072, "cache_hits": 0}
|
| 44 |
+
{"encoded": 1100, "total": 3072, "cache_hits": 0}
|
| 45 |
+
{"encoded": 1125, "total": 3072, "cache_hits": 0}
|
| 46 |
+
{"encoded": 1150, "total": 3072, "cache_hits": 0}
|
| 47 |
+
{"encoded": 1175, "total": 3072, "cache_hits": 0}
|
| 48 |
+
{"encoded": 1200, "total": 3072, "cache_hits": 0}
|
| 49 |
+
{"encoded": 1225, "total": 3072, "cache_hits": 0}
|
| 50 |
+
{"encoded": 1250, "total": 3072, "cache_hits": 0}
|
| 51 |
+
{"encoded": 1275, "total": 3072, "cache_hits": 0}
|
| 52 |
+
{"encoded": 1300, "total": 3072, "cache_hits": 0}
|
| 53 |
+
{"encoded": 1325, "total": 3072, "cache_hits": 0}
|
| 54 |
+
{"encoded": 1350, "total": 3072, "cache_hits": 0}
|
| 55 |
+
{"encoded": 1375, "total": 3072, "cache_hits": 0}
|
| 56 |
+
{"encoded": 1400, "total": 3072, "cache_hits": 0}
|
| 57 |
+
{"encoded": 1425, "total": 3072, "cache_hits": 0}
|
| 58 |
+
{"encoded": 1450, "total": 3072, "cache_hits": 0}
|
| 59 |
+
{"encoded": 1475, "total": 3072, "cache_hits": 0}
|
| 60 |
+
{"encoded": 1500, "total": 3072, "cache_hits": 0}
|
| 61 |
+
{"encoded": 1525, "total": 3072, "cache_hits": 0}
|
| 62 |
+
{"encoded": 1550, "total": 3072, "cache_hits": 0}
|
| 63 |
+
{"encoded": 1575, "total": 3072, "cache_hits": 0}
|
| 64 |
+
{"encoded": 1600, "total": 3072, "cache_hits": 0}
|
| 65 |
+
{"encoded": 1625, "total": 3072, "cache_hits": 0}
|
| 66 |
+
{"encoded": 1650, "total": 3072, "cache_hits": 0}
|
| 67 |
+
{"encoded": 1675, "total": 3072, "cache_hits": 0}
|
| 68 |
+
{"encoded": 1700, "total": 3072, "cache_hits": 0}
|
| 69 |
+
{"encoded": 1725, "total": 3072, "cache_hits": 0}
|
| 70 |
+
{"encoded": 1750, "total": 3072, "cache_hits": 0}
|
| 71 |
+
{"encoded": 1775, "total": 3072, "cache_hits": 0}
|
| 72 |
+
{"encoded": 1800, "total": 3072, "cache_hits": 0}
|
| 73 |
+
{"encoded": 1825, "total": 3072, "cache_hits": 0}
|
| 74 |
+
{"encoded": 1850, "total": 3072, "cache_hits": 0}
|
| 75 |
+
{"encoded": 1875, "total": 3072, "cache_hits": 0}
|
| 76 |
+
{"encoded": 1900, "total": 3072, "cache_hits": 0}
|
| 77 |
+
{"encoded": 1925, "total": 3072, "cache_hits": 0}
|
| 78 |
+
{"encoded": 1950, "total": 3072, "cache_hits": 0}
|
| 79 |
+
{"encoded": 1975, "total": 3072, "cache_hits": 0}
|
| 80 |
+
{"encoded": 2000, "total": 3072, "cache_hits": 0}
|
| 81 |
+
{"encoded": 2025, "total": 3072, "cache_hits": 0}
|
| 82 |
+
{"encoded": 2050, "total": 3072, "cache_hits": 0}
|
| 83 |
+
{"encoded": 2075, "total": 3072, "cache_hits": 0}
|
| 84 |
+
{"encoded": 2100, "total": 3072, "cache_hits": 0}
|
| 85 |
+
{"encoded": 2125, "total": 3072, "cache_hits": 0}
|
| 86 |
+
{"encoded": 2150, "total": 3072, "cache_hits": 0}
|
| 87 |
+
{"encoded": 2175, "total": 3072, "cache_hits": 0}
|
| 88 |
+
{"encoded": 2200, "total": 3072, "cache_hits": 0}
|
| 89 |
+
{"encoded": 2225, "total": 3072, "cache_hits": 0}
|
| 90 |
+
{"encoded": 2250, "total": 3072, "cache_hits": 0}
|
| 91 |
+
{"encoded": 2275, "total": 3072, "cache_hits": 0}
|
| 92 |
+
{"encoded": 2300, "total": 3072, "cache_hits": 0}
|
| 93 |
+
{"encoded": 2325, "total": 3072, "cache_hits": 0}
|
| 94 |
+
{"encoded": 2350, "total": 3072, "cache_hits": 0}
|
| 95 |
+
{"encoded": 2375, "total": 3072, "cache_hits": 0}
|
| 96 |
+
{"encoded": 2400, "total": 3072, "cache_hits": 0}
|
| 97 |
+
{"encoded": 2425, "total": 3072, "cache_hits": 0}
|
| 98 |
+
{"encoded": 2450, "total": 3072, "cache_hits": 0}
|
| 99 |
+
{"encoded": 2475, "total": 3072, "cache_hits": 0}
|
| 100 |
+
{"encoded": 2500, "total": 3072, "cache_hits": 0}
|
| 101 |
+
{"encoded": 2525, "total": 3072, "cache_hits": 0}
|
| 102 |
+
{"encoded": 2550, "total": 3072, "cache_hits": 0}
|
| 103 |
+
{"encoded": 2575, "total": 3072, "cache_hits": 0}
|
| 104 |
+
{"encoded": 2600, "total": 3072, "cache_hits": 0}
|
| 105 |
+
{"encoded": 2625, "total": 3072, "cache_hits": 0}
|
| 106 |
+
{"encoded": 2650, "total": 3072, "cache_hits": 0}
|
| 107 |
+
{"encoded": 2675, "total": 3072, "cache_hits": 0}
|
| 108 |
+
{"encoded": 2700, "total": 3072, "cache_hits": 0}
|
| 109 |
+
{"encoded": 2725, "total": 3072, "cache_hits": 0}
|
| 110 |
+
{"encoded": 2750, "total": 3072, "cache_hits": 0}
|
| 111 |
+
{"encoded": 2775, "total": 3072, "cache_hits": 0}
|
| 112 |
+
{"encoded": 2800, "total": 3072, "cache_hits": 0}
|
| 113 |
+
{"encoded": 2825, "total": 3072, "cache_hits": 0}
|
| 114 |
+
{"encoded": 2850, "total": 3072, "cache_hits": 0}
|
| 115 |
+
{"encoded": 2875, "total": 3072, "cache_hits": 0}
|
| 116 |
+
{"encoded": 2900, "total": 3072, "cache_hits": 0}
|
| 117 |
+
{"encoded": 2925, "total": 3072, "cache_hits": 0}
|
| 118 |
+
{"encoded": 2950, "total": 3072, "cache_hits": 0}
|
| 119 |
+
{"encoded": 2975, "total": 3072, "cache_hits": 0}
|
| 120 |
+
{"encoded": 3000, "total": 3072, "cache_hits": 0}
|
| 121 |
+
{"encoded": 3025, "total": 3072, "cache_hits": 0}
|
| 122 |
+
{"encoded": 3050, "total": 3072, "cache_hits": 0}
|
| 123 |
+
{
|
| 124 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_allskill_3072/minicpm_vla_action_head.pt",
|
| 125 |
+
"model_id": "openbmb/MiniCPM-V-4.6",
|
| 126 |
+
"rows": 3072,
|
| 127 |
+
"train_rows": 2703,
|
| 128 |
+
"val_rows": 369,
|
| 129 |
+
"device": "cuda",
|
| 130 |
+
"task_filter": [
|
| 131 |
+
"pick_up",
|
| 132 |
+
"go_eat_berry",
|
| 133 |
+
"run_around",
