Run Name: iter5_gpt_512d12_wider
Model Type: gpt
Checkpoint: local/checkpoints/gpt_iter5_wider/best.pth
Dataset: local/datasets/single-action-shoulder-pan-700-combined
Date: 2026-03-18 01:11:18
Val Samples: 80
| Metric | Value |
|---|---|
| val_mse | 0.010951 |
| val_mse_visual | 0.010951 |
| ssim | 0.745914 |
| psnr | 20.128148 |
| val_mse_motor_strip | 0.006325 |
| val_mse_action_1 | 0.010272 |
| val_mse_action_2 | 0.011740 |
| val_mse_static | 0.001598 |
| val_mse_dynamic | 0.022959 |
| motor_position_mae_mean | 0.614608 |
| motor_velocity_mae_mean | 0.055433 |
| motor_direction_accuracy | 0.875000 |
| motor_consistency_error | 1.036756 |
| gpt_teacher_forcing_loss | 0.004312 |
| gpt_free_running_loss | 0.010858 |
| gpt_tf_fr_gap | 0.006546 |
| action_discrimination_score | 0.032071 |
| motor_discrimination_score | 0.048447 |
| motor_position_mae_per_joint | [1.9679, 0.4020, 0.5150, 0.1226, 0.6442, 0.0359] |
| motor_position_mae_action_1 | 0.622564 |
| motor_position_mae_action_2 | 0.605363 |
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 | -12.5490 | -38.3007 | -57.7037 |
| J1 | -90.9068 | -89.7117 | -90.7776 | -90.6163 |
| J2 | 66.3224 | 65.4994 | 66.0924 | 66.9252 |
| J3 | 39.2845 | 39.0729 | 39.2476 | 39.1186 |
| J4 | 8.5083 | 8.5206 | 8.4379 | 8.4380 |
| J5 | 10.3896 | 10.2799 | 10.5316 | 10.1576 |
Error heatmap (jet colormap)
| Joint | GT Pos | STAY | MOVE+ | MOVE- |
|---|---|---|---|---|
| J0 | -59.4725 | -7.5981 | -36.9734 | -55.7658 |
| J1 | -89.7081 | -88.4212 | -90.1794 | -89.7475 |
| J2 | 72.1129 | 69.6192 | 71.2736 | 72.7784 |
| J3 | 39.2845 | 38.9359 | 39.2578 | 39.0027 |
| J4 | 8.5083 | 8.5422 | 8.4883 | 8.4900 |
| J5 | 10.3127 | 10.2456 | 10.5691 | 10.1913 |
Error heatmap (jet colormap)
| Joint | GT Pos | STAY | MOVE+ | MOVE- |
|---|---|---|---|---|
| J0 | 33.1292 | -5.4041 | 34.0406 | 15.9055 |
| J1 | -89.7081 | -88.1873 | -90.0212 | -89.7407 |
| J2 | 70.5801 | 69.5484 | 70.8955 | 70.1429 |
| J3 | 39.2845 | 39.3103 | 39.2006 | 39.2875 |
| J4 | 8.3953 | 8.8473 | 8.6255 | 8.8006 |
| J5 | 10.5433 | 10.4989 | 10.5733 | 10.5287 |
Error heatmap (jet colormap)
| Joint | GT Pos | STAY | MOVE+ | MOVE- |
|---|---|---|---|---|
| J0 | 43.2233 | 0.5371 | 43.5694 | 24.2516 |
| J1 | -89.1403 | -86.6366 | -89.3674 | -89.2437 |
| J2 | 84.2048 | 82.5729 | 84.3899 | 84.4728 |
| J3 | 40.3077 | 39.8219 | 39.5539 | 39.7815 |
| J4 | 8.5083 | 8.9285 | 8.7170 | 8.9575 |
| J5 | 10.5433 | 10.5403 | 10.5821 | 10.5530 |
| Position | MSE |
|---|---|
| 0 | 0.004466 |
| 1 | 0.003868 |
