SGPatil commited on
Commit
d6cdc7b
·
verified ·
1 Parent(s): 4a8b78b

Upload folder using huggingface_hub

Browse files
evaluation_summary.json ADDED
@@ -0,0 +1,90 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "evaluation_summary": {
3
+ "total_trajectories": 10,
4
+ "average_mse": 64.18555432176666,
5
+ "mse_std": 32.51305527089434,
6
+ "total_evaluation_time": 3551.4284315109253,
7
+ "configuration": {
8
+ "data_config": "so101_dualcam",
9
+ "action_horizon": 16,
10
+ "modality_keys": [
11
+ "single_arm",
12
+ "gripper"
13
+ ],
14
+ "embodiment_tag": "new_embodiment",
15
+ "denoising_steps": 4
16
+ }
17
+ },
18
+ "trajectory_summaries": [
19
+ {
20
+ "trajectory_id": 0,
21
+ "mse": 62.898961155079974,
22
+ "inference_time": 331.193457365036,
23
+ "steps_evaluated": 1991,
24
+ "trajectory_length": 1991
25
+ },
26
+ {
27
+ "trajectory_id": 1,
28
+ "mse": 52.29052552592684,
29
+ "inference_time": 396.0736472606659,
30
+ "steps_evaluated": 2395,
31
+ "trajectory_length": 2395
32
+ },
33
+ {
34
+ "trajectory_id": 2,
35
+ "mse": 73.13837694967398,
36
+ "inference_time": 496.1231882572174,
37
+ "steps_evaluated": 2950,
38
+ "trajectory_length": 2950
39
+ },
40
+ {
41
+ "trajectory_id": 3,
42
+ "mse": 2.490841431340499,
43
+ "inference_time": 1.8037583827972412,
44
+ "steps_evaluated": 1,
45
+ "trajectory_length": 1
46
+ },
47
+ {
48
+ "trajectory_id": 4,
49
+ "mse": 53.56483993329985,
50
+ "inference_time": 391.66790533065796,
51
+ "steps_evaluated": 2363,
52
+ "trajectory_length": 2363
53
+ },
54
+ {
55
+ "trajectory_id": 5,
56
+ "mse": 53.36007851317522,
57
+ "inference_time": 315.0846836566925,
58
+ "steps_evaluated": 1926,
59
+ "trajectory_length": 1926
60
+ },
61
+ {
62
+ "trajectory_id": 6,
63
+ "mse": 74.48005217438111,
64
+ "inference_time": 468.8669285774231,
65
+ "steps_evaluated": 2799,
66
+ "trajectory_length": 2799
67
+ },
68
+ {
69
+ "trajectory_id": 7,
70
+ "mse": 61.12555025323062,
71
+ "inference_time": 344.9305989742279,
72
+ "steps_evaluated": 2098,
73
+ "trajectory_length": 2098
74
+ },
75
+ {
76
+ "trajectory_id": 8,
77
+ "mse": 65.6183729966064,
78
+ "inference_time": 359.21469831466675,
79
+ "steps_evaluated": 2167,
80
+ "trajectory_length": 2167
81
+ },
82
+ {
83
+ "trajectory_id": 9,
84
+ "mse": 142.88794428495203,
85
+ "inference_time": 446.4695653915405,
86
+ "steps_evaluated": 2652,
87
+ "trajectory_length": 2652
88
+ }
89
+ ]
90
+ }
trajectory_0/arrays.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c2a6e79979e1eaf33e68694fcc8fc128ead13f1ca849e62e89623e88886fc808
3
+ size 365601
trajectory_0/data.json ADDED
The diff for this file is too large to render. See raw diff
 
trajectory_0/data.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9e58de4baa788391d4cb4f0dd50e90e5023627453d6dbeb3c46fba5f074d716f
3
+ size 297360
trajectory_1/arrays.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7ba1bbad4fd43ad860ae7e1eeca51eacf0afa1ae4e9a46a0860e3434775d0ba0
3
+ size 439210
trajectory_1/data.json ADDED
The diff for this file is too large to render. See raw diff
 
trajectory_1/data.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f382637e2ab5e92944ba7ec1722ea7177cd558a56cc73d3a3c6abdbfc5f9ed38
3
+ size 357294
trajectory_2/arrays.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f4636c845e7ce004c580ce17fa03f06fe476663f519c6d6a7366e067cb4f6ed8
3
+ size 541245
trajectory_2/data.json ADDED
The diff for this file is too large to render. See raw diff
 
