feat(vla): add SmolVLA conditioning and experiment artifacts
This commit is contained in:
@@ -0,0 +1,43 @@
|
||||
{
|
||||
"checkpoint": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/checkpoints/vla_model_step_83124.pt",
|
||||
"num_rollouts": 5,
|
||||
"episodes": [
|
||||
{
|
||||
"episode_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep01",
|
||||
"avg_reward": 0.0,
|
||||
"avg_max_reward": 0.0,
|
||||
"video": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep01/rollout_front.mp4",
|
||||
"summary_json": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep01/rollout_summary.json"
|
||||
},
|
||||
{
|
||||
"episode_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep02",
|
||||
"avg_reward": 0.0,
|
||||
"avg_max_reward": 0.0,
|
||||
"video": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep02/rollout_front.mp4",
|
||||
"summary_json": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep02/rollout_summary.json"
|
||||
},
|
||||
{
|
||||
"episode_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep03",
|
||||
"avg_reward": 0.0,
|
||||
"avg_max_reward": 0.0,
|
||||
"video": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep03/rollout_front.mp4",
|
||||
"summary_json": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep03/rollout_summary.json"
|
||||
},
|
||||
{
|
||||
"episode_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep04",
|
||||
"avg_reward": 2.0,
|
||||
"avg_max_reward": 2.0,
|
||||
"video": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep04/rollout_front.mp4",
|
||||
"summary_json": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep04/rollout_summary.json"
|
||||
},
|
||||
{
|
||||
"episode_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep05",
|
||||
"avg_reward": 1408.0,
|
||||
"avg_max_reward": 4.0,
|
||||
"video": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep05/rollout_front.mp4",
|
||||
"summary_json": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep05/rollout_summary.json"
|
||||
}
|
||||
],
|
||||
"mean_avg_reward": 282.0,
|
||||
"best_avg_reward": 1408.0
|
||||
}
|
||||
Binary file not shown.
@@ -0,0 +1,216 @@
|
||||
{
|
||||
"num_episodes": 1,
|
||||
"episode_rewards": [
|
||||
0.0
|
||||
],
|
||||
"episode_max_rewards": [
|
||||
0.0
|
||||
],
|
||||
"avg_reward": 0.0,
|
||||
"avg_max_reward": 0.0,
|
||||
"episodes": [
|
||||
{
|
||||
"inference_fps": 416.328579450197,
|
||||
"control_fps": 16.62784691072735,
|
||||
"avg_obs_read_time_ms": 2.911593945131504,
|
||||
"avg_preprocess_time_ms": 6.928545483055392,
|
||||
"avg_inference_time_ms": 2.401948963774235,
|
||||
"avg_env_step_time_ms": 47.72096303665811,
|
||||
"avg_total_time_ms": 60.14007738758145,
|
||||
"num_inferences": 88,
|
||||
"num_model_forwards": 88,
|
||||
"num_steps": 700,
|
||||
"episode_reward": 0.0,
|
||||
"episode_max_reward": 0.0,
|
||||
"artifact_paths": {
|
||||
"video": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep01/rollout_front.mp4",
|
||||
"trajectory": null,
|
||||
"timing": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep01/rollout_summary.json"
|
||||
},
|
||||
"timing_breakdown_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.911593945131504,
|
||||
"std": 0.2611419950299626,
|
||||
"min": 2.712091023568064,
|
||||
"max": 7.493758981581777
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.928545483055392,
|
||||
"std": 0.5543077871256182,
|
||||
"min": 6.473146029748023,
|
||||
"max": 19.883478991687298
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.401948963774235,
|
||||
"std": 12.794224178610442,
|
||||
"min": 0.49940100871026516,
|
||||
"max": 327.08223100053146
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 47.72096303665811,
|
||||
"std": 2.1171372236113726,
|
||||
"min": 39.931224018801004,
|
||||
"max": 76.46449701860547
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 60.14007738758145,
|
||||
"std": 13.188809002297118,
|
||||
"min": 56.274613016285,
|
||||
"max": 389.8623649729416
|
||||
}
|
||||
},
|
||||
"timing_summary": {
|
||||
"count": 700,
|
||||
"model_forward_count": 88,
|
||||
"all_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.911593945131504,
|
||||
"std": 0.2611419950299626,
|
||||
"min": 2.712091023568064,
|
||||
"max": 7.493758981581777
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.928545483055392,
