Run Name: iter4_gpt_384d16_lowlr
Model Type: gpt
Checkpoint: local/checkpoints/gpt_iter4_deeper/best.pth
Dataset: local/datasets/single-action-shoulder-pan-700-combined
Date: 2026-03-18 00:05:13
Val Samples: 80
| Metric | Value |
|---|---|
| val_mse | 0.013286 |
| val_mse_visual | 0.013286 |
| ssim | 0.730135 |
| psnr | 19.374877 |
| val_mse_motor_strip | 0.007182 |
| val_mse_action_1 | 0.012865 |
| val_mse_action_2 | 0.013775 |
| val_mse_static | 0.002163 |
| val_mse_dynamic | 0.027523 |
| motor_position_mae_mean | 0.789111 |
| motor_velocity_mae_mean | 0.053533 |
| motor_direction_accuracy | 0.831250 |
| motor_consistency_error | 1.086806 |
| gpt_teacher_forcing_loss | 0.004412 |
| gpt_free_running_loss | 0.013155 |
| gpt_tf_fr_gap | 0.008744 |
| action_discrimination_score | 0.033914 |
| motor_discrimination_score | 0.054833 |
| motor_position_mae_per_joint | [2.0237, 0.5370, 1.0556, 0.3375, 0.7401, 0.0408] |
| motor_position_mae_action_1 | 0.879729 |
| motor_position_mae_action_2 | 0.683798 |
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 | -13.5511 | -36.9787 | -58.7402 |
| J1 | -90.9068 | -90.4698 | -90.4661 | -90.2040 |
| J2 | 66.3224 | 65.6196 | 67.1739 | 68.2460 |
| J3 | 39.2845 | 39.2712 | 39.3386 | 39.4557 |
| J4 | 8.5083 | 8.4920 | 8.5631 | 8.5891 |
| J5 | 10.3896 | 10.3589 | 10.4876 | 10.4163 |
Error heatmap (jet colormap)
| Joint | GT Pos | STAY | MOVE+ | MOVE- |
|---|---|---|---|---|
| J0 | -59.4725 | -10.9493 | -35.4391 | -56.1931 |
| J1 | -89.7081 | -88.5378 | -90.1714 | -89.9722 |
| J2 | 72.1129 | 71.1265 | 72.7838 | 72.3970 |
| J3 | 39.2845 | 39.2883 | 39.2936 | 39.3164 |
| J4 | 8.5083 | 8.3539 | 8.4404 | 8.4394 |
| J5 | 10.3127 | 10.2276 | 10.4344 | 10.2958 |
Error heatmap (jet colormap)
| Joint | GT Pos | STAY | MOVE+ | MOVE- |
|---|---|---|---|---|
| J0 | 33.1292 | -8.9412 | 36.4533 | 12.2463 |
| J1 | -89.7081 | -88.9612 | -89.9696 | -89.8923 |
| J2 | 70.5801 | 71.8985 | 72.3718 | 70.8574 |
| J3 | 39.2845 | 39.5052 | 39.4559 | 39.4468 |
| J4 | 8.3953 | 8.8808 | 8.7308 | 8.8678 |
| J5 | 10.5433 | 10.5307 | 10.5092 | 10.5288 |
Error heatmap (jet colormap)
| Joint | GT Pos | STAY | MOVE+ | MOVE- |
|---|---|---|---|---|
| J0 | 43.2233 | -3.9890 | 43.1439 | 20.8060 |
| J1 | -89.1403 | -87.7793 | -89.3735 | -89.2653 |
| J2 | 84.2048 | 86.9021 | 85.1565 | 83.5711 |
| J3 | 40.3077 | 39.8071 | 39.6730 | 39.9092 |
| J4 | 8.5083 | 8.8107 | 8.6378 | 8.9381 |
| J5 | 10.5433 | 10.5120 | 10.5199 | 10.6084 |
| Position | MSE |
|---|---|
| 0 | 0.004899 |
| 1 | 0.005283 |
