Run Name: diff_iter2_384d12_cosine
Model Type: diffusion
Checkpoint: local/checkpoints/diff_iter2_larger/best.pth
Dataset: local/datasets/single-action-shoulder-pan-700-combined
Date: 2026-03-19 02:33:11
Val Samples: 80
| Metric | Value |
|---|---|
| val_mse | 0.343989 |
| val_mse_visual | 0.343989 |
| ssim | 0.008377 |
| psnr | 4.636465 |
| val_mse_motor_strip | 0.355602 |
| val_mse_action_1 | 0.346389 |
| val_mse_action_2 | 0.341200 |
| val_mse_static | 0.352569 |
| val_mse_dynamic | 0.333238 |
| motor_position_mae_mean | 8.487006 |
| motor_velocity_mae_mean | 1.673833 |
| motor_direction_accuracy | 0.500000 |
| motor_consistency_error | 8.318934 |
| diffusion_loss_t_0_250 | 0.507211 |
| diffusion_loss_t_250_500 | 0.505593 |
| diffusion_loss_t_500_750 | 0.505646 |
| diffusion_loss_t_750_1000 | 0.505727 |
| action_discrimination_score | 0.490408 |
| motor_discrimination_score | 0.488563 |
| motor_position_mae_per_joint | [22.9280, 4.6155, 8.8229, 7.6031, 2.0917, 4.8608] |
| motor_position_mae_action_1 | 8.232281 |
| motor_position_mae_action_2 | 8.783039 |
Each grid: Row 1 = GT, Row 2 = STAY (red), Row 3 = MOVE+ (green), Row 4 = MOVE- (blue)
Error heatmap (jet colormap)
| Joint | GT Pos | STAY | MOVE+ | MOVE- |
|---|---|---|---|---|
| J0 | -39.7233 | -4.1823 | 0.2376 | -4.9934 |
| J1 | -90.9068 | -81.5035 | -83.3020 | -82.8269 |
| J2 | 66.3224 | 77.7375 | 72.5603 | 74.0157 |
| J3 | 39.2845 | 31.7693 | 31.5507 | 31.5420 |
| J4 | 8.5083 | 5.5430 | 5.4178 | 5.7001 |
| J5 | 10.3896 | 5.5114 | 5.1221 | 5.8552 |
Error heatmap (jet colormap)
| Joint | GT Pos | STAY | MOVE+ | MOVE- |
|---|---|---|---|---|
| J0 | -59.4725 | -2.1793 | -11.6332 | 1.4510 |
| J1 | -89.7081 | -83.7646 | -82.3371 | -82.4657 |
| J2 | 72.1129 | 76.1374 | 73.9607 | 73.9740 |
| J3 | 39.2845 | 32.7208 | 32.4717 | 31.0648 |
| J4 | 8.5083 | 5.8499 | 6.1927 | 5.4717 |
| J5 | 10.3127 | 5.6170 | 6.1536 | 5.6074 |
Error heatmap (jet colormap)
| Joint | GT Pos | STAY | MOVE+ | MOVE- |
|---|---|---|---|---|
| J0 | 33.1292 | -10.4921 | -9.1252 | 5.9270 |
| J1 | -89.7081 | -82.5372 | -82.3801 | -83.6590 |
| J2 | 70.5801 | 74.9962 | 74.4199 | 74.1325 |
| J3 | 39.2845 | 33.1372 | 31.4575 | 31.2373 |
| J4 | 8.3953 | 5.5251 | 6.2540 | 5.2965 |
| J5 | 10.5433 | 5.0766 | 5.6930 | 5.2209 |
Error heatmap (jet colormap)
| Joint | GT Pos | STAY | MOVE+ | MOVE- |
|---|---|---|---|---|
| J0 | 43.2233 | 8.6940 | 2.1623 | -3.6199 |
| J1 | -89.1403 | -81.4538 | -82.7848 | -83.5504 |
| J2 | 84.2048 | 74.8665 | 72.1271 | 73.6063 |
| J3 | 40.3077 | 29.9256 | 30.5893 | 30.9743 |
| J4 | 8.5083 | 5.5587 | 5.2230 | 5.8869 |
| J5 | 10.5433 | 5.1369 | 5.9275 | 5.1094 |
| Bucket | Loss |
|---|---|
| t_0_250 | 0.507211 |
| t_250_500 | 0.505593 |
| t_500_750 | 0.505646 |
| t_750_1000 | 0.505727 |