|
||||
"std": 0.5543077871256182,
|
||||
"min": 6.473146029748023,
|
||||
"max": 19.883478991687298
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.401948963774235,
|
||||
"std": 12.794224178610442,
|
||||
"min": 0.49940100871026516,
|
||||
"max": 327.08223100053146
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 47.72096303665811,
|
||||
"std": 2.1171372236113726,
|
||||
"min": 39.931224018801004,
|
||||
"max": 76.46449701860547
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 60.14007738758145,
|
||||
"std": 13.188809002297118,
|
||||
"min": 56.274613016285,
|
||||
"max": 389.8623649729416
|
||||
}
|
||||
},
|
||||
"model_forward_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.8758058099562978,
|
||||
"std": 0.0751506551331651,
|
||||
"min": 2.712091023568064,
|
||||
"max": 3.0596989672631025
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 7.1382775310088284,
|
||||
"std": 1.3865518440871207,
|
||||
"min": 6.516602006740868,
|
||||
"max": 19.883478991687298
|
||||
},
|
||||
"inference": {
|
||||
"mean": 15.048258656778755,
|
||||
"std": 33.453789958947034,
|
||||
"min": 11.253663979005069,
|
||||
"max": 327.08223100053146
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 47.788851250185296,
|
||||
"std": 1.684109686362168,
|
||||
"min": 39.931224018801004,
|
||||
"max": 56.31602002540603
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 73.03679807624907,
|
||||
"std": 34.000319709963435,
|
||||
"min": 67.7422959706746,
|
||||
"max": 389.8623649729416
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
],
|
||||
"artifact_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep01",
|
||||
"artifacts": {
|
||||
"output_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep01",
|
||||
"summary_json": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep01/rollout_summary.json",
|
||||
"timing_json": null,
|
||||
"trajectory_npz": null,
|
||||
"video_mp4": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep01/rollout_front.mp4",
|
||||
"video_camera_name": "front"
|
||||
},
|
||||
"avg_inference_fps": 416.328579450197,
|
||||
"avg_control_fps": 16.62784691072735,
|
||||
"avg_obs_read_time_ms": 2.911593945131504,
|
||||
"avg_preprocess_time_ms": 6.928545483055392,
|
||||
"avg_inference_time_ms": 2.401948963774235,
|
||||
"avg_env_step_time_ms": 47.72096303665811,
|
||||
"avg_total_time_ms": 60.14007738758145,
|
||||
"timing_summary": {
|
||||
"count": 700,
|
||||
"model_forward_count": 88,
|
||||
"all_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.911593945131504,
|
||||
"std": 0.2611419950299626,
|
||||
"min": 2.712091023568064,
|
||||
"max": 7.493758981581777
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.928545483055392,
|
||||
"std": 0.5543077871256182,
|
||||
"min": 6.473146029748023,
|
||||
"max": 19.883478991687298
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.401948963774235,
|
||||
"std": 12.794224178610442,
|
||||
"min": 0.49940100871026516,
|
||||
"max": 327.08223100053146
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 47.72096303665811,
|
||||
"std": 2.1171372236113726,
|
||||
"min": 39.931224018801004,
|
||||
"max": 76.46449701860547
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 60.14007738758145,
|
||||
"std": 13.188809002297118,
|
||||
"min": 56.274613016285,
|
||||
"max": 389.8623649729416
|
||||
}
|
||||
},
|
||||
"model_forward_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.8758058099562978,
|
||||
"std": 0.0751506551331651,
|
||||
"min": 2.712091023568064,
|
||||
"max": 3.0596989672631025
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 7.1382775310088284,
|
||||
"std": 1.3865518440871207,
|
||||
"min": 6.516602006740868,
|
||||
"max": 19.883478991687298
|
||||
},
|
||||
"inference": {
|
||||
"mean": 15.048258656778755,
|
||||
"std": 33.453789958947034,
|
||||
"min": 11.253663979005069,
|
||||
"max": 327.08223100053146
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 47.788851250185296,
|
||||
"std": 1.684109686362168,
|
||||
"min": 39.931224018801004,
|
||||
"max": 56.31602002540603
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 73.03679807624907,
|
||||
"std": 34.000319709963435,
|
||||
"min": 67.7422959706746,
|
||||
"max": 389.8623649729416
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Binary file not shown.