|
| 134 |
+
"go_to_point"
|
| 135 |
+
],
|
| 136 |
+
"vl_dim": 1024,
|
| 137 |
+
"state_dim": 27,
|
| 138 |
+
"output_dim": 320,
|
| 139 |
+
"chunk_steps": 10,
|
| 140 |
+
"head_architecture": "state_residual_fusion_v1",
|
| 141 |
+
"vl_residual_scale": 0.12,
|
| 142 |
+
"action_std_floor": 0.01,
|
| 143 |
+
"cache_hits": 0,
|
| 144 |
+
"losses": [
|
| 145 |
+
0.0003880332224071026,
|
| 146 |
+
0.00028287695022299886,
|
| 147 |
+
0.00036183089832775295,
|
| 148 |
+
0.00031489270622842014,
|
| 149 |
+
0.00047119101509451866,
|
| 150 |
+
0.0004842156486120075,
|
| 151 |
+
0.0003224370302632451,
|
| 152 |
+
0.0003682507376652211,
|
| 153 |
+
0.0008605000912211835,
|
| 154 |
+
0.0004974337643943727
|
| 155 |
+
],
|
| 156 |
+
"val_losses": [
|
| 157 |
+
0.0625384971499443,
|
| 158 |
+
0.06209282949566841,
|
| 159 |
+
0.06156861037015915,
|
| 160 |
+
0.061235517263412476,
|
| 161 |
+
0.06196071580052376,
|
| 162 |
+
0.060724519193172455,
|
| 163 |
+
0.06266526132822037,
|
| 164 |
+
0.06334314495325089,
|
| 165 |
+
0.06283997744321823,
|
| 166 |
+
0.0608733631670475
|
| 167 |
+
]
|
| 168 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_1step_480/eval_go_to_point_minicpm_vla.json
ADDED
|
@@ -0,0 +1,126 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_1step_480/minicpm_vla_action_head.pt",
|
| 3 |
+
"task": "go_to_point",
|
| 4 |
+
"episodes": 5,
|
| 5 |
+
"successes": 0,
|
| 6 |
+
"success_rate": 0.0,
|
| 7 |
+
"replan_interval": 1,
|
| 8 |
+
"smooth_alpha": 0.2,
|
| 9 |
+
"reports": [
|
| 10 |
+
{
|
| 11 |
+
"episode": 0,
|
| 12 |
+
"task": "go_to_point",
|
| 13 |
+
"success": false,
|
| 14 |
+
"grasped": false,
|
| 15 |
+
"eaten": false,
|
| 16 |
+
"final_berry_pos": [
|
| 17 |
+
0.441,
|
| 18 |
+
-0.1138,
|
| 19 |
+
0.2946
|
| 20 |
+
],
|
| 21 |
+
"final_root_xy": [
|
| 22 |
+
-2.188,
|
| 23 |
+
1.9062
|
| 24 |
+
],
|
| 25 |
+
"target_xy": [
|
| 26 |
+
0.441,
|
| 27 |
+
-0.1138
|
| 28 |
+
],
|
| 29 |
+
"min_mouth_dist": 0.2361,
|
| 30 |
+
"gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_go_to_point_full_1step_480/minicpm_vla_go_to_point_policy_ep000.gif",
|
| 31 |
+
"mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_go_to_point_full_1step_480/minicpm_vla_go_to_point_policy_ep000.mp4"
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"episode": 1,
|
| 35 |
+
"task": "go_to_point",
|
| 36 |
+
"success": false,
|
| 37 |
+
"grasped": false,
|
| 38 |
+
"eaten": false,
|
| 39 |
+
"final_berry_pos": [
|
| 40 |
+
0.4026,
|
| 41 |
+
0.0752,
|
| 42 |
+
0.0546
|
| 43 |
+
],
|
| 44 |
+
"final_root_xy": [
|
| 45 |
+
-2.2295,
|
| 46 |
+
0.697
|
| 47 |
+
],
|
| 48 |
+
"target_xy": [
|
| 49 |
+
0.4026,
|
| 50 |
+
0.0221
|
| 51 |
+
],
|
| 52 |
+
"min_mouth_dist": 0.2196,
|
| 53 |
+
"gif_path": null,
|
| 54 |
+
"mp4_path": null
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"episode": 2,
|
| 58 |
+
"task": "go_to_point",
|
| 59 |
+
"success": false,
|
| 60 |
+
"grasped": false,
|
| 61 |
+
"eaten": false,
|
| 62 |
+
"final_berry_pos": [
|
| 63 |
+
0.3941,
|
| 64 |
+
0.1323,
|
| 65 |
+
0.0546
|
| 66 |
+
],
|
| 67 |
+
"final_root_xy": [
|
| 68 |
+
-2.1646,
|
| 69 |
+
1.9868
|
| 70 |
+
],
|
| 71 |
+
"target_xy": [
|
| 72 |
+
0.3941,
|
| 73 |
+
0.1323
|
| 74 |
+
],
|
| 75 |
+
"min_mouth_dist": 0.1892,
|
| 76 |
+
"gif_path": null,
|
| 77 |
+
"mp4_path": null
|
| 78 |
+
},
|
| 79 |
+
{
|
| 80 |
+
"episode": 3,
|
| 81 |
+
"task": "go_to_point",
|
| 82 |
+
"success": false,
|
| 83 |
+
"grasped": false,
|
| 84 |
+
"eaten": false,
|
| 85 |
+
"final_berry_pos": [
|
| 86 |
+
0.4403,
|
| 87 |
+
-0.1469,
|
| 88 |
+
0.2946
|
| 89 |
+
],
|
| 90 |
+
"final_root_xy": [
|
| 91 |
+
-0.3463,
|
| 92 |
+
0.9076
|
| 93 |
+
],
|
| 94 |
+
"target_xy": [
|
| 95 |
+
0.4403,
|
| 96 |
+
-0.1469
|
| 97 |
+
],
|
| 98 |
+
"min_mouth_dist": 0.2601,
|
| 99 |
+
"gif_path": null,
|
| 100 |
+
"mp4_path": null
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"episode": 4,
|
| 104 |
+
"task": "go_to_point",
|
| 105 |
+
"success": false,
|
| 106 |
+
"grasped": false,
|
| 107 |
+
"eaten": false,
|
| 108 |
+
"final_berry_pos": [
|
| 109 |
+
0.5036,
|
| 110 |
+
-0.0287,
|
| 111 |
+
0.2946
|
| 112 |
+
],
|
| 113 |
+
"final_root_xy": [
|
| 114 |
+
-2.4465,
|
| 115 |
+
1.5405
|
| 116 |
+
],
|
| 117 |
+
"target_xy": [
|
| 118 |
+
0.5036,
|
| 119 |
+
-0.0287
|
| 120 |
+
],
|
| 121 |
+
"min_mouth_dist": 0.2847,
|
| 122 |
+
"gif_path": null,
|
| 123 |
+
"mp4_path": null
|
| 124 |
+
}
|
| 125 |
+
]
|
| 126 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_1step_480/minicpm_embedding_cache.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b90320920a4a058477e2f081a696162e50ebd219e851f9641e4e81059a66d81c
|
| 3 |
+
size 2070596
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_1step_480/minicpm_vla_action_head.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:326203f5ab2be56497c332f2c0a9ee4a656f23af335106085cb80d456facd3b7
|
| 3 |
+
size 3732236
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_1step_480/train_minicpm_vla_action_head.json
ADDED
|
@@ -0,0 +1,62 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"encoded": 25, "total": 480, "cache_hits": 0}
|
| 2 |
+
{"encoded": 50, "total": 480, "cache_hits": 0}
|
| 3 |
+
{"encoded": 75, "total": 480, "cache_hits": 0}
|
| 4 |
+