| 2 | 0.003834 |
| 3 | 0.004071 |
| 4 | 0.002654 |
| 5 | 0.001378 |
| 6 | 0.000502 |
| 7 | 0.000381 |
| 8 | 0.000301 |
| 9 | 0.000285 |
| 10 | 0.000465 |
| 11 | 0.004892 |
| 12 | 0.006037 |
| 13 | 0.007101 |
| 14 | 0.004187 |
| 15 | 0.000955 |
| 16 | 0.001459 |
| 17 | 0.001261 |
| 18 | 0.000998 |
| 19 | 0.000557 |
| 20 | 0.000501 |
| 21 | 0.000386 |
| 22 | 0.000448 |
| 23 | 0.002123 |
| 24 | 0.005623 |
| 25 | 0.006763 |
| 26 | 0.007747 |
| 27 | 0.011013 |
| 28 | 0.000893 |
| 29 | 0.001383 |
| 30 | 0.000604 |
| 31 | 0.001269 |
| 32 | 0.000894 |
| 33 | 0.000264 |
| 34 | 0.000494 |
| 35 | 0.000351 |
| 36 | 0.000664 |
| 37 | 0.003502 |
| 38 | 0.005861 |
| 39 | 0.006993 |
| 40 | 0.006841 |
| 41 | 0.008525 |
| 42 | 0.000781 |
| 43 | 0.000995 |
| 44 | 0.001131 |
| 45 | 0.001261 |
| 46 | 0.000609 |
| 47 | 0.000309 |
| 48 | 0.000408 |
| 49 | 0.000321 |
| 50 | 0.001051 |
| 51 | 0.004378 |
| 52 | 0.004987 |
| 53 | 0.004728 |
| 54 | 0.006412 |
| 55 | 0.007982 |
| 56 | 0.000419 |
| 57 | 0.000701 |
| 58 | 0.000427 |
| 59 | 0.000377 |
| 60 | 0.000382 |
| 61 | 0.000445 |
| 62 | 0.000318 |
| 63 | 0.000322 |
| 64 | 0.000926 |
| 65 | 0.003880 |
| 66 | 0.004438 |
| 67 | 0.004872 |
| 68 | 0.004617 |
| 69 | 0.006930 |
| 70 | 0.000576 |
| 71 | 0.000653 |
| 72 | 0.000471 |
| 73 | 0.000274 |
| 74 | 0.000373 |
| 75 | 0.000189 |
| 76 | 0.000174 |
| 77 | 0.001468 |
| 78 | 0.003273 |
| 79 | 0.002440 |
| 80 | 0.001437 |
| 81 | 0.002774 |
| 82 | 0.002879 |
| 83 | 0.002450 |
| 84 | 0.001028 |
| 85 | 0.000593 |
| 86 | 0.000291 |
| 87 | 0.000197 |
| 88 | 0.000239 |
| 89 | 0.000167 |
| 90 | 0.000149 |
| 91 | 0.000263 |
| 92 | 0.001218 |
| 93 | 0.000734 |
| 94 | 0.000596 |
| 95 | 0.001740 |
| 96 | 0.002438 |
| 97 | 0.002240 |
| 98 | 0.000512 |
| 99 | 0.000348 |
| 100 | 0.000288 |
| 101 | 0.000273 |
| 102 | 0.000215 |
| 103 | 0.000166 |
| 104 | 0.000157 |
| 105 | 0.000336 |
| 106 | 0.000626 |
| 107 | 0.000664 |
| 108 | 0.000420 |
| 109 | 0.000548 |
| 110 | 0.000954 |
| 111 | 0.004779 |
| 112 | 0.000743 |
| 113 | 0.000236 |
| 114 | 0.000274 |
| 115 | 0.000246 |
| 116 | 0.000246 |
| 117 | 0.000212 |
| 118 | 0.000171 |
| 119 | 0.000295 |
| 120 | 0.000505 |
| 121 | 0.000373 |
| 122 | 0.000322 |
| 123 | 0.000169 |
| 124 | 0.001453 |
| 125 | 0.005438 |
| 126 | 0.000555 |
| 127 | 0.000240 |
| 128 | 0.000229 |
| 129 | 0.000251 |
| 130 | 0.000267 |
| 131 | 0.000166 |
| 132 | 0.000143 |
| 133 | 0.000193 |
| 134 | 0.000264 |
| 135 | 0.000313 |
| 136 | 0.000214 |
| 137 | 0.000415 |
| 138 | 0.002319 |
| 139 | 0.003098 |
