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| } |
| ], |
| "summary": { |
| "future_teacher": { |
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| "first3_absolute_arm_mse": 0.0004290058696625465, |
| "absolute_gripper_mse": 0.01583619256825841, |
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| }, |
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| "absolute_teacher_arm_mse": 0.003469633918996351 |
| }, |
| "scratch_jepa": { |
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| "absolute_gripper_mse": 0.017240708554140838, |
| "absolute_teacher_arm_mse": 0.0012735758880353387 |
| }, |
| "adapter_500": { |
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| }, |
| "adapter_1000": { |
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| "absolute_teacher_arm_mse": 0.001204355398158441 |
| }, |
| "adapter_1500": { |
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| "absolute_gripper_mse": 0.016157310671928826, |
| "absolute_teacher_arm_mse": 0.0011993406076840074 |
| }, |
| "adapter_2000": { |
| "absolute_arm_mse": 0.008956142944043677, |
| "first3_absolute_arm_mse": 0.0012511794861893577, |
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| "absolute_teacher_arm_mse": 0.0011941412827525255 |
| } |
| }, |
| "n_windows": 128, |
| "seconds": 138.83173942565918, |
| "candidate_checkpoint": "/scr/xietiannew/lerobot/eval_logs/aloha_banana_d20_jepa_scratch_20260916/artifacts/training/best.pt", |
| "candidate_step": 20160, |
| "scope": "Offline full action sampler, paired seeds and held-out episodes. No hardware or success/jerk claims.", |
| "target": "Absolute demonstration commands; arm MSE in rad^2", |
| "caveat": "These 128 windows have a full 50-action future available; near-episode-end windows excluded. State-only validation separately covers all 2240 windows." |
| } |
|
|