@@ -0,0 +1,216 @@
|
||||
{
|
||||
"num_episodes": 1,
|
||||
"episode_rewards": [
|
||||
0.0
|
||||
],
|
||||
"episode_max_rewards": [
|
||||
0.0
|
||||
],
|
||||
"avg_reward": 0.0,
|
||||
"avg_max_reward": 0.0,
|
||||
"episodes": [
|
||||
{
|
||||
"inference_fps": 423.2530657749397,
|
||||
"control_fps": 16.369630991018912,
|
||||
"avg_obs_read_time_ms": 2.922768201263222,
|
||||
"avg_preprocess_time_ms": 7.034949533491662,
|
||||
"avg_inference_time_ms": 2.362652703221621,
|
||||
"avg_env_step_time_ms": 48.58740326665741,
|
||||
"avg_total_time_ms": 61.088731966447085,
|
||||
"num_inferences": 88,
|
||||
"num_model_forwards": 88,
|
||||
"num_steps": 700,
|
||||
"episode_reward": 0.0,
|
||||
"episode_max_reward": 0.0,
|
||||
"artifact_paths": {
|
||||
"video": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep02/rollout_front.mp4",
|
||||
"trajectory": null,
|
||||
"timing": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep02/rollout_summary.json"
|
||||
},
|
||||
"timing_breakdown_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.922768201263222,
|
||||
"std": 0.20864628356732534,
|
||||
"min": 2.7384720160625875,
|
||||
"max": 4.775333974976093
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 7.034949533491662,
|
||||
"std": 0.6020329090344461,
|
||||
"min": 6.419215991627425,
|
||||
"max": 10.473316011484712
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.362652703221621,
|
||||
"std": 12.69272670328858,
|
||||
"min": 0.4969470319338143,
|
||||
"max": 324.9893220490776
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 48.58740326665741,
|
||||
"std": 3.577976984950618,
|
||||
"min": 41.04071902111173,
|
||||
"max": 67.934600985609
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 61.088731966447085,
|
||||
"std": 13.227582693702194,
|
||||
"min": 56.584795005619526,
|
||||
"max": 378.0319819925353
|
||||
}
|
||||
},
|
||||
"timing_summary": {
|
||||
"count": 700,
|
||||
"model_forward_count": 88,
|
||||
"all_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.922768201263222,
|
||||
"std": 0.20864628356732534,
|
||||
"min": 2.7384720160625875,
|
||||
"max": 4.775333974976093
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 7.034949533491662,
|
||||
"std": 0.6020329090344461,
|
||||
"min": 6.419215991627425,
|
||||
"max": 10.473316011484712
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.362652703221621,
|
||||
"std": 12.69272670328858,
|
||||
"min": 0.4969470319338143,
|
||||
"max": 324.9893220490776
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 48.58740326665741,
|
||||
"std": 3.577976984950618,
|
||||
"min": 41.04071902111173,
|
||||
"max": 67.934600985609
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 61.088731966447085,
|
||||
"std": 13.227582693702194,
|
||||
"min": 56.584795005619526,
|
||||
"max": 378.0319819925353
|
||||
}
|
||||
},
|
||||
"model_forward_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.89267532604175,
|
||||
"std": 0.11125532360169263,
|
||||
"min": 2.7624600334092975,
|
||||
"max": 3.5272870445623994
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 7.164920194720088,
|
||||
"std": 0.6480595307828021,
|
||||
"min": 6.461958982981741,
|
||||
"max": 10.244207980576903
|
||||
},
|
||||
"inference": {
|
||||
"mean": 14.722178172881037,
|
||||
"std": 33.26832928567316,
|
||||
"min": 10.894106002524495,
|
||||
"max": 324.9893220490776
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 48.64498521717244,
|
||||
"std": 3.7269116621985248,
|
||||
"min": 41.04071902111173,
|
||||
"max": 67.934600985609
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 73.61584814432057,
|
||||
"std": 32.98871154259634,
|
||||
"min": 67.3744379892014,
|
||||
"max": 378.0319819925353
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
],
|
||||
"artifact_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep02",
|
||||
"artifacts": {
|
||||
"output_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep02",
|
||||
"summary_json": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep02/rollout_summary.json",
|
||||
"timing_json": null,
|
||||
"trajectory_npz": null,
|
||||
"video_mp4": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep02/rollout_front.mp4",
|
||||
"video_camera_name": "front"
|
||||
},
|
||||
"avg_inference_fps": 423.2530657749397,
|
||||
"avg_control_fps": 16.369630991018912,