| 140 | 0.000225 |
| 141 | 0.000166 |
| 142 | 0.000155 |
| 143 | 0.000170 |
| 144 | 0.000185 |
| 145 | 0.000167 |
| 146 | 0.000148 |
| 147 | 0.000126 |
| 148 | 0.000267 |
| 149 | 0.000284 |
| 150 | 0.000599 |
| 151 | 0.001372 |
| 152 | 0.001726 |
| 153 | 0.002430 |
| 154 | 0.000249 |
| 155 | 0.000179 |
| 156 | 0.000168 |
| 157 | 0.000164 |
| 158 | 0.000171 |
| 159 | 0.000147 |
| 160 | 0.000149 |
| 161 | 0.000080 |
| 162 | 0.000085 |
| 163 | 0.000231 |
| 164 | 0.000383 |
| 165 | 0.002229 |
| 166 | 0.000824 |
| 167 | 0.001808 |
| 168 | 0.000205 |
| 169 | 0.000152 |
| 170 | 0.000142 |
| 171 | 0.000128 |
| 172 | 0.000132 |
| 173 | 0.000141 |
| 174 | 0.000133 |
| 175 | 0.000098 |
| 176 | 0.000079 |
| 177 | 0.000107 |
| 178 | 0.000329 |
| 179 | 0.000782 |
| 180 | 0.000251 |
| 181 | 0.001049 |
| 182 | 0.000183 |
| 183 | 0.000139 |
| 184 | 0.000141 |
| 185 | 0.000115 |
| 186 | 0.000122 |
| 187 | 0.000146 |
| 188 | 0.000258 |
| 189 | 0.000319 |
| 190 | 0.000276 |
| 191 | 0.000170 |
| 192 | 0.000186 |
| 193 | 0.000540 |
| 194 | 0.000420 |
| 195 | 0.000889 |
| 196 | 0.026403 |
| 197 | 0.018999 |
| 198 | 0.014796 |
| 199 | 0.013130 |
| 200 | 0.015457 |
| 201 | 0.016363 |
| 202 | 0.022053 |
| 203 | 0.020487 |
| 204 | 0.022009 |
| 205 | 0.018249 |
| 206 | 0.018557 |
| 207 | 0.023377 |
| 208 | 0.019278 |
| 209 | 0.020644 |
| 210 | 0.017517 |
| 211 | 0.014121 |
| 212 | 0.007897 |
| 213 | 0.012101 |
| 214 | 0.009744 |
| 215 | 0.010463 |
| 216 | 0.012968 |
| 217 | 0.016634 |
| 218 | 0.013040 |
| 219 | 0.014174 |
| 220 | 0.011323 |
| 221 | 0.009325 |
| 222 | 0.008835 |
| 223 | 0.008687 |
| 224 | 0.016209 |
| 225 | 0.013492 |
| 226 | 0.009256 |
| 227 | 0.012721 |
| 228 | 0.007951 |
| 229 | 0.008513 |
| 230 | 0.012314 |
| 231 | 0.013092 |
| 232 | 0.013415 |
| 233 | 0.013767 |
| 234 | 0.009220 |
| 235 | 0.007250 |
| 236 | 0.008160 |
| 237 | 0.006506 |
| 238 | 0.015009 |
| 239 | 0.010552 |
| 240 | 0.009453 |
| 241 | 0.011901 |
| 242 | 0.007636 |
| 243 | 0.007541 |
| 244 | 0.009365 |
| 245 | 0.012233 |
| 246 | 0.012187 |
| 247 | 0.010221 |
| 248 | 0.008277 |
| 249 | 0.009919 |
| 250 | 0.008095 |
| 251 | 0.008371 |
| 252 | 0.014107 |
| 253 | 0.007266 |
| 254 | 0.008007 |
| 255 | 0.009844 |
| 256 | 0.009646 |
| 257 | 0.006311 |
| 258 | 0.008883 |
| 259 | 0.010306 |
| 260 | 0.012136 |
| 261 | 0.009068 |
| 262 | 0.007863 |
| 263 | 0.008408 |
| 264 | 0.005686 |
| 265 | 0.005453 |
| 266 | 0.010390 |
| 267 | 0.004985 |
| 268 | 0.008084 |
| 269 | 0.007127 |
| 270 | 0.007487 |
| 271 | 0.007227 |
| 272 | 0.007438 |