{"encoded": 100, "total": 480, "cache_hits": 0}
|
| 5 |
+
{"encoded": 125, "total": 480, "cache_hits": 0}
|
| 6 |
+
{"encoded": 150, "total": 480, "cache_hits": 0}
|
| 7 |
+
{"encoded": 175, "total": 480, "cache_hits": 0}
|
| 8 |
+
{"encoded": 200, "total": 480, "cache_hits": 0}
|
| 9 |
+
{"encoded": 225, "total": 480, "cache_hits": 0}
|
| 10 |
+
{"encoded": 250, "total": 480, "cache_hits": 0}
|
| 11 |
+
{"encoded": 275, "total": 480, "cache_hits": 0}
|
| 12 |
+
{"encoded": 300, "total": 480, "cache_hits": 0}
|
| 13 |
+
{"encoded": 325, "total": 480, "cache_hits": 0}
|
| 14 |
+
{"encoded": 350, "total": 480, "cache_hits": 0}
|
| 15 |
+
{"encoded": 375, "total": 480, "cache_hits": 0}
|
| 16 |
+
{"encoded": 400, "total": 480, "cache_hits": 0}
|
| 17 |
+
{"encoded": 425, "total": 480, "cache_hits": 0}
|
| 18 |
+
{"encoded": 450, "total": 480, "cache_hits": 0}
|
| 19 |
+
{"encoded": 475, "total": 480, "cache_hits": 0}
|
| 20 |
+
{
|
| 21 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_1step_480/minicpm_vla_action_head.pt",
|
| 22 |
+
"model_id": "openbmb/MiniCPM-V-4.6",
|
| 23 |
+
"rows": 480,
|
| 24 |
+
"train_rows": 422,
|
| 25 |
+
"val_rows": 58,
|
| 26 |
+
"device": "cuda",
|
| 27 |
+
"task_filter": [
|
| 28 |
+
"go_to_point"
|
| 29 |
+
],
|
| 30 |
+
"vl_dim": 1024,
|
| 31 |
+
"state_dim": 168,
|
| 32 |
+
"output_dim": 32,
|
| 33 |
+
"chunk_steps": 1,
|
| 34 |
+
"head_architecture": "state_residual_fusion_v1",
|
| 35 |
+
"vl_residual_scale": 0.0,
|
| 36 |
+
"action_std_floor": 0.01,
|
| 37 |
+
"cache_hits": 0,
|
| 38 |
+
"losses": [
|
| 39 |
+
2.4933371605584398e-05,
|
| 40 |
+
0.00017391132132615894,
|
| 41 |
+
3.381756687304005e-05,
|
| 42 |
+
2.07582488656044e-05,
|
| 43 |
+
1.4956609447835945e-05,
|
| 44 |
+
9.819843398872763e-06,
|
| 45 |
+
1.4793275113333948e-05,
|
| 46 |
+
1.7716436559567228e-05,
|
| 47 |
+
1.131803946918808e-05,
|
| 48 |
+
1.483564938098425e-05
|
| 49 |
+
],
|
| 50 |
+
"val_losses": [
|
| 51 |
+
6.830926577094942e-05,
|
| 52 |
+
9.882566519081593e-05,
|
| 53 |
+
5.249051901046187e-05,
|
| 54 |
+
4.748391802422702e-05,
|
| 55 |
+
4.1817660530796275e-05,
|
| 56 |
+
3.989243123214692e-05,
|
| 57 |
+
4.076438199263066e-05,
|
| 58 |
+
4.21945151174441e-05,
|
| 59 |
+
3.9562499296152964e-05,
|
| 60 |
+
4.062192601850256e-05
|
| 61 |
+
]
|
| 62 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_32step_480/eval_go_to_point_minicpm_vla.json
ADDED
|
@@ -0,0 +1,126 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_32step_480/minicpm_vla_action_head.pt",
|
| 3 |
+
"task": "go_to_point",
|
| 4 |
+
"episodes": 5,
|
| 5 |
+
"successes": 0,
|
| 6 |
+
"success_rate": 0.0,
|
| 7 |
+
"replan_interval": 0,
|
| 8 |
+
"smooth_alpha": 0.0,
|
| 9 |
+
"reports": [
|
| 10 |
+
{
|
| 11 |
+
"episode": 0,
|
| 12 |
+
"task": "go_to_point",
|
| 13 |
+
"success": false,
|
| 14 |
+
"grasped": false,
|
| 15 |
+
"eaten": false,
|
| 16 |
+
"final_berry_pos": [
|
| 17 |
+
0.441,
|
| 18 |
+
-0.1138,
|
| 19 |
+
0.2946
|
| 20 |
+
],
|
| 21 |
+
"final_root_xy": [
|
| 22 |
+
-1.806,
|
| 23 |
+
-2.0114
|
| 24 |
+
],
|
| 25 |
+
"target_xy": [
|
| 26 |
+
0.441,
|
| 27 |
+
-0.1138
|
| 28 |
+
],
|
| 29 |
+
"min_mouth_dist": 0.2347,
|
| 30 |
+
"gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_go_to_point_full_32step_480/minicpm_vla_go_to_point_policy_ep000.gif",
|
| 31 |
+
"mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_go_to_point_full_32step_480/minicpm_vla_go_to_point_policy_ep000.mp4"
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"episode": 1,
|
| 35 |
+
"task": "go_to_point",
|
| 36 |
+
"success": false,
|
| 37 |
+
"grasped": false,
|
| 38 |
+
"eaten": false,
|
| 39 |
+
"final_berry_pos": [
|
| 40 |
+
0.4026,
|
| 41 |
+
0.0752,
|
| 42 |
+
0.0546
|
| 43 |
+
],
|
| 44 |
+
"final_root_xy": [
|
| 45 |
+
-2.254,
|
| 46 |
+
-1.5722
|
| 47 |
+
],
|
| 48 |
+
"target_xy": [
|
| 49 |
+
0.4026,
|
| 50 |
+
0.0221
|
| 51 |
+
],
|
| 52 |
+
"min_mouth_dist": 0.2449,
|
| 53 |
+
"gif_path": null,
|
| 54 |
+
"mp4_path": null
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"episode": 2,
|
| 58 |
+
"task": "go_to_point",
|
| 59 |
+
"success": false,
|
| 60 |
+
"grasped": false,
|
| 61 |
+
"eaten": false,
|
| 62 |
+
"final_berry_pos": [
|
| 63 |
+
0.3941,
|
| 64 |
+
0.1323,
|
| 65 |
+
0.0546
|
| 66 |
+
],
|
| 67 |
+
"final_root_xy": [
|
| 68 |
+
-2.387,
|
| 69 |
+
0.7506
|
| 70 |
+
],
|
| 71 |
+
"target_xy": [
|
| 72 |
+
0.3941,
|
| 73 |
+
0.1323
|
| 74 |
+
],
|
| 75 |
+
"min_mouth_dist": 0.2757,
|
| 76 |
+
"gif_path": null,
|
| 77 |
+
"mp4_path": null
|
| 78 |
+
},
|
| 79 |
+
{
|
| 80 |
+
"episode": 3,
|
| 81 |
+
"task": "go_to_point",
|
| 82 |
+
"success": false,
|
| 83 |
+
"grasped": false,
|
| 84 |
+
"eaten": false,
|
| 85 |
+
"final_berry_pos": [
|
| 86 |
+
0.4403,
|
| 87 |
+
-0.1469,
|
| 88 |
+
0.2946
|
| 89 |
+
],
|
| 90 |
+
"final_root_xy": [
|
| 91 |
+
-0.7426,
|
| 92 |
+
1.4372
|
| 93 |
+
],
|
| 94 |
+
"target_xy": [
|
| 95 |
+
0.4403,
|
| 96 |
+
-0.1469
|
| 97 |
+
],
|
| 98 |
+
"min_mouth_dist": 0.2399,
|
| 99 |
+
"gif_path": null,
|
| 100 |
+
"mp4_path": null
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"episode": 4,
|
| 104 |
+
"task": "go_to_point",
|
| 105 |
+
"success": false,
|
| 106 |
+
"grasped": false,
|
| 107 |
+
"eaten": false,
|