|
||||
"avg_obs_read_time_ms": 2.922768201263222,
|
||||
"avg_preprocess_time_ms": 7.034949533491662,
|
||||
"avg_inference_time_ms": 2.362652703221621,
|
||||
"avg_env_step_time_ms": 48.58740326665741,
|
||||
"avg_total_time_ms": 61.088731966447085,
|
||||
"timing_summary": {
|
||||
"count": 700,
|
||||
"model_forward_count": 88,
|
||||
"all_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.922768201263222,
|
||||
"std": 0.20864628356732534,
|
||||
"min": 2.7384720160625875,
|
||||
"max": 4.775333974976093
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 7.034949533491662,
|
||||
"std": 0.6020329090344461,
|
||||
"min": 6.419215991627425,
|
||||
"max": 10.473316011484712
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.362652703221621,
|
||||
"std": 12.69272670328858,
|
||||
"min": 0.4969470319338143,
|
||||
"max": 324.9893220490776
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 48.58740326665741,
|
||||
"std": 3.577976984950618,
|
||||
"min": 41.04071902111173,
|
||||
"max": 67.934600985609
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 61.088731966447085,
|
||||
"std": 13.227582693702194,
|
||||
"min": 56.584795005619526,
|
||||
"max": 378.0319819925353
|
||||
}
|
||||
},
|
||||
"model_forward_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.89267532604175,
|
||||
"std": 0.11125532360169263,
|
||||
"min": 2.7624600334092975,
|
||||
"max": 3.5272870445623994
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 7.164920194720088,
|
||||
"std": 0.6480595307828021,
|
||||
"min": 6.461958982981741,
|
||||
"max": 10.244207980576903
|
||||
},
|
||||
"inference": {
|
||||
"mean": 14.722178172881037,
|
||||
"std": 33.26832928567316,
|
||||
"min": 10.894106002524495,
|
||||
"max": 324.9893220490776
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 48.64498521717244,
|
||||
"std": 3.7269116621985248,
|
||||
"min": 41.04071902111173,
|
||||
"max": 67.934600985609
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 73.61584814432057,
|
||||
"std": 32.98871154259634,
|
||||
"min": 67.3744379892014,
|
||||
"max": 378.0319819925353
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Binary file not shown.
@@ -0,0 +1,216 @@
|
||||
{
|
||||
"num_episodes": 1,
|
||||
"episode_rewards": [
|
||||
0.0
|
||||
],
|
||||
"episode_max_rewards": [
|
||||
0.0
|
||||
],
|
||||
"avg_reward": 0.0,
|
||||
"avg_max_reward": 0.0,
|
||||
"episodes": [
|
||||
{
|
||||
"inference_fps": 428.38141787855113,
|
||||
"control_fps": 16.74224842048907,
|
||||
"avg_obs_read_time_ms": 2.900395128443571,
|
||||
"avg_preprocess_time_ms": 6.847853548159557,
|
||||
"avg_inference_time_ms": 2.3343682948533178,
|
||||
"avg_env_step_time_ms": 47.4696740059049,
|
||||
"avg_total_time_ms": 59.7291340377082,
|
||||
"num_inferences": 88,
|
||||
"num_model_forwards": 88,
|
||||
"num_steps": 700,
|
||||
"episode_reward": 0.0,
|
||||
"episode_max_reward": 0.0,
|
||||
"artifact_paths": {
|
||||
"video": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep03/rollout_front.mp4",
|
||||
"trajectory": null,
|
||||
"timing": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep03/rollout_summary.json"
|
||||
},
|
||||
"timing_breakdown_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.900395128443571,
|
||||
"std": 0.2916878594282876,
|
||||
"min": 2.68459296785295,
|
||||
"max": 7.19653902342543
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.847853548159557,
|
||||
"std": 0.21243417443892795,
|
||||
"min": 6.388033041730523,
|
||||
"max": 9.000881982501596
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.3343682948533178,
|
||||
"std": 11.800465870815552,
|
||||
"min": 0.49768202006816864,
|
||||
"max": 300.0851860269904
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 47.4696740059049,
|
||||
"std": 1.7681566119287178,
|
||||
"min": 41.32056800881401,
|
||||
"max": 82.69464899785817
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 59.7291340377082,
|
||||
"std": 11.80948193858811,
|
||||
"min": 56.34060001466423,
|
||||
"max": 353.5165900248103
|
||||
}
|
||||
},
|
||||
"timing_summary": {
|
||||
"count": 700,
|
||||
"model_forward_count": 88,
|
||||
"all_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.900395128443571,
|
||||
"std": 0.2916878594282876,
|
||||
"min": 2.68459296785295,
|
||||
"max": 7.19653902342543