| 2 | 0.002848 |
| 3 | 0.004336 |
| 4 | 0.002460 |
| 5 | 0.001100 |
| 6 | 0.000401 |
| 7 | 0.000334 |
| 8 | 0.000254 |
| 9 | 0.000272 |
| 10 | 0.000555 |
| 11 | 0.004851 |
| 12 | 0.005865 |
| 13 | 0.007603 |
| 14 | 0.003435 |
| 15 | 0.001126 |
| 16 | 0.001565 |
| 17 | 0.001252 |
| 18 | 0.000838 |
| 19 | 0.000635 |
| 20 | 0.000413 |
| 21 | 0.000335 |
| 22 | 0.000407 |
| 23 | 0.001894 |
| 24 | 0.005692 |
| 25 | 0.005489 |
| 26 | 0.007226 |
| 27 | 0.008823 |
| 28 | 0.000842 |
| 29 | 0.001365 |
| 30 | 0.000596 |
| 31 | 0.001145 |
| 32 | 0.001013 |
| 33 | 0.000282 |
| 34 | 0.000387 |
| 35 | 0.000312 |
| 36 | 0.000571 |
| 37 | 0.004104 |
| 38 | 0.005751 |
| 39 | 0.005883 |
| 40 | 0.005751 |
| 41 | 0.009281 |
| 42 | 0.001026 |
| 43 | 0.000788 |
| 44 | 0.001156 |
| 45 | 0.001093 |
| 46 | 0.000568 |
| 47 | 0.000303 |
| 48 | 0.000377 |
| 49 | 0.000297 |
| 50 | 0.000892 |
| 51 | 0.004486 |
| 52 | 0.004765 |
| 53 | 0.004705 |
| 54 | 0.005951 |
| 55 | 0.006543 |
| 56 | 0.000406 |
| 57 | 0.000712 |
| 58 | 0.000538 |
| 59 | 0.000382 |
| 60 | 0.000342 |
| 61 | 0.000396 |
| 62 | 0.000296 |
| 63 | 0.000266 |
| 64 | 0.000984 |
| 65 | 0.003841 |
| 66 | 0.004385 |
| 67 | 0.005169 |
| 68 | 0.004328 |
| 69 | 0.005961 |
| 70 | 0.000532 |
| 71 | 0.000560 |
| 72 | 0.000355 |
| 73 | 0.000238 |
| 74 | 0.000315 |
| 75 | 0.000170 |
| 76 | 0.000161 |
| 77 | 0.001459 |
| 78 | 0.002653 |
| 79 | 0.002568 |
| 80 | 0.001654 |
| 81 | 0.002405 |
| 82 | 0.002330 |
| 83 | 0.002770 |
| 84 | 0.000900 |
| 85 | 0.000489 |
| 86 | 0.000280 |
| 87 | 0.000162 |
| 88 | 0.000187 |
| 89 | 0.000152 |
| 90 | 0.000140 |
| 91 | 0.000289 |
| 92 | 0.001142 |
| 93 | 0.001061 |
| 94 | 0.000707 |
| 95 | 0.001597 |
| 96 | 0.002875 |
| 97 | 0.002245 |
| 98 | 0.000429 |
| 99 | 0.000315 |
| 100 | 0.000289 |
| 101 | 0.000238 |
| 102 | 0.000178 |
| 103 | 0.000145 |
| 104 | 0.000152 |
| 105 | 0.000279 |
| 106 | 0.000612 |
| 107 | 0.000600 |
| 108 | 0.000508 |
| 109 | 0.000429 |
| 110 | 0.001413 |
| 111 | 0.004046 |
| 112 | 0.001114 |
| 113 | 0.000235 |
| 114 | 0.000259 |
| 115 | 0.000216 |
| 116 | 0.000214 |
| 117 | 0.000192 |
| 118 | 0.000145 |
| 119 | 0.000273 |
| 120 | 0.000462 |
| 121 | 0.000391 |
| 122 | 0.000278 |
| 123 | 0.000179 |
| 124 | 0.001500 |
| 125 | 0.004942 |
| 126 | 0.000463 |
| 127 | 0.000258 |
| 128 | 0.000235 |
| 129 | 0.000230 |
| 130 | 0.000241 |
| 131 | 0.000155 |
| 132 | 0.000128 |
| 133 | 0.000167 |
| 134 | 0.000230 |
| 135 | 0.000268 |
| 136 | 0.000195 |
| 137 | 0.000360 |
| 138 | 0.002194 |
| 139 | 0.002584 |