| 108 |
+
"final_berry_pos": [
|
| 109 |
+
0.5036,
|
| 110 |
+
-0.0287,
|
| 111 |
+
0.2946
|
| 112 |
+
],
|
| 113 |
+
"final_root_xy": [
|
| 114 |
+
1.0564,
|
| 115 |
+
1.8314
|
| 116 |
+
],
|
| 117 |
+
"target_xy": [
|
| 118 |
+
0.5036,
|
| 119 |
+
-0.0287
|
| 120 |
+
],
|
| 121 |
+
"min_mouth_dist": 0.1886,
|
| 122 |
+
"gif_path": null,
|
| 123 |
+
"mp4_path": null
|
| 124 |
+
}
|
| 125 |
+
]
|
| 126 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_32step_480/minicpm_embedding_cache.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b90320920a4a058477e2f081a696162e50ebd219e851f9641e4e81059a66d81c
|
| 3 |
+
size 2070596
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_32step_480/minicpm_vla_action_head.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fd670dab72ed224bca79024f50484b4a50a2e35e2a88f18f82709f5310bf56d3
|
| 3 |
+
size 7813516
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_32step_480/train_minicpm_vla_action_head.json
ADDED
|
@@ -0,0 +1,62 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"encoded": 25, "total": 480, "cache_hits": 0}
|
| 2 |
+
{"encoded": 50, "total": 480, "cache_hits": 0}
|
| 3 |
+
{"encoded": 75, "total": 480, "cache_hits": 0}
|
| 4 |
+
{"encoded": 100, "total": 480, "cache_hits": 0}
|
| 5 |
+
{"encoded": 125, "total": 480, "cache_hits": 0}
|
| 6 |
+
{"encoded": 150, "total": 480, "cache_hits": 0}
|
| 7 |
+
{"encoded": 175, "total": 480, "cache_hits": 0}
|
| 8 |
+
{"encoded": 200, "total": 480, "cache_hits": 0}
|
| 9 |
+
{"encoded": 225, "total": 480, "cache_hits": 0}
|
| 10 |
+
{"encoded": 250, "total": 480, "cache_hits": 0}
|
| 11 |
+
{"encoded": 275, "total": 480, "cache_hits": 0}
|
| 12 |
+
{"encoded": 300, "total": 480, "cache_hits": 0}
|
| 13 |
+
{"encoded": 325, "total": 480, "cache_hits": 0}
|
| 14 |
+
{"encoded": 350, "total": 480, "cache_hits": 0}
|
| 15 |
+
{"encoded": 375, "total": 480, "cache_hits": 0}
|
| 16 |
+
{"encoded": 400, "total": 480, "cache_hits": 0}
|
| 17 |
+
{"encoded": 425, "total": 480, "cache_hits": 0}
|
| 18 |
+
{"encoded": 450, "total": 480, "cache_hits": 0}
|
| 19 |
+
{"encoded": 475, "total": 480, "cache_hits": 0}
|
| 20 |
+
{
|
| 21 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_32step_480/minicpm_vla_action_head.pt",
|
| 22 |
+
"model_id": "openbmb/MiniCPM-V-4.6",
|
| 23 |
+
"rows": 480,
|
| 24 |
+
"train_rows": 422,
|
| 25 |
+
"val_rows": 58,
|
| 26 |
+
"device": "cuda",
|
| 27 |
+
"task_filter": [
|
| 28 |
+
"go_to_point"
|
| 29 |
+
],
|
| 30 |
+
"vl_dim": 1024,
|
| 31 |
+
"state_dim": 168,
|
| 32 |
+
"output_dim": 1024,
|
| 33 |
+
"chunk_steps": 32,
|
| 34 |
+
"head_architecture": "state_residual_fusion_v1",
|
| 35 |
+
"vl_residual_scale": 0.0,
|
| 36 |
+
"action_std_floor": 0.01,
|
| 37 |
+
"cache_hits": 0,
|
| 38 |
+
"losses": [
|
| 39 |
+
5.166429764358327e-05,
|
| 40 |
+
5.596975825028494e-05,
|
| 41 |
+
4.469124542083591e-05,
|
| 42 |
+
5.0615795771591365e-05,
|
| 43 |
+
4.412133421283215e-05,
|
| 44 |
+
4.6894005208741874e-05,
|
| 45 |
+
4.0274047933053225e-05,
|
| 46 |
+
3.523727355059236e-05,
|
| 47 |
+
3.917051071766764e-05,
|
| 48 |
+
3.112726335530169e-05
|
| 49 |
+
],
|
| 50 |
+
"val_losses": [
|
| 51 |
+
0.00031359284184873104,
|
| 52 |
+
0.00029932628967799246,
|
| 53 |
+
0.00029409126727841794,
|
| 54 |
+
0.0003044819750357419,
|
| 55 |
+
0.00032222497975453734,
|
| 56 |
+
0.0003093299164902419,
|
| 57 |
+
0.0002859376836568117,
|
| 58 |
+
0.0002787753473967314,
|
| 59 |
+
0.00028262363048270345,
|
| 60 |
+
0.00027622084598988295
|
| 61 |
+
]
|
| 62 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_480/eval_go_to_point_minicpm_vla.json
ADDED
|
@@ -0,0 +1,126 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_480/minicpm_vla_action_head.pt",
|
| 3 |
+
"task": "go_to_point",
|
| 4 |
+
"episodes": 5,
|
| 5 |
+
"successes": 0,
|
| 6 |
+
"success_rate": 0.0,
|
| 7 |
+
"replan_interval": 8,
|
| 8 |
+
"smooth_alpha": 0.0,
|
| 9 |
+
"reports": [
|
| 10 |
+
{
|
| 11 |
+
"episode": 0,
|
| 12 |
+
"task": "go_to_point",
|
| 13 |
+
"success": false,
|
| 14 |
+
"grasped": false,
|
| 15 |
+
"eaten": false,
|
| 16 |
+
"final_berry_pos": [
|
| 17 |
+
0.441,
|
| 18 |
+
-0.1138,
|
| 19 |
+
0.2946
|
| 20 |
+
],
|
| 21 |
+
"final_root_xy": [
|
| 22 |
+
-2.1028,
|
| 23 |
+
-1.6545
|
| 24 |
+
],
|
| 25 |
+
"target_xy": [
|
| 26 |
+
0.441,
|
| 27 |
+
-0.1138
|
| 28 |
+
],
|
| 29 |
+
"min_mouth_dist": 0.2402,
|
| 30 |
+
"gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_go_to_point_full_480/minicpm_vla_go_to_point_policy_ep000.gif",
|
| 31 |
+
"mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_go_to_point_full_480/minicpm_vla_go_to_point_policy_ep000.mp4"
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"episode": 1,
|
| 35 |
+
"task": "go_to_point",
|
| 36 |
+
"success": false,
|
| 37 |
+
"grasped": false,
|
| 38 |
+
"eaten": false,
|
| 39 |
+
"final_berry_pos": [
|
| 40 |
+
0.4026,
|
| 41 |
+
0.0752,
|
| 42 |
+
0.0546
|
| 43 |
+
],
|
| 44 |
+
"final_root_xy": [
|
| 45 |
+
-2.2596,
|
| 46 |
+
-1.4027
|
| 47 |
+
],
|
| 48 |
+
"target_xy": [
|
| 49 |
+
0.4026,
|
| 50 |
+
0.0221
|
| 51 |
+
],
|
| 52 |
+
"min_mouth_dist": 0.2896,
|
| 53 |
+
"gif_path": null,
|
| 54 |
+
"mp4_path": null
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"episode": 2,