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.847853548159557,
|
||||
"std": 0.21243417443892795,
|
||||
"min": 6.388033041730523,
|
||||
"max": 9.000881982501596
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.3343682948533178,
|
||||
"std": 11.800465870815552,
|
||||
"min": 0.49768202006816864,
|
||||
"max": 300.0851860269904
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 47.4696740059049,
|
||||
"std": 1.7681566119287178,
|
||||
"min": 41.32056800881401,
|
||||
"max": 82.69464899785817
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 59.7291340377082,
|
||||
"std": 11.80948193858811,
|
||||
"min": 56.34060001466423,
|
||||
"max": 353.5165900248103
|
||||
}
|
||||
},
|
||||
"model_forward_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.850530921105846,
|
||||
"std": 0.06315892633423309,
|
||||
"min": 2.729182015173137,
|
||||
"max": 2.99588602501899
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.963662055733783,
|
||||
"std": 0.3317973295122339,
|
||||
"min": 6.484561017714441,
|
||||
"max": 9.000881982501596
|
||||
},
|
||||
"inference": {
|
||||
"mean": 14.542899646171877,
|
||||
"std": 30.613461495155526,
|
||||
"min": 11.056077957618982,
|
||||
"max": 300.0851860269904
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 47.46852555862543,
|
||||
"std": 0.9486706652557946,
|
||||
"min": 41.32056800881401,
|
||||
"max": 49.64756895788014
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 72.01395506920313,
|
||||
"std": 30.190598270939223,
|
||||
"min": 67.28241901146248,
|
||||
"max": 353.5165900248103
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
],
|
||||
"artifact_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep03",
|
||||
"artifacts": {
|
||||
"output_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep03",
|
||||
"summary_json": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep03/rollout_summary.json",
|
||||
"timing_json": null,
|
||||
"trajectory_npz": null,
|
||||
"video_mp4": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep03/rollout_front.mp4",
|
||||
"video_camera_name": "front"
|
||||
},
|
||||
"avg_inference_fps": 428.38141787855113,
|
||||
"avg_control_fps": 16.74224842048907,
|
||||
"avg_obs_read_time_ms": 2.900395128443571,
|
||||
"avg_preprocess_time_ms": 6.847853548159557,
|
||||
"avg_inference_time_ms": 2.3343682948533178,
|
||||
"avg_env_step_time_ms": 47.4696740059049,
|
||||
"avg_total_time_ms": 59.7291340377082,
|
||||
"timing_summary": {
|
||||
"count": 700,
|
||||
"model_forward_count": 88,
|
||||
"all_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.900395128443571,
|
||||
"std": 0.2916878594282876,
|
||||
"min": 2.68459296785295,
|
||||
"max": 7.19653902342543
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.847853548159557,
|
||||
"std": 0.21243417443892795,
|
||||
"min": 6.388033041730523,
|
||||
"max": 9.000881982501596
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.3343682948533178,
|
||||
"std": 11.800465870815552,
|
||||
"min": 0.49768202006816864,
|
||||
"max": 300.0851860269904
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 47.4696740059049,
|
||||
"std": 1.7681566119287178,
|
||||
"min": 41.32056800881401,
|
||||
"max": 82.69464899785817
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 59.7291340377082,
|
||||
"std": 11.80948193858811,
|
||||
"min": 56.34060001466423,
|
||||
"max": 353.5165900248103
|
||||
}
|
||||
},
|
||||
"model_forward_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.850530921105846,
|
||||
"std": 0.06315892633423309,
|
||||
"min": 2.729182015173137,
|
||||
"max": 2.99588602501899
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.963662055733783,
|
||||
"std": 0.3317973295122339,
|
||||
"min": 6.484561017714441,
|
||||
"max": 9.000881982501596
|
||||
},
|
||||
"inference": {
|
||||
"mean": 14.542899646171877,
|
||||
"std": 30.613461495155526,
|
||||
"min": 11.056077957618982,
|
||||
"max": 300.0851860269904
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 47.46852555862543,
|
||||
"std": 0.9486706652557946,
|
||||
"min": 41.32056800881401,
|
||||
"max": 49.64756895788014
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 72.01395506920313,
|
||||
"std": 30.190598270939223,
|
||||
"min": 67.28241901146248,
|
||||
"max": 353.5165900248103
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Binary file not shown.