| 140 | 0.000212 |
| 141 | 0.000166 |
| 142 | 0.000169 |
| 143 | 0.000173 |
| 144 | 0.000171 |
| 145 | 0.000158 |
| 146 | 0.000131 |
| 147 | 0.000115 |
| 148 | 0.000237 |
| 149 | 0.000220 |
| 150 | 0.000411 |
| 151 | 0.001101 |
| 152 | 0.001588 |
| 153 | 0.002269 |
| 154 | 0.000204 |
| 155 | 0.000166 |
| 156 | 0.000158 |
| 157 | 0.000155 |
| 158 | 0.000160 |
| 159 | 0.000135 |
| 160 | 0.000121 |
| 161 | 0.000082 |
| 162 | 0.000085 |
| 163 | 0.000176 |
| 164 | 0.000308 |
| 165 | 0.001854 |
| 166 | 0.000702 |
| 167 | 0.001732 |
| 168 | 0.000173 |
| 169 | 0.000144 |
| 170 | 0.000129 |
| 171 | 0.000119 |
| 172 | 0.000132 |
| 173 | 0.000134 |
| 174 | 0.000110 |
| 175 | 0.000085 |
| 176 | 0.000074 |
| 177 | 0.000100 |
| 178 | 0.000286 |
| 179 | 0.000635 |
| 180 | 0.000233 |
| 181 | 0.000941 |
| 182 | 0.000164 |
| 183 | 0.000133 |
| 184 | 0.000126 |
| 185 | 0.000112 |
| 186 | 0.000122 |
| 187 | 0.000137 |
| 188 | 0.000222 |
| 189 | 0.000289 |
| 190 | 0.000272 |
| 191 | 0.000158 |
| 192 | 0.000157 |
| 193 | 0.000468 |
| 194 | 0.000384 |
| 195 | 0.000823 |
| 196 | 0.024217 |
| 197 | 0.020741 |
| 198 | 0.014729 |
| 199 | 0.013567 |
| 200 | 0.014224 |
| 201 | 0.016774 |
| 202 | 0.022256 |
| 203 | 0.018091 |
| 204 | 0.021605 |
| 205 | 0.019349 |
| 206 | 0.020265 |
| 207 | 0.021839 |
| 208 | 0.019799 |
| 209 | 0.017377 |
| 210 | 0.017416 |
| 211 | 0.014983 |
| 212 | 0.008980 |
| 213 | 0.011506 |
| 214 | 0.006936 |
| 215 | 0.008765 |
| 216 | 0.011200 |
| 217 | 0.014595 |
| 218 | 0.014613 |
| 219 | 0.012786 |
| 220 | 0.011574 |
| 221 | 0.009518 |
| 222 | 0.008872 |
| 223 | 0.009045 |
| 224 | 0.018374 |
| 225 | 0.014404 |
| 226 | 0.009987 |
| 227 | 0.011446 |
| 228 | 0.008452 |
| 229 | 0.007650 |
| 230 | 0.010365 |
| 231 | 0.011636 |
| 232 | 0.013439 |
| 233 | 0.013164 |
| 234 | 0.009280 |
| 235 | 0.007783 |
| 236 | 0.007477 |
| 237 | 0.006833 |
| 238 | 0.015354 |
| 239 | 0.010565 |
| 240 | 0.010548 |
| 241 | 0.011281 |
| 242 | 0.007266 |
| 243 | 0.007072 |
| 244 | 0.009188 |
| 245 | 0.011272 |
| 246 | 0.011597 |
| 247 | 0.010759 |
| 248 | 0.008433 |
| 249 | 0.007693 |
| 250 | 0.008263 |
| 251 | 0.008611 |
| 252 | 0.012961 |
| 253 | 0.007605 |
| 254 | 0.008638 |
| 255 | 0.008821 |
| 256 | 0.008706 |
| 257 | 0.006206 |
| 258 | 0.007846 |
| 259 | 0.010737 |
| 260 | 0.010487 |
| 261 | 0.009221 |
| 262 | 0.008744 |
| 263 | 0.007327 |
| 264 | 0.005009 |
| 265 | 0.005902 |
| 266 | 0.009195 |
| 267 | 0.006214 |
| 268 | 0.008953 |
| 269 | 0.006909 |
| 270 | 0.008034 |
| 271 | 0.007772 |
| 272 | 0.006713 |