trajectory_2/data.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8ff13382c8bab81a94c2b976f324e852b1104d3a5d91df0e59e63b66f5d9652c
3
+ size 440193
trajectory_3/arrays.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:745e2090914437554434c1f3d58c056f1d0952696225596ef89395d07e481c56
3
+ size 2045
trajectory_3/data.json ADDED
@@ -0,0 +1,185 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "trajectory_id": 3,
3
+ "metadata": {
4
+ "trajectory_length": 1,
5
+ "steps_evaluated": 1,
6
+ "completion_rate": 1.0,
7
+ "prediction_points_count": 1
8
+ },
9
+ "metrics": {
10
+ "mse": 2.490841431340499,
11
+ "trajectory_length": 1,
12
+ "steps_evaluated": 1,
13
+ "inference_time": 1.8037583827972412,
14
+ "action_horizon": 16,
15
+ "modality_keys": [
16
+ "single_arm",
17
+ "gripper"
18
+ ]
19
+ },
20
+ "arrays": {
21
+ "predicted_actions": [
22
+ [
23
+ 2.4901580810546875,
24
+ -102.26005554199219,
25
+ 79.52488708496094,
26
+ 57.468040466308594,
27
+ -93.03653717041016,
28
+ -0.6767227649688721
29
+ ]
30
+ ],
31
+ "ground_truth_actions": [
32
+ [
33
+ 2.724609375,
34
+ -102.83203125,
35
+ 82.6171875,
36
+ 56.07421875,
37
+ -91.318359375,
38
+ -0.3515625
39
+ ]
40
+ ]
41
+ },
42
+ "prediction_points": [
43
+ {
44
+ "step": 0,
45
+ "horizon_prediction": {
46
+ "single_arm": [
47
+ [
48
+ 2.4901580810546875,
49
+ -102.26005554199219,
50
+ 79.52488708496094,
51
+ 57.468040466308594,
52
+ -93.03653717041016
53
+ ],
54
+ [
55
+ 1.62548828125,
56
+ -102.7179946899414,
57
+ 81.2926025390625,
58
+ 56.72179412841797,
59
+ -92.97870635986328
60
+ ],
61
+ [
62
+ 2.1571807861328125,
63
+ -102.69466400146484,
64
+ 79.45518493652344,
65
+ 57.16993713378906,
66
+ -92.96920776367188
67
+ ],
68
+ [
69
+ 1.63226318359375,
70
+ -102.80462646484375,
71
+ 80.21711730957031,
72
+ 57.483680725097656,
73
+ -93.38933563232422
74
+ ],
75
+ [
76
+ 1.8912353515625,
77
+ -102.00163269042969,
78
+ 79.65463256835938,
79
+ 57.802589416503906,
80
+ -93.82659912109375
81
+ ],
82
+ [
83
+ 2.4636993408203125,
84
+ -102.89871215820312,
85
+ 80.38822937011719,
86
+ 57.95709228515625,
87
+ -93.77006530761719
88
+ ],
89
+ [
90
+ 2.7074508666992188,
91
+ -102.5768814086914,
92
+ 80.27033996582031,
93
+ 57.52679443359375,
94
+ -92.39012145996094
95
+ ],
96
+ [
97
+ 2.478851318359375,
98
+ -102.63301849365234,
99
+ 80.18307495117188,
100
+ 58.22764587402344,
101
+ -93.88289642333984
102
+ ],
103
+ [
104
+ 2.9670867919921875,
105
+ -102.4454574584961,
106
+ 81.529052734375,
107
+ 57.928802490234375,
108
+ -91.94815063476562
109
+ ],
110
+ [
111
+ 2.6055908203125,
112
+ -103.0153579711914,
113
+ 80.94749450683594,
114
+ 58.73683166503906,
115
+ -93.45209503173828
116
+ ],
117
+ [
118
+ 2.4268569946289062,
119
+ -101.50816345214844,
120
+ 80.81979370117188,
121
+ 59.87700653076172,
122
+ -93.84877014160156
123
+ ],
124
+ [
125
+ 2.1783218383789062,
126
+ -102.83818817138672,
127
+ 80.20545959472656,
128
+ 59.366607666015625,
129
+ -93.21253204345703
130
+ ],
131
+ [
132
+ 2.5235671997070312,
133
+ -103.56986999511719,
134
+ 81.09785461425781,
135
+ 60.24383544921875,
136
+ -92.78530883789062
137
+ ],
138
+ [
139
+ 1.879638671875,
140
+ -102.46534729003906,
141
+ 80.51388549804688,
142
+ 60.63611602783203,
143
+ -93.14639282226562
144
+ ],
145
+ [
146
+ 2.28936767578125,
147
+ -101.67970275878906,
148
+ 80.46208190917969,
149
+ 61.616554260253906,
150
+ -93.5082015991211
151
+ ],
152
+ [
153
+ 2.3798828125,
154
+ -102.865966796875,
155
+ 79.49948120117188,
156
+ 60.97191619873047,
157
+ -92.76933288574219
158
+ ]
159
+ ],
160
+ "gripper": [
161
+ -0.6767227649688721,
162
+ -0.4044661521911621,
163
+ -0.020740985870361328,
164
+ -0.0025479793548583984,
165
+ -0.08411431312561035,
166
+ 0.24413037300109863,
167
+ 0.0862264633178711,
168
+ 0.16047048568725586,
169
+ -0.4667527675628662,
170
+ -0.40854525566101074,
171
+ 0.17054533958435059,
172
+ 0.024344921112060547,
173
+ 0.05299520492553711,
174
+ -0.38982462882995605,
175
+ -0.29479455947875977,
176
+ -0.24698734283447266
177
+ ]
178
+ }
179
+ }
180
+ ],
181
+ "timing": [
182
+ 1.8037583827972412
183
+ ],
184
+ "detailed_inference_data": []
185
+ }
trajectory_3/data.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1a631e2fc87de0dcd34d1068490becd3a736623466b78b01b75dd47f71a4d321
3
+ size 1393
trajectory_4/arrays.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:912ec697b637e10f5f5a90ef8caf5dd47ad24749fa6652c9cfbc26e8fa50e709
3
+ size 433352
trajectory_4/data.json ADDED
The diff for this file is too large to render. See raw diff
 