@@ -0,0 +1,216 @@
|
||||
{
|
||||
"num_episodes": 1,
|
||||
"episode_rewards": [
|
||||
2.0
|
||||
],
|
||||
"episode_max_rewards": [
|
||||
2.0
|
||||
],
|
||||
"avg_reward": 2.0,
|
||||
"avg_max_reward": 2.0,
|
||||
"episodes": [
|
||||
{
|
||||
"inference_fps": 425.1027328138825,
|
||||
"control_fps": 17.116880794537646,
|
||||
"avg_obs_read_time_ms": 2.8568991100681678,
|
||||
"avg_preprocess_time_ms": 6.912527064227366,
|
||||
"avg_inference_time_ms": 2.3523725509377464,
|
||||
"avg_env_step_time_ms": 46.12416496566896,
|
||||
"avg_total_time_ms": 58.42185921626099,
|
||||
"num_inferences": 88,
|
||||
"num_model_forwards": 88,
|
||||
"num_steps": 700,
|
||||
"episode_reward": 2.0,
|
||||
"episode_max_reward": 2.0,
|
||||
"artifact_paths": {
|
||||
"video": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep04/rollout_front.mp4",
|
||||
"trajectory": null,
|
||||
"timing": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep04/rollout_summary.json"
|
||||
},
|
||||
"timing_breakdown_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.8568991100681678,
|
||||
"std": 0.20988493064877758,
|
||||
"min": 2.6854430325329304,
|
||||
"max": 5.505044013261795
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.912527064227366,
|
||||
"std": 0.3468982959934229,
|
||||
"min": 6.422812002710998,
|
||||
"max": 13.460688991472125
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.3523725509377464,
|
||||
"std": 12.345277540311537,
|
||||
"min": 0.4927710397168994,
|
||||
"max": 315.18344301730394
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 46.12416496566896,
|
||||
"std": 1.6786026968893601,
|
||||
"min": 40.27245403267443,
|
||||
"max": 69.19108401052654
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 58.42185921626099,
|
||||
"std": 12.395693709763066,
|
||||
"min": 54.73730497760698,
|
||||
"max": 368.8187550287694
|
||||
}
|
||||
},
|
||||
"timing_summary": {
|
||||
"count": 700,
|
||||
"model_forward_count": 88,
|
||||
"all_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.8568991100681678,
|
||||
"std": 0.20988493064877758,
|
||||
"min": 2.6854430325329304,
|
||||
"max": 5.505044013261795
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.912527064227366,
|
||||
"std": 0.3468982959934229,
|
||||
"min": 6.422812002710998,
|
||||
"max": 13.460688991472125
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.3523725509377464,
|
||||
"std": 12.345277540311537,
|
||||
"min": 0.4927710397168994,
|
||||
"max": 315.18344301730394
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 46.12416496566896,
|
||||
"std": 1.6786026968893601,
|
||||
"min": 40.27245403267443,
|
||||
"max": 69.19108401052654
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 58.42185921626099,
|
||||
"std": 12.395693709763066,
|
||||
"min": 54.73730497760698,
|
||||
"max": 368.8187550287694
|
||||
}
|
||||
},
|
||||
"model_forward_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.8195713563367133,
|
||||
"std": 0.05933493418683723,
|
||||
"min": 2.6968690217472613,
|
||||
"max": 2.953937044367194
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 7.006697107333986,
|
||||
"std": 0.4376351299601935,
|
||||
"min": 6.50148798013106,
|
||||
"max": 10.386412963271141
|
||||
},
|
||||
"inference": {
|
||||
"mean": 14.704165457012344,
|
||||
"std": 32.214912229767435,
|
||||
"min": 11.083905992563814,
|
||||
"max": 315.18344301730394
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 46.088106907105114,
|
||||
"std": 1.088099613967191,
|
||||
"min": 40.27245403267443,
|
||||
"max": 49.108261009678245
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 70.80417735150232,
|
||||
"std": 31.96448918725213,
|
||||
"min": 65.67699601873755,
|
||||
"max": 368.8187550287694
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
],
|
||||
"artifact_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep04",
|
||||
"artifacts": {
|
||||
"output_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep04",
|
||||
"summary_json": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep04/rollout_summary.json",
|
||||
"timing_json": null,
|
||||
"trajectory_npz": null,
|
||||
"video_mp4": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep04/rollout_front.mp4",
|
||||
"video_camera_name": "front"
|
||||
},
|
||||
"avg_inference_fps": 425.1027328138825,
|
||||
"avg_control_fps": 17.116880794537646,
|
||||