| 273 | 0.008983 |
| 274 | 0.010377 |
| 275 | 0.007277 |
| 276 | 0.004903 |
| 277 | 0.004489 |
| 278 | 0.003503 |
| 279 | 0.004411 |
| 280 | 0.009081 |
| 281 | 0.006854 |
| 282 | 0.007137 |
| 283 | 0.007529 |
| 284 | 0.007637 |
| 285 | 0.009728 |
| 286 | 0.007533 |
| 287 | 0.012504 |
| 288 | 0.006896 |
| 289 | 0.005468 |
| 290 | 0.005372 |
| 291 | 0.002919 |
| 292 | 0.005344 |
| 293 | 0.003852 |
| 294 | 0.006049 |
| 295 | 0.006474 |
| 296 | 0.005877 |
| 297 | 0.005511 |
| 298 | 0.008583 |
| 299 | 0.004115 |
| 300 | 0.007113 |
| 301 | 0.011641 |
| 302 | 0.008760 |
| 303 | 0.005219 |
| 304 | 0.003445 |
| 305 | 0.002388 |
| 306 | 0.003677 |
| 307 | 0.002245 |
| 308 | 0.008195 |
| 309 | 0.003669 |
| 310 | 0.004730 |
| 311 | 0.005362 |
| 312 | 0.001353 |
| 313 | 0.009242 |
| 314 | 0.007333 |
| 315 | 0.005867 |
| 316 | 0.006493 |
| 317 | 0.004350 |
| 318 | 0.004416 |
| 319 | 0.003005 |
| 320 | 0.001211 |
| 321 | 0.001251 |
| 322 | 0.004999 |
| 323 | 0.003483 |
| 324 | 0.005195 |
| 325 | 0.001529 |
| 326 | 0.000319 |
| 327 | 0.010437 |
| 328 | 0.007973 |
| 329 | 0.001112 |
| 330 | 0.006394 |
| 331 | 0.004492 |
| 332 | 0.002675 |
| 333 | 0.001940 |
| 334 | 0.001005 |
| 335 | 0.001080 |
| 336 | 0.006591 |
| 337 | 0.006173 |
| 338 | 0.005784 |
| 339 | 0.000346 |
| 340 | 0.000239 |
| 341 | 0.007968 |
| 342 | 0.009629 |
| 343 | 0.000792 |
| 344 | 0.002895 |
| 345 | 0.005015 |
| 346 | 0.002607 |
| 347 | 0.001677 |
| 348 | 0.001048 |
| 349 | 0.001691 |
| 350 | 0.009095 |
| 351 | 0.007730 |
| 352 | 0.004446 |
| 353 | 0.000252 |
| 354 | 0.000227 |
| 355 | 0.016341 |
| 356 | 0.010498 |
| 357 | 0.001329 |
| 358 | 0.000596 |
| 359 | 0.004714 |
| 360 | 0.003141 |
| 361 | 0.001175 |
| 362 | 0.001662 |
| 363 | 0.000918 |
| 364 | 0.008228 |
| 365 | 0.011577 |
| 366 | 0.001309 |
| 367 | 0.000169 |
| 368 | 0.000353 |
| 369 | 0.015345 |
| 370 | 0.004950 |
| 371 | 0.001949 |
| 372 | 0.000395 |
| 373 | 0.000503 |
| 374 | 0.001922 |
| 375 | 0.002367 |
| 376 | 0.001139 |
| 377 | 0.000599 |
| 378 | 0.013271 |
| 379 | 0.003717 |
| 380 | 0.000183 |
| 381 | 0.000147 |
| 382 | 0.000604 |
| 383 | 0.007978 |
| 384 | 0.004405 |
| 385 | 0.001710 |
| 386 | 0.000214 |
| 387 | 0.000141 |
| 388 | 0.000561 |
| 389 | 0.001746 |
| 390 | 0.001276 |
| 391 | 0.000797 |
| 392 | 0.000614 |
| 393 | 0.003018 |
| 394 | 0.000801 |
| 395 | 0.002298 |
| 396 | 0.019551 |
| 397 | 0.000072 |
| 398 | 0.000173 |
| 399 | 0.017023 |
| 400 | 0.019902 |
| 401 | 0.000163 |
| 402 | 0.004173 |
| 403 | 0.001586 |
| 404 | 0.000030 |
| 405 | 0.000028 |