trajectory_4/data.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9321750c727f066ef09fa4b6b1f39732d55211317efc4eb6119498ecbbc37732
3
+ size 352530
trajectory_5/arrays.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:49a07c982c9ffeb819a4a5dcb469e5546f7521f7427adcd569b07c767875d486
3
+ size 353789
trajectory_5/data.json ADDED
The diff for this file is too large to render. See raw diff
 
trajectory_5/data.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c488af172352c352c0ce9b6145e45905ce5122d76462ee74d46f19a896ce13ce
3
+ size 287736
trajectory_6/arrays.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:da16be5ce434e15465e864dc162e9105e680ded1e9a28826c800f24185310d49
3
+ size 512819
trajectory_6/data.json ADDED
The diff for this file is too large to render. See raw diff
 
trajectory_6/data.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4c4bf8fd52df9b6a8a9d8635996e522a2680aa75ba79983ae4fc934a2333beed
3
+ size 417237
trajectory_7/arrays.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:825a350bbb8b821c5f6e79dd67ae7ec5444d6d00559a4b8ff1a43c3cab587ff4
3
+ size 385624
trajectory_7/data.json ADDED
The diff for this file is too large to render. See raw diff
 
trajectory_7/data.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5594aa49868157653fa8f522245255a15afe8e52f313c04909f0c25a7f82b83b
3
+ size 313554
trajectory_8/arrays.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:112b3d232b95cb2e85f05a81f9061d5987cccb89ada2d49416bd01286bbbb328
3
+ size 397820
trajectory_8/data.json ADDED
The diff for this file is too large to render. See raw diff
 
trajectory_8/data.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:410336cbbe28ee6620d44277c4914db79f7d6e37a53b168422f2bbbb83ba4c89
3
+ size 323562
trajectory_9/arrays.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1cd8762f94d960c85ca7960f9f51d20c5fb0a67587b863bd9d90d9e268cdb8d9
3
+ size 486170
trajectory_9/data.json ADDED
The diff for this file is too large to render. See raw diff
 
trajectory_9/data.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9b83a7f1beed3c3666de63ce26c1ebe7ef1fe4d6ff1e440eddd061402e70ddfd
3
+ size 395511