"avg_obs_read_time_ms": 2.8568991100681678,
|
||||
"avg_preprocess_time_ms": 6.912527064227366,
|
||||
"avg_inference_time_ms": 2.3523725509377464,
|
||||
"avg_env_step_time_ms": 46.12416496566896,
|
||||
"avg_total_time_ms": 58.42185921626099,
|
||||
"timing_summary": {
|
||||
"count": 700,
|
||||
"model_forward_count": 88,
|
||||
"all_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.8568991100681678,
|
||||
"std": 0.20988493064877758,
|
||||
"min": 2.6854430325329304,
|
||||
"max": 5.505044013261795
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.912527064227366,
|
||||
"std": 0.3468982959934229,
|
||||
"min": 6.422812002710998,
|
||||
"max": 13.460688991472125
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.3523725509377464,
|
||||
"std": 12.345277540311537,
|
||||
"min": 0.4927710397168994,
|
||||
"max": 315.18344301730394
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 46.12416496566896,
|
||||
"std": 1.6786026968893601,
|
||||
"min": 40.27245403267443,
|
||||
"max": 69.19108401052654
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 58.42185921626099,
|
||||
"std": 12.395693709763066,
|
||||
"min": 54.73730497760698,
|
||||
"max": 368.8187550287694
|
||||
}
|
||||
},
|
||||
"model_forward_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.8195713563367133,
|
||||
"std": 0.05933493418683723,
|
||||
"min": 2.6968690217472613,
|
||||
"max": 2.953937044367194
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 7.006697107333986,
|
||||
"std": 0.4376351299601935,
|
||||
"min": 6.50148798013106,
|
||||
"max": 10.386412963271141
|
||||
},
|
||||
"inference": {
|
||||
"mean": 14.704165457012344,
|
||||
"std": 32.214912229767435,
|
||||
"min": 11.083905992563814,
|
||||
"max": 315.18344301730394
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 46.088106907105114,
|
||||
"std": 1.088099613967191,
|
||||
"min": 40.27245403267443,
|
||||
"max": 49.108261009678245
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 70.80417735150232,
|
||||
"std": 31.96448918725213,
|
||||
"min": 65.67699601873755,
|
||||
"max": 368.8187550287694
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Binary file not shown.
@@ -0,0 +1,216 @@
|
||||
{
|
||||
"num_episodes": 1,
|
||||
"episode_rewards": [
|
||||
1408.0
|
||||
],
|
||||
"episode_max_rewards": [
|
||||
4.0
|
||||
],
|
||||
"avg_reward": 1408.0,
|
||||
"avg_max_reward": 4.0,
|
||||
"episodes": [
|
||||
{
|
||||
"inference_fps": 421.5143683898348,
|
||||
"control_fps": 15.98697584872221,
|
||||
"avg_obs_read_time_ms": 2.916401576450361,
|
||||
"avg_preprocess_time_ms": 6.9587834345709,
|
||||
"avg_inference_time_ms": 2.372398368814694,
|
||||
"avg_env_step_time_ms": 50.12335285793857,
|
||||
"avg_total_time_ms": 62.55091703787912,
|
||||
"num_inferences": 88,
|
||||
"num_model_forwards": 88,
|
||||
"num_steps": 700,
|
||||
"episode_reward": 1408.0,
|
||||
"episode_max_reward": 4.0,
|
||||
"artifact_paths": {
|
||||
"video": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep05/rollout_front.mp4",
|
||||
"trajectory": null,
|
||||
"timing": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep05/rollout_summary.json"
|
||||
},
|
||||
"timing_breakdown_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.916401576450361,
|
||||
"std": 0.19681075249117103,
|
||||
"min": 2.723354031331837,
|
||||
"max": 4.304414032958448
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.9587834345709,
|
||||
"std": 0.32918428959573737,
|
||||
"min": 6.440367025788873,
|
||||
"max": 10.836776986252517
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.372398368814694,
|
||||
"std": 12.755981125405425,
|
||||
"min": 0.4968460416421294,
|
||||
"max": 326.6250739688985
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 50.12335285793857,
|
||||
"std": 2.0541933730540083,
|
||||
"min": 41.243349958676845,
|
||||
"max": 59.02870395220816
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 62.55091703787912,
|
||||
"std": 12.685506605997542,
|
||||
"min": 57.05423402832821,
|
||||
"max": 379.86371299484745
|
||||
}
|
||||
},
|
||||
"timing_summary": {
|
||||
"count": 700,
|
||||
"model_forward_count": 88,
|
||||
"all_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.916401576450361,
|
||||
"std": 0.19681075249117103,
|
||||
"min": 2.723354031331837,
|
||||
"max": 4.304414032958448
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.9587834345709,
|
||||