|
| 58 |
+
"task": "go_to_point",
|
| 59 |
+
"success": false,
|
| 60 |
+
"grasped": false,
|
| 61 |
+
"eaten": false,
|
| 62 |
+
"final_berry_pos": [
|
| 63 |
+
0.3941,
|
| 64 |
+
0.1323,
|
| 65 |
+
0.0546
|
| 66 |
+
],
|
| 67 |
+
"final_root_xy": [
|
| 68 |
+
-2.2728,
|
| 69 |
+
-0.109
|
| 70 |
+
],
|
| 71 |
+
"target_xy": [
|
| 72 |
+
0.3941,
|
| 73 |
+
0.1323
|
| 74 |
+
],
|
| 75 |
+
"min_mouth_dist": 0.3168,
|
| 76 |
+
"gif_path": null,
|
| 77 |
+
"mp4_path": null
|
| 78 |
+
},
|
| 79 |
+
{
|
| 80 |
+
"episode": 3,
|
| 81 |
+
"task": "go_to_point",
|
| 82 |
+
"success": false,
|
| 83 |
+
"grasped": false,
|
| 84 |
+
"eaten": false,
|
| 85 |
+
"final_berry_pos": [
|
| 86 |
+
0.4403,
|
| 87 |
+
-0.1469,
|
| 88 |
+
0.2946
|
| 89 |
+
],
|
| 90 |
+
"final_root_xy": [
|
| 91 |
+
-2.3981,
|
| 92 |
+
-2.0925
|
| 93 |
+
],
|
| 94 |
+
"target_xy": [
|
| 95 |
+
0.4403,
|
| 96 |
+
-0.1469
|
| 97 |
+
],
|
| 98 |
+
"min_mouth_dist": 0.2444,
|
| 99 |
+
"gif_path": null,
|
| 100 |
+
"mp4_path": null
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"episode": 4,
|
| 104 |
+
"task": "go_to_point",
|
| 105 |
+
"success": false,
|
| 106 |
+
"grasped": false,
|
| 107 |
+
"eaten": false,
|
| 108 |
+
"final_berry_pos": [
|
| 109 |
+
0.5036,
|
| 110 |
+
-0.0287,
|
| 111 |
+
0.2946
|
| 112 |
+
],
|
| 113 |
+
"final_root_xy": [
|
| 114 |
+
-1.8993,
|
| 115 |
+
0.5282
|
| 116 |
+
],
|
| 117 |
+
"target_xy": [
|
| 118 |
+
0.5036,
|
| 119 |
+
-0.0287
|
| 120 |
+
],
|
| 121 |
+
"min_mouth_dist": 0.2584,
|
| 122 |
+
"gif_path": null,
|
| 123 |
+
"mp4_path": null
|
| 124 |
+
}
|
| 125 |
+
]
|
| 126 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_480/minicpm_embedding_cache.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b90320920a4a058477e2f081a696162e50ebd219e851f9641e4e81059a66d81c
|
| 3 |
+
size 2070596
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_480/minicpm_vla_action_head.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ff498d45763c6e455dac7f89a42d7f47c1a830ae9104db1c55925b80e1ee56d1
|
| 3 |
+
size 4917068
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_480/train_minicpm_vla_action_head.json
ADDED
|
@@ -0,0 +1,62 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"encoded": 25, "total": 480, "cache_hits": 0}
|
| 2 |
+
{"encoded": 50, "total": 480, "cache_hits": 0}
|
| 3 |
+
{"encoded": 75, "total": 480, "cache_hits": 0}
|
| 4 |
+
{"encoded": 100, "total": 480, "cache_hits": 0}
|
| 5 |
+
{"encoded": 125, "total": 480, "cache_hits": 0}
|
| 6 |
+
{"encoded": 150, "total": 480, "cache_hits": 0}
|
| 7 |
+
{"encoded": 175, "total": 480, "cache_hits": 0}
|
| 8 |
+
{"encoded": 200, "total": 480, "cache_hits": 0}
|
| 9 |
+
{"encoded": 225, "total": 480, "cache_hits": 0}
|
| 10 |
+
{"encoded": 250, "total": 480, "cache_hits": 0}
|
| 11 |
+
{"encoded": 275, "total": 480, "cache_hits": 0}
|
| 12 |
+
{"encoded": 300, "total": 480, "cache_hits": 0}
|
| 13 |
+
{"encoded": 325, "total": 480, "cache_hits": 0}
|
| 14 |
+
{"encoded": 350, "total": 480, "cache_hits": 0}
|
| 15 |
+
{"encoded": 375, "total": 480, "cache_hits": 0}
|
| 16 |
+
{"encoded": 400, "total": 480, "cache_hits": 0}
|
| 17 |
+
{"encoded": 425, "total": 480, "cache_hits": 0}
|
| 18 |
+
{"encoded": 450, "total": 480, "cache_hits": 0}
|
| 19 |
+
{"encoded": 475, "total": 480, "cache_hits": 0}
|
| 20 |
+
{
|
| 21 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_480/minicpm_vla_action_head.pt",
|
| 22 |
+
"model_id": "openbmb/MiniCPM-V-4.6",
|
| 23 |
+
"rows": 480,
|
| 24 |
+
"train_rows": 422,
|
| 25 |
+
"val_rows": 58,
|
| 26 |
+
"device": "cuda",
|
| 27 |
+
"task_filter": [
|
| 28 |
+
"go_to_point"
|
| 29 |
+
],
|
| 30 |
+
"vl_dim": 1024,
|
| 31 |
+
"state_dim": 168,
|
| 32 |
+
"output_dim": 320,
|
| 33 |
+
"chunk_steps": 10,
|
| 34 |
+
"head_architecture": "state_residual_fusion_v1",
|
| 35 |
+
"vl_residual_scale": 0.08,
|
| 36 |
+
"action_std_floor": 0.01,
|
| 37 |
+
"cache_hits": 0,
|
| 38 |
+
"losses": [
|
| 39 |
+
9.484653674007859e-06,
|
| 40 |
+
9.751640391186811e-06,
|
| 41 |
+
9.53238759393571e-06,
|
| 42 |
+
9.205724381899927e-06,
|
| 43 |
+
8.376725418202113e-06,
|
| 44 |
+
8.207493920053821e-06,
|
| 45 |
+
8.62072192830965e-06,
|
| 46 |
+
7.883446414780337e-06,
|
| 47 |
+
9.998740097216796e-06,
|
| 48 |
+
1.2986492947675288e-05
|
| 49 |
+
],
|
| 50 |
+
"val_losses": [
|
| 51 |
+
0.0005316063179634511,
|
| 52 |
+
0.0005292673595249653,
|
| 53 |
+
0.0005280943587422371,
|
| 54 |
+
0.0005266418447718024,
|
| 55 |
+
0.0005247374065220356,
|
| 56 |
+
0.0005261089536361396,
|
| 57 |
+
0.0005243516061455011,
|
| 58 |
+
0.000525692303199321,
|
| 59 |
+
0.000519801746122539,
|
| 60 |
+
0.0005289771943353117
|
| 61 |
+
]
|
| 62 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_480/eval_go_to_point_minicpm_vla.json
ADDED
|
@@ -0,0 +1,126 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_480/minicpm_vla_action_head.pt",
|
| 3 |
+
"task": "go_to_point",
|
| 4 |
+
"episodes": 5,
|
| 5 |
+
"successes": 0,
|
| 6 |
+
"success_rate": 0.0,
|
| 7 |
+
"replan_interval": 8,
|
| 8 |
+
"smooth_alpha": 0.0,
|
| 9 |
+
"reports": [
|
| 10 |
+
{
|
| 11 |
+
"episode": 0,
|
| 12 |
+
"task": "go_to_point",
|
| 13 |
+
"success": false,
|
| 14 |
+
"grasped": false,
|
| 15 |
+
"eaten": false,
|
| 16 |
+