| 273 | 0.008418 |
| 274 | 0.009810 |
| 275 | 0.006650 |
| 276 | 0.004319 |
| 277 | 0.004691 |
| 278 | 0.004192 |
| 279 | 0.004158 |
| 280 | 0.008339 |
| 281 | 0.005364 |
| 282 | 0.007248 |
| 283 | 0.008171 |
| 284 | 0.007198 |
| 285 | 0.008280 |
| 286 | 0.007101 |
| 287 | 0.011460 |
| 288 | 0.007127 |
| 289 | 0.005857 |
| 290 | 0.003819 |
| 291 | 0.003166 |
| 292 | 0.004211 |
| 293 | 0.004761 |
| 294 | 0.006680 |
| 295 | 0.006938 |
| 296 | 0.004988 |
| 297 | 0.005628 |
| 298 | 0.007591 |
| 299 | 0.003741 |
| 300 | 0.006530 |
| 301 | 0.010767 |
| 302 | 0.009231 |
| 303 | 0.005164 |
| 304 | 0.002889 |
| 305 | 0.002276 |
| 306 | 0.003391 |
| 307 | 0.001972 |
| 308 | 0.006427 |
| 309 | 0.003560 |
| 310 | 0.004300 |
| 311 | 0.005692 |
| 312 | 0.001240 |
| 313 | 0.010556 |
| 314 | 0.006052 |
| 315 | 0.005788 |
| 316 | 0.005994 |
| 317 | 0.004581 |
| 318 | 0.003959 |
| 319 | 0.002867 |
| 320 | 0.001293 |
| 321 | 0.001444 |
| 322 | 0.005221 |
| 323 | 0.003034 |
| 324 | 0.004636 |
| 325 | 0.001329 |
| 326 | 0.000289 |
| 327 | 0.011655 |
| 328 | 0.007112 |
| 329 | 0.001253 |
| 330 | 0.005594 |
| 331 | 0.004489 |
| 332 | 0.002446 |
| 333 | 0.001895 |
| 334 | 0.000882 |
| 335 | 0.001041 |
| 336 | 0.005668 |
| 337 | 0.005745 |
| 338 | 0.006096 |
| 339 | 0.000293 |
| 340 | 0.000222 |
| 341 | 0.008033 |
| 342 | 0.008186 |
| 343 | 0.000985 |
| 344 | 0.003188 |
| 345 | 0.004300 |
| 346 | 0.002544 |
| 347 | 0.001770 |
| 348 | 0.001118 |
| 349 | 0.001589 |
| 350 | 0.009521 |
| 351 | 0.007170 |
| 352 | 0.004230 |
| 353 | 0.000227 |
| 354 | 0.000210 |
| 355 | 0.019148 |
| 356 | 0.010214 |
| 357 | 0.001057 |
| 358 | 0.000565 |
| 359 | 0.005248 |
| 360 | 0.002886 |
| 361 | 0.001319 |
| 362 | 0.001351 |
| 363 | 0.000822 |
| 364 | 0.007977 |
| 365 | 0.010582 |
| 366 | 0.001243 |
| 367 | 0.000151 |
| 368 | 0.000319 |
| 369 | 0.013222 |
| 370 | 0.004374 |
| 371 | 0.001727 |
| 372 | 0.000360 |
| 373 | 0.000481 |
| 374 | 0.002236 |
| 375 | 0.002357 |
| 376 | 0.001062 |
| 377 | 0.000531 |
| 378 | 0.010970 |
| 379 | 0.004002 |
| 380 | 0.000169 |
| 381 | 0.000129 |
| 382 | 0.000553 |
| 383 | 0.007189 |
| 384 | 0.003874 |
| 385 | 0.001621 |
| 386 | 0.000202 |
| 387 | 0.000146 |
| 388 | 0.000581 |
| 389 | 0.001920 |
| 390 | 0.001118 |
| 391 | 0.000724 |
| 392 | 0.000658 |
| 393 | 0.001408 |
| 394 | 0.000297 |
| 395 | 0.000168 |
| 396 | 0.021531 |
| 397 | 0.000055 |
| 398 | 0.000109 |
| 399 | 0.021276 |
| 400 | 0.020397 |
| 401 | 0.000164 |
| 402 | 0.021998 |
| 403 | 0.001898 |
| 404 | 0.000022 |
| 405 | 0.000022 |