"std": 0.32918428959573737,
|
||||
"min": 6.440367025788873,
|
||||
"max": 10.836776986252517
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.372398368814694,
|
||||
"std": 12.755981125405425,
|
||||
"min": 0.4968460416421294,
|
||||
"max": 326.6250739688985
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 50.12335285793857,
|
||||
"std": 2.0541933730540083,
|
||||
"min": 41.243349958676845,
|
||||
"max": 59.02870395220816
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 62.55091703787912,
|
||||
"std": 12.685506605997542,
|
||||
"min": 57.05423402832821,
|
||||
"max": 379.86371299484745
|
||||
}
|
||||
},
|
||||
"model_forward_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.8879472850927743,
|
||||
"std": 0.09183274389315361,
|
||||
"min": 2.758314018137753,
|
||||
"max": 3.517468983773142
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 7.111402045914226,
|
||||
"std": 0.5243812452094909,
|
||||
"min": 6.641154002863914,
|
||||
"max": 10.836776986252517
|
||||
},
|
||||
"inference": {
|
||||
"mean": 14.798059454320041,
|
||||
"std": 33.432189809551524,
|
||||
"min": 10.985016997437924,
|
||||
"max": 326.6250739688985
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 49.97409828435841,
|
||||
"std": 2.1747279952000875,
|
||||
"min": 41.243349958676845,
|
||||
"max": 56.928464968223125
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 74.9630101153426,
|
||||
"std": 32.74896535841012,
|
||||
"min": 67.58100300794467,
|
||||
"max": 379.86371299484745
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
],
|
||||
"artifact_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep05",
|
||||
"artifacts": {
|
||||
"output_dir": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep05",
|
||||
"summary_json": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep05/rollout_summary.json",
|
||||
"timing_json": null,
|
||||
"trajectory_npz": null,
|
||||
"video_mp4": "/home/droid/roboimi_imf_attnres/runs/sim-transfer-imf-attnres-emb384-l12-ph16-step150k-roll5x5-lr2p5e4-restart-20260402-104553/rollout-step83124-front-5x-20260403-090744/ep05/rollout_front.mp4",
|
||||
"video_camera_name": "front"
|
||||
},
|
||||
"avg_inference_fps": 421.5143683898348,
|
||||
"avg_control_fps": 15.98697584872221,
|
||||
"avg_obs_read_time_ms": 2.916401576450361,
|
||||
"avg_preprocess_time_ms": 6.9587834345709,
|
||||
"avg_inference_time_ms": 2.372398368814694,
|
||||
"avg_env_step_time_ms": 50.12335285793857,
|
||||
"avg_total_time_ms": 62.55091703787912,
|
||||
"timing_summary": {
|
||||
"count": 700,
|
||||
"model_forward_count": 88,
|
||||
"all_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.916401576450361,
|
||||
"std": 0.19681075249117103,
|
||||
"min": 2.723354031331837,
|
||||
"max": 4.304414032958448
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 6.9587834345709,
|
||||
"std": 0.32918428959573737,
|
||||
"min": 6.440367025788873,
|
||||
"max": 10.836776986252517
|
||||
},
|
||||
"inference": {
|
||||
"mean": 2.372398368814694,
|
||||
"std": 12.755981125405425,
|
||||
"min": 0.4968460416421294,
|
||||
"max": 326.6250739688985
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 50.12335285793857,
|
||||
"std": 2.0541933730540083,
|
||||
"min": 41.243349958676845,
|
||||
"max": 59.02870395220816
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 62.55091703787912,
|
||||
"std": 12.685506605997542,
|
||||
"min": 57.05423402832821,
|
||||
"max": 379.86371299484745
|
||||
}
|
||||
},
|
||||
"model_forward_steps_ms": {
|
||||
"obs_read": {
|
||||
"mean": 2.8879472850927743,
|
||||
"std": 0.09183274389315361,
|
||||
"min": 2.758314018137753,
|
||||
"max": 3.517468983773142
|
||||
},
|
||||
"preprocess": {
|
||||
"mean": 7.111402045914226,
|
||||
"std": 0.5243812452094909,
|
||||
"min": 6.641154002863914,
|
||||
"max": 10.836776986252517
|
||||
},
|
||||
"inference": {
|
||||
"mean": 14.798059454320041,
|
||||
"std": 33.432189809551524,
|
||||
"min": 10.985016997437924,
|
||||
"max": 326.6250739688985
|
||||
},
|
||||
"env_step": {
|
||||
"mean": 49.97409828435841,
|
||||
"std": 2.1747279952000875,
|
||||
"min": 41.243349958676845,
|
||||
"max": 56.928464968223125
|
||||
},
|
||||
"loop_total": {
|
||||
"mean": 74.9630101153426,
|
||||
"std": 32.74896535841012,
|
||||
"min": 67.58100300794467,
|
||||
"max": 379.86371299484745
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user