"final_berry_pos": [
|
| 17 |
+
0.441,
|
| 18 |
+
-0.1138,
|
| 19 |
+
0.2946
|
| 20 |
+
],
|
| 21 |
+
"final_root_xy": [
|
| 22 |
+
1.9622,
|
| 23 |
+
0.842
|
| 24 |
+
],
|
| 25 |
+
"target_xy": [
|
| 26 |
+
0.441,
|
| 27 |
+
-0.1138
|
| 28 |
+
],
|
| 29 |
+
"min_mouth_dist": 0.2336,
|
| 30 |
+
"gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_480/minicpm_vla_go_to_point_policy_ep000.gif",
|
| 31 |
+
"mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_480/minicpm_vla_go_to_point_policy_ep000.mp4"
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"episode": 1,
|
| 35 |
+
"task": "go_to_point",
|
| 36 |
+
"success": false,
|
| 37 |
+
"grasped": false,
|
| 38 |
+
"eaten": false,
|
| 39 |
+
"final_berry_pos": [
|
| 40 |
+
0.4026,
|
| 41 |
+
0.0752,
|
| 42 |
+
0.0546
|
| 43 |
+
],
|
| 44 |
+
"final_root_xy": [
|
| 45 |
+
2.4388,
|
| 46 |
+
0.7321
|
| 47 |
+
],
|
| 48 |
+
"target_xy": [
|
| 49 |
+
0.4026,
|
| 50 |
+
0.0221
|
| 51 |
+
],
|
| 52 |
+
"min_mouth_dist": 0.2478,
|
| 53 |
+
"gif_path": null,
|
| 54 |
+
"mp4_path": null
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"episode": 2,
|
| 58 |
+
"task": "go_to_point",
|
| 59 |
+
"success": false,
|
| 60 |
+
"grasped": false,
|
| 61 |
+
"eaten": false,
|
| 62 |
+
"final_berry_pos": [
|
| 63 |
+
0.3941,
|
| 64 |
+
0.1323,
|
| 65 |
+
0.0546
|
| 66 |
+
],
|
| 67 |
+
"final_root_xy": [
|
| 68 |
+
2.2398,
|
| 69 |
+
0.3388
|
| 70 |
+
],
|
| 71 |
+
"target_xy": [
|
| 72 |
+
0.3941,
|
| 73 |
+
0.1323
|
| 74 |
+
],
|
| 75 |
+
"min_mouth_dist": 0.2778,
|
| 76 |
+
"gif_path": null,
|
| 77 |
+
"mp4_path": null
|
| 78 |
+
},
|
| 79 |
+
{
|
| 80 |
+
"episode": 3,
|
| 81 |
+
"task": "go_to_point",
|
| 82 |
+
"success": false,
|
| 83 |
+
"grasped": false,
|
| 84 |
+
"eaten": false,
|
| 85 |
+
"final_berry_pos": [
|
| 86 |
+
0.4403,
|
| 87 |
+
-0.1469,
|
| 88 |
+
0.2946
|
| 89 |
+
],
|
| 90 |
+
"final_root_xy": [
|
| 91 |
+
-2.3366,
|
| 92 |
+
-1.9763
|
| 93 |
+
],
|
| 94 |
+
"target_xy": [
|
| 95 |
+
0.4403,
|
| 96 |
+
-0.1469
|
| 97 |
+
],
|
| 98 |
+
"min_mouth_dist": 0.2371,
|
| 99 |
+
"gif_path": null,
|
| 100 |
+
"mp4_path": null
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"episode": 4,
|
| 104 |
+
"task": "go_to_point",
|
| 105 |
+
"success": false,
|
| 106 |
+
"grasped": false,
|
| 107 |
+
"eaten": false,
|
| 108 |
+
"final_berry_pos": [
|
| 109 |
+
0.5036,
|
| 110 |
+
-0.0287,
|
| 111 |
+
0.2946
|
| 112 |
+
],
|
| 113 |
+
"final_root_xy": [
|
| 114 |
+
2.2041,
|
| 115 |
+
-1.1834
|
| 116 |
+
],
|
| 117 |
+
"target_xy": [
|
| 118 |
+
0.5036,
|
| 119 |
+
-0.0287
|
| 120 |
+
],
|
| 121 |
+
"min_mouth_dist": 0.2663,
|
| 122 |
+
"gif_path": null,
|
| 123 |
+
"mp4_path": null
|
| 124 |
+
}
|
| 125 |
+
]
|
| 126 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_480/minicpm_embedding_cache.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b90320920a4a058477e2f081a696162e50ebd219e851f9641e4e81059a66d81c
|
| 3 |
+
size 2070596
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_480/minicpm_vla_action_head.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:87f4eb9068d0269f2c70ba7bef1f9fd7850147a6632cd230a60bcccfe6c2a594
|
| 3 |
+
size 4917068
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_480/train_minicpm_vla_action_head.json
ADDED
|
@@ -0,0 +1,62 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"encoded": 25, "total": 480, "cache_hits": 0}
|
| 2 |
+
{"encoded": 50, "total": 480, "cache_hits": 0}
|
| 3 |
+
{"encoded": 75, "total": 480, "cache_hits": 0}
|
| 4 |
+
{"encoded": 100, "total": 480, "cache_hits": 0}
|
| 5 |
+
{"encoded": 125, "total": 480, "cache_hits": 0}
|
| 6 |
+
{"encoded": 150, "total": 480, "cache_hits": 0}
|
| 7 |
+
{"encoded": 175, "total": 480, "cache_hits": 0}
|
| 8 |
+
{"encoded": 200, "total": 480, "cache_hits": 0}
|
| 9 |
+
{"encoded": 225, "total": 480, "cache_hits": 0}
|
| 10 |
+
{"encoded": 250, "total": 480, "cache_hits": 0}
|
| 11 |
+
{"encoded": 275, "total": 480, "cache_hits": 0}
|
| 12 |
+
{"encoded": 300, "total": 480, "cache_hits": 0}
|
| 13 |
+
{"encoded": 325, "total": 480, "cache_hits": 0}
|
| 14 |
+
{"encoded": 350, "total": 480, "cache_hits": 0}
|
| 15 |
+
{"encoded": 375, "total": 480, "cache_hits": 0}
|
| 16 |
+
{"encoded": 400, "total": 480, "cache_hits": 0}
|
| 17 |
+
{"encoded": 425, "total": 480, "cache_hits": 0}
|
| 18 |
+
{"encoded": 450, "total": 480, "cache_hits": 0}
|
| 19 |
+
{"encoded": 475, "total": 480, "cache_hits": 0}
|
| 20 |
+
{
|
| 21 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_480/minicpm_vla_action_head.pt",
|
| 22 |
+
"model_id": "openbmb/MiniCPM-V-4.6",
|
| 23 |
+
"rows": 480,
|
| 24 |
+
"train_rows": 422,
|
| 25 |
+
"val_rows": 58,
|
| 26 |
+
"device": "cuda",
|
| 27 |
+
"task_filter": [
|
| 28 |
+
"go_to_point"
|
| 29 |
+
],
|
| 30 |
+
"vl_dim": 1024,
|
| 31 |
+
"state_dim": 168,
|
| 32 |
+
"output_dim": 320,
|
| 33 |
+
"chunk_steps": 10,
|
| 34 |
+
"head_architecture": "state_residual_fusion_v1",
|
| 35 |
+
"vl_residual_scale": 0.0,
|
| 36 |
+
"action_std_floor": 0.01,
|
| 37 |
+
"cache_hits": 0,
|
| 38 |
+
"losses": [
|
| 39 |
+
3.753732016775757e-05,
|
| 40 |
+
3.631593790487386e-05,
|
| 41 |
+
3.1572970328852534e-05,
|
| 42 |
+
3.5115172067889944e-05,
|
| 43 |
+
3.434377504163422e-05,
|
| 44 |
+
