feat(vla): add SmolVLA conditioning and experiment artifacts
This commit is contained in:
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
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user