Evaluation Report: iter4_gpt_384d16_lowlr

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

Analysis Notes

ITERATION 4: Deeper GPT with gradient clipping + lower LR ========================================================== Changes from Iteration 2 (best GPT so far): - depth: 12 -> 16 (33% more layers) - lr: 1.5e-4 -> 1e-4 (lower for stability with deeper network) - batch_size: 4 (same, limited by VRAM) - epochs: 150 (more epochs since lower LR converges slower) Rationale: Iteration 3 showed MAE is clearly worse than GPT for this task. Going back to GPT and pushing capacity further. Key insight from iter3: The autoregressive approach, despite error compounding, produces more coherent and detailed predictions than the parallel reconstruction approach (MAE). This suggests the sequential dependencies between patches ARE useful for prediction quality. Summary of architecture comparison so far: - GPT 256d8 (6.9M params): val_mse=0.0127, SSIM=0.697 - GPT 384d12 (22M params): val_mse=0.0102, SSIM=0.756 (BEST) - MAE 384d8: val_mse=0.0147, SSIM=0.616 (WORST) This iteration pushes depth from 12->16 to test if more transformer blocks improve representation quality, especially for dynamic regions. Lower LR should help the deeper network converge without instability. Watching for: - Whether the train/val gap widens (overfitting with more capacity) - Whether grad norms remain stable with 16 layers - Whether SSIM continues improving

Metrics

MetricValue
val_mse0.013286
val_mse_visual0.013286
ssim0.730135
psnr19.374877
val_mse_motor_strip0.007182
val_mse_action_10.012865
val_mse_action_20.013775
val_mse_static0.002163
val_mse_dynamic0.027523
motor_position_mae_mean0.789111
motor_velocity_mae_mean0.053533
motor_direction_accuracy0.831250
motor_consistency_error1.086806
gpt_teacher_forcing_loss0.004412
gpt_free_running_loss0.013155
gpt_tf_fr_gap0.008744
action_discrimination_score0.033914
motor_discrimination_score0.054833
motor_position_mae_per_joint[2.0237, 0.5370, 1.0556, 0.3375, 0.7401, 0.0408]
motor_position_mae_action_10.879729
motor_position_mae_action_20.683798

Recommendations

Motor position and velocity predictions are inconsistent. Consider adding a consistency loss or simplifying the velocity encoding.

Counterfactual Action Grids

Each grid: Row 1 = GT, Row 2 = STAY (red), Row 3 = MOVE+ (green), Row 4 = MOVE- (blue)

Sample 0

Counterfactual grid 0
Error heatmap 0

Error heatmap (jet colormap)

JointGT PosSTAYMOVE+MOVE-
J0-39.7233-13.5511-36.9787-58.7402
J1-90.9068-90.4698-90.4661-90.2040
J266.322465.619667.173968.2460
J339.284539.271239.338639.4557
J48.50838.49208.56318.5891
J510.389610.358910.487610.4163

Sample 1

Counterfactual grid 1
Error heatmap 1

Error heatmap (jet colormap)

JointGT PosSTAYMOVE+MOVE-
J0-59.4725-10.9493-35.4391-56.1931
J1-89.7081-88.5378-90.1714-89.9722
J272.112971.126572.783872.3970
J339.284539.288339.293639.3164
J48.50838.35398.44048.4394
J510.312710.227610.434410.2958

Sample 2

Counterfactual grid 2
Error heatmap 2

Error heatmap (jet colormap)

JointGT PosSTAYMOVE+MOVE-
J033.1292-8.941236.453312.2463
J1-89.7081-88.9612-89.9696-89.8923
J270.580171.898572.371870.8574
J339.284539.505239.455939.4468
J48.39538.88088.73088.8678
J510.543310.530710.509210.5288

Sample 3

Counterfactual grid 3
Error heatmap 3

Error heatmap (jet colormap)

JointGT PosSTAYMOVE+MOVE-
J043.2233-3.989043.143920.8060
J1-89.1403-87.7793-89.3735-89.2653
J284.204886.902185.156583.5711
J340.307739.807139.673039.9092
J48.50838.81078.63788.9381
J510.543310.512010.519910.6084

GPT Per-Position Loss (last frame, raster order)