3.176913014613092e-05,
|
| 45 |
+
3.640662907855585e-05,
|
| 46 |
+
3.3539599826326594e-05,
|
| 47 |
+
3.4405158658046275e-05,
|
| 48 |
+
4.942713349009864e-05
|
| 49 |
+
],
|
| 50 |
+
"val_losses": [
|
| 51 |
+
0.00010568923607934266,
|
| 52 |
+
0.00011035550414817408,
|
| 53 |
+
0.000105208637251053,
|
| 54 |
+
0.0001039797643898055,
|
| 55 |
+
0.00010256240057060495,
|
| 56 |
+
9.437932021683082e-05,
|
| 57 |
+
9.515802230453119e-05,
|
| 58 |
+
9.211188444169238e-05,
|
| 59 |
+
0.00010554150503594428,
|
| 60 |
+
9.579290053807199e-05
|
| 61 |
+
]
|
| 62 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_smooth_480/eval_go_to_point_minicpm_vla.json
ADDED
|
@@ -0,0 +1,126 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_smooth_480/minicpm_vla_action_head.pt",
|
| 3 |
+
"task": "go_to_point",
|
| 4 |
+
"episodes": 5,
|
| 5 |
+
"successes": 0,
|
| 6 |
+
"success_rate": 0.0,
|
| 7 |
+
"replan_interval": 8,
|
| 8 |
+
"smooth_alpha": 0.85,
|
| 9 |
+
"reports": [
|
| 10 |
+
{
|
| 11 |
+
"episode": 0,
|
| 12 |
+
"task": "go_to_point",
|
| 13 |
+
"success": false,
|
| 14 |
+
"grasped": false,
|
| 15 |
+
"eaten": false,
|
| 16 |
+
"final_berry_pos": [
|
| 17 |
+
0.441,
|
| 18 |
+
-0.1138,
|
| 19 |
+
0.2946
|
| 20 |
+
],
|
| 21 |
+
"final_root_xy": [
|
| 22 |
+
-0.1054,
|
| 23 |
+
-1.9944
|
| 24 |
+
],
|
| 25 |
+
"target_xy": [
|
| 26 |
+
0.441,
|
| 27 |
+
-0.1138
|
| 28 |
+
],
|
| 29 |
+
"min_mouth_dist": 0.2507,
|
| 30 |
+
"gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_smooth_480/minicpm_vla_go_to_point_policy_ep000.gif",
|
| 31 |
+
"mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_smooth_480/minicpm_vla_go_to_point_policy_ep000.mp4"
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"episode": 1,
|
| 35 |
+
"task": "go_to_point",
|
| 36 |
+
"success": false,
|
| 37 |
+
"grasped": false,
|
| 38 |
+
"eaten": false,
|
| 39 |
+
"final_berry_pos": [
|
| 40 |
+
0.4026,
|
| 41 |
+
0.0752,
|
| 42 |
+
0.0546
|
| 43 |
+
],
|
| 44 |
+
"final_root_xy": [
|
| 45 |
+
-2.1535,
|
| 46 |
+
-1.7658
|
| 47 |
+
],
|
| 48 |
+
"target_xy": [
|
| 49 |
+
0.4026,
|
| 50 |
+
0.0221
|
| 51 |
+
],
|
| 52 |
+
"min_mouth_dist": 0.2656,
|
| 53 |
+
"gif_path": null,
|
| 54 |
+
"mp4_path": null
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"episode": 2,
|
| 58 |
+
"task": "go_to_point",
|
| 59 |
+
"success": false,
|
| 60 |
+
"grasped": false,
|
| 61 |
+
"eaten": false,
|
| 62 |
+
"final_berry_pos": [
|
| 63 |
+
0.3941,
|
| 64 |
+
0.1323,
|
| 65 |
+
0.0546
|
| 66 |
+
],
|
| 67 |
+
"final_root_xy": [
|
| 68 |
+
0.2965,
|
| 69 |
+
-1.9658
|
| 70 |
+
],
|
| 71 |
+
"target_xy": [
|
| 72 |
+
0.3941,
|
| 73 |
+
0.1323
|
| 74 |
+
],
|
| 75 |
+
"min_mouth_dist": 0.2855,
|
| 76 |
+
"gif_path": null,
|
| 77 |
+
"mp4_path": null
|
| 78 |
+
},
|
| 79 |
+
{
|
| 80 |
+
"episode": 3,
|
| 81 |
+
"task": "go_to_point",
|
| 82 |
+
"success": false,
|
| 83 |
+
"grasped": false,
|
| 84 |
+
"eaten": false,
|
| 85 |
+
"final_berry_pos": [
|
| 86 |
+
0.4403,
|
| 87 |
+
-0.1469,
|
| 88 |
+
0.2946
|
| 89 |
+
],
|
| 90 |
+
"final_root_xy": [
|
| 91 |
+
-2.4285,
|
| 92 |
+
-1.9662
|
| 93 |
+
],
|
| 94 |
+
"target_xy": [
|
| 95 |
+
0.4403,
|
| 96 |
+
-0.1469
|
| 97 |
+
],
|
| 98 |
+
"min_mouth_dist": 0.2545,
|
| 99 |
+
"gif_path": null,
|
| 100 |
+
"mp4_path": null
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"episode": 4,
|
| 104 |
+
"task": "go_to_point",
|
| 105 |
+
"success": false,
|
| 106 |
+
"grasped": false,
|
| 107 |
+
"eaten": false,
|
| 108 |
+
"final_berry_pos": [
|
| 109 |
+
0.5036,
|
| 110 |
+
-0.0287,
|
| 111 |
+
0.2946
|
| 112 |
+
],
|
| 113 |
+
"final_root_xy": [
|
| 114 |
+
-2.3305,
|
| 115 |
+
-1.995
|
| 116 |
+
],
|
| 117 |
+
"target_xy": [
|
| 118 |
+
0.5036,
|
| 119 |
+
-0.0287
|
| 120 |
+
],
|
| 121 |
+
"min_mouth_dist": 0.2804,
|
| 122 |
+
"gif_path": null,
|
| 123 |
+
"mp4_path": null
|
| 124 |
+
}
|
| 125 |
+
]
|
| 126 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_smooth_480/minicpm_embedding_cache.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b90320920a4a058477e2f081a696162e50ebd219e851f9641e4e81059a66d81c
|
| 3 |
+
size 2070596
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_smooth_480/minicpm_vla_action_head.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:32d57470bb5321e86a867c3e663ce7cd9ef12b183907748cc0307cca5566d51f
|
| 3 |
+
size 4917068
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_smooth_480/train_minicpm_vla_action_head.json
ADDED
|
@@ -0,0 +1,62 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"encoded": 25, "total": 480, "cache_hits": 0}
|
| 2 |
+
{"encoded": 50, "total": 480, "cache_hits": 0}
|
| 3 |
+
{"encoded": 75, "total": 480, "cache_hits": 0}
|
| 4 |
+
{"encoded": 100, "total": 480, "cache_hits": 0}
|
| 5 |
+
{"encoded": 125, "total": 480, "cache_hits": 0}
|
| 6 |
+
{"encoded": 150, "total": 480, "cache_hits": 0}
|
| 7 |
+
{"encoded": 175, "total": 480, "cache_hits": 0}
|
| 8 |
+
{"encoded": 200, "total": 480, "cache_hits": 0}
|
| 9 |
+
{"encoded": 225, "total": 480, "cache_hits": 0}
|
| 10 |
+
{"encoded": 250, "total": 480, "cache_hits": 0}
|
| 11 |
+
{"encoded": 275, "total": 480, "cache_hits": 0}
|
| 12 |
+
{"encoded": 300, "total": 480, "cache_hits": 0}
|
| 13 |
+
{"encoded": 325, "total": 480, "cache_hits": 0}
|
| 14 |
+
{"encoded": 350, "total": 480, "cache_hits": 0}
|
| 15 |
+
{"encoded": 375, "total": 480, "cache_hits": 0}
|
| 16 |
+
{"encoded": 400, "total": 480, "cache_hits": 0}
|
| 17 |
+
{"encoded": 425, "total": 480, "cache_hits": 0}
|
| 18 |
+
{"encoded": 450, "total": 480, "cache_hits": 0}
|
| 19 |
+
{"encoded": 475, "total": 480, "cache_hits": 0}
|
| 20 |
+
{
|
| 21 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_go_to_point_full_stateonly_smooth_480/minicpm_vla_action_head.pt",
|
| 22 |
+
"model_id": "openbmb/MiniCPM-V-4.6",
|
| 23 |
+
"rows": 480,
|
| 24 |
+
"train_rows": 422,
|
| 25 |
+
"val_rows": 58,
|
| 26 |
+
"device": "cuda",
|
| 27 |
+
"task_filter": [
|
| 28 |
+
"go_to_point"
|
| 29 |
+
],
|
| 30 |
+
"vl_dim": 1024,
|
| 31 |
+
"state_dim": 168,
|
| 32 |
+
"output_dim": 320,
|
| 33 |
+
"chunk_steps": 10,
|
| 34 |
+
"head_architecture": "state_residual_fusion_v1",
|
| 35 |
+
"vl_residual_scale": 0.0,
|
| 36 |
+
"action_std_floor": 0.01,
|
| 37 |
+
"cache_hits": 0,
|
| 38 |
+
"losses": [
|
| 39 |
+
4.312758755986579e-05,
|
| 40 |
+
3.2471631129737943e-05,
|
| 41 |
+
3.912312604370527e-05,
|
| 42 |
+
3.578622636268847e-05,
|
| 43 |
+
4.2338222556281835e-05,
|
| 44 |
+
4.150213862885721e-05,
|
| 45 |
+
4.1362956835655496e-05,
|
| 46 |
+
2.8141070288256742e-05,
|
| 47 |
+
3.090902464464307e-05,
|
| 48 |
+
3.4826523915398866e-05
|
| 49 |
+
],
|
| 50 |
+
"val_losses": [
|
| 51 |
+
0.0001057514309650287,
|
| 52 |
+
0.00010257861868012697,
|
| 53 |
+
9.62370540946722e-05,
|
| 54 |
+
9.141722694039345e-05,
|
| 55 |
+
9.536699508316815e-05,
|
| 56 |
+
9.418099216418341e-05,
|
| 57 |
+
9.221985965268686e-05,
|
| 58 |
+
8.801639341982082e-05,
|
| 59 |
+
8.993847586680204e-05,
|
| 60 |
+
8.861739479470998e-05
|
| 61 |
+
]
|
| 62 |
+
}
|
checkpoints/fireboy_minicpm_vla_action_head_go_to_point_navclock_480/eval_go_to_point_minicpm_vla.json
ADDED
|
@@ -0,0 +1,126 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/fireboy-vla-physics/build/checkpoints/fireboy_minicpm_vla_action_head_go_to_point_navclock_480/minicpm_vla_action_head.pt",
|
| 3 |
+
"task": "go_to_point",
|
| 4 |
+
"episodes": 5,
|
| 5 |
+
"successes": 0,
|
| 6 |
+
"success_rate": 0.0,
|
| 7 |
+
"replan_interval": 8,
|
| 8 |
+
"smooth_alpha": 0.0,
|
| 9 |
+
"reports": [
|
| 10 |
+
{
|
| 11 |
+
"episode": 0,
|
| 12 |
+
"task": "go_to_point",
|
| 13 |
+
"success": false,
|
| 14 |
+
"grasped": false,
|
| 15 |
+
"eaten": false,
|
| 16 |
+
"final_berry_pos": [
|
| 17 |
+
0.441,
|
| 18 |
+
-0.1138,
|
| 19 |
+
0.2946
|
| 20 |
+
],
|
| 21 |
+
"final_root_xy": [
|
| 22 |
+
2.1867,
|
| 23 |
+
1.9311
|
| 24 |
+
],
|
| 25 |
+
"target_xy": [
|
| 26 |
+
0.441,
|
| 27 |
+
-0.1138
|
| 28 |
+
],
|
| 29 |
+
"min_mouth_dist": 0.2237,
|
| 30 |
+
"gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_go_to_point_navclock_480/minicpm_vla_go_to_point_policy_ep000.gif",
|
| 31 |
+
"mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/fireboy_minicpm_vla_action_head_go_to_point_navclock_480/minicpm_vla_go_to_point_policy_ep000.mp4"
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"episode": 1,
|
| 35 |
+
"task": "go_to_point",
|
| 36 |
+
"success": false,
|
| 37 |
+
"grasped": false,
|
| 38 |
+
"eaten": false,
|
| 39 |
+
"final_berry_pos": [
|
| 40 |
+
0.4026,
|
| 41 |
+
0.0752,
|
| 42 |
+
0.0546
|
| 43 |
+
],
|
| 44 |
+
"final_root_xy": [
|
| 45 |
+
2.1362,
|
| 46 |
+
1.7981
|
| 47 |
+
],
|
| 48 |
+
"target_xy": [
|
| 49 |
+
0.4026,
|
| 50 |
+
0.0221
|
| 51 |
+
],
|
| 52 |
+
"min_mouth_dist": 0.2542,
|
| 53 |
+
"gif_path": null,
|
| 54 |
+
"mp4_path": null
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"episode": 2,
|
| 58 |
+
"task": "go_to_point",
|
| 59 |
+
"success": false,
|
| 60 |
+
"grasped": false,
|
| 61 |
+
"eaten": false,
|
| 62 |
+
"final_berry_pos": [
|
| 63 |
+
0.3941,
|
| 64 |
+
0.1323,
|
| 65 |
+
0.0546
|
| 66 |
+
],
|
| 67 |
+
"final_root_xy": [
|
| 68 |
+
2.3687,
|
| 69 |
+
1.8704
|
| 70 |
+
],
|
| 71 |
+
"target_xy": [
|
| 72 |
+
0.3941,
|
| 73 |
+
0.1323
|
| 74 |
+
],
|
| 75 |
+
"min_mouth_dist": 0.2819,
|
| 76 |
+
"gif_path": null,
|
| 77 |
+
"mp4_path": null
|
| 78 |
+
},
|
| 79 |
+
{
|
| 80 |
+
"episode": 3,
|
| 81 |
+
"task": "go_to_point",
|
| 82 |
+
"success": false,
|
| 83 |
+
"grasped": false,
|
| 84 |
+
"eaten": false,
|
| 85 |
+
"final_berry_pos": [
|
| 86 |
+
0.4403,
|
| 87 |
+
-0.1469,
|
| 88 |
+
0.2946
|
| 89 |
+
],
|
| 90 |
+
"final_root_xy": [
|
| 91 |
+
2.3926,
|
| 92 |
+
1.5624
|
| 93 |
+
],
|
| 94 |
+
"target_xy": [
|
| 95 |
+
0.4403,
|
| 96 |
+
-0.1469
|
| 97 |
+
],
|
| 98 |
+
"min_mouth_dist": 0.2231,
|
| 99 |
+
"gif_path": null,
|
| 100 |
+
"mp4_path": null
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"episode": 4,
|
| 104 |
+
"task": "go_to_point",
|
| 105 |
+
"success": false,
|
| 106 |
+
"grasped": false,
|
| 107 |
+
"eaten": false,
|
| 108 |
+
"final_berry_pos": [
|
| 109 |
+
0.5036,
|
| 110 |
+
-0.0287,
|
| 111 |
+
0.2946
|
| 112 |
+
],
|
| 113 |
+
"final_root_xy": [
|
| 114 |
+
2.3561,
|
| 115 |
+
1.8283
|
| 116 |
+
],
|
| 117 |
+
"target_xy": [
|
| 118 |
+
0.5036,
|
| 119 |
+
-0.0287
|
| 120 |
+
],
|
| 121 |
+
"min_mouth_dist": 0.2613,
|
| 122 |
+
"gif_path": null,
|
| 123 |
+
"mp4_path": null
|
| 124 |
+
}
|
| 125 |
+
]
|
| 126 |
+
}
|