PositionMSE
00.004899
10.005283
20.003834
30.004071
40.002654
50.001378
60.000502
70.000381
80.000301
90.000285
100.000465
110.004892
120.006037
130.007101
140.004187
150.000955
160.001459
170.001261
180.000998
190.000557
200.000501
210.000386
220.000448
230.002123
240.005623
250.006763
260.007747
270.011013
280.000893
290.001383
300.000604
310.001269
320.000894
330.000264
340.000494
350.000351
360.000664
370.003502
380.005861
390.006993
400.006841
410.008525
420.000781
430.000995
440.001131
450.001261
460.000609
470.000309
480.000408
490.000321
500.001051
510.004378
520.004987
530.004728
540.006412
550.007982
560.000419
570.000701
580.000427
590.000377
600.000382
610.000445
620.000318
630.000322
640.000926
650.003880
660.004438
670.004872
680.004617
690.006930
700.000576
710.000653
720.000471
730.000274
740.000373
750.000189
760.000174
770.001468
780.003273
790.002440
800.001437
810.002774
820.002879
830.002450
840.001028
850.000593
860.000291
870.000197
880.000239
890.000167
900.000149
910.000263
920.001218
930.000734
940.000596
950.001740
960.002438
970.002240
980.000512
990.000348
1000.000288
1010.000273
1020.000215
1030.000166
1040.000157
1050.000336
1060.000626
1070.000664
1080.000420
1090.000548
1100.000954
1110.004779
1120.000743
1130.000236
1140.000274
1150.000246
1160.000246
1170.000212
1180.000171
1190.000295
1200.000505
1210.000373
1220.000322
1230.000169
1240.001453
1250.005438
1260.000555
1270.000240
1280.000229
1290.000251
1300.000267
1310.000166
1320.000143
1330.000193
1340.000264
1350.000313
1360.000214
1370.000415
1380.002319
1390.003098
1400.000225
1410.000166
1420.000155
1430.000170
1440.000185
1450.000167
1460.000148
1470.000126
1480.000267
1490.000284
1500.000599
1510.001372
1520.001726
1530.002430
1540.000249
1550.000179
1560.000168
1570.000164
1580.000171
1590.000147
1600.000149
1610.000080
1620.000085
1630.000231
1640.000383
1650.002229
1660.000824
1670.001808
1680.000205
1690.000152
1700.000142
1710.000128
1720.000132
1730.000141
1740.000133
1750.000098
1760.000079
1770.000107
1780.000329
1790.000782
1800.000251
1810.001049
1820.000183
1830.000139
1840.000141
1850.000115
1860.000122
1870.000146
1880.000258
1890.000319
1900.000276
1910.000170
1920.000186
1930.000540
1940.000420
1950.000889
1960.026403
1970.018999
1980.014796
1990.013130
2000.015457
2010.016363
2020.022053
2030.020487
2040.022009
2050.018249
2060.018557
2070.023377
2080.019278
2090.020644
2100.017517
2110.014121
2120.007897
2130.012101
2140.009744
2150.010463
2160.012968
2170.016634
2180.013040
2190.014174
2200.011323
2210.009325
2220.008835
2230.008687
2240.016209
2250.013492
2260.009256
2270.012721
2280.007951
2290.008513
2300.012314
2310.013092
2320.013415
2330.013767
2340.009220
2350.007250
2360.008160
2370.006506
2380.015009
2390.010552
2400.009453
2410.011901
2420.007636
2430.007541
2440.009365
2450.012233
2460.012187
2470.010221
2480.008277
2490.009919
2500.008095
2510.008371
2520.014107
2530.007266
2540.008007
2550.009844
2560.009646
2570.006311
2580.008883
2590.010306
2600.012136
2610.009068
2620.007863
2630.008408
2640.005686
2650.005453
2660.010390
2670.004985
2680.008084
2690.007127
2700.007487
2710.007227
2720.007438
2730.008983
2740.010377
2750.007277
2760.004903
2770.004489
2780.003503
2790.004411
2800.009081
2810.006854
2820.007137
2830.007529
2840.007637
2850.009728
2860.007533
2870.012504
2880.006896
2890.005468
2900.005372
2910.002919
2920.005344
2930.003852
2940.006049
2950.006474
2960.005877
2970.005511
2980.008583
2990.004115
3000.007113
3010.011641
3020.008760
3030.005219
3040.003445
3050.002388
3060.003677
3070.002245
3080.008195
3090.003669
3100.004730
3110.005362
3120.001353
3130.009242
3140.007333
3150.005867
3160.006493
3170.004350
3180.004416
3190.003005
3200.001211
3210.001251
3220.004999
3230.003483
3240.005195
3250.001529
3260.000319
3270.010437
3280.007973
3290.001112
3300.006394
3310.004492
3320.002675
3330.001940
3340.001005
3350.001080
3360.006591
3370.006173
3380.005784
3390.000346
3400.000239
3410.007968
3420.009629
3430.000792
3440.002895
3450.005015
3460.002607
3470.001677
3480.001048
3490.001691
3500.009095
3510.007730
3520.004446
3530.000252
3540.000227
3550.016341
3560.010498
3570.001329
3580.000596
3590.004714
3600.003141
3610.001175
3620.001662
3630.000918
3640.008228
3650.011577
3660.001309
3670.000169
3680.000353
3690.015345
3700.004950
3710.001949
3720.000395
3730.000503
3740.001922
3750.002367
3760.001139
3770.000599
3780.013271
3790.003717
3800.000183
3810.000147
3820.000604
3830.007978
3840.004405
3850.001710
3860.000214
3870.000141
3880.000561
3890.001746
3900.001276
3910.000797
3920.000614
3930.003018
3940.000801
3950.002298
3960.019551
3970.000072
3980.000173
3990.017023
4000.019902
4010.000163
4020.004173
4030.001586
4040.000030
4050.000028