Run Name: iter6_gpt_384d12_cosine
Model Type: gpt
Checkpoint: local/checkpoints/gpt_iter6_cosine/best.pth
Dataset: local/datasets/single-action-shoulder-pan-700-combined
Date: 2026-03-18 02:01:08
Val Samples: 80
| Metric | Value |
|---|---|
| val_mse | 0.011312 |
| val_mse_visual | 0.011312 |
| ssim | 0.752383 |
| psnr | 20.048765 |
| val_mse_motor_strip | 0.005884 |
| val_mse_action_1 | 0.010494 |
| val_mse_action_2 | 0.012263 |
| val_mse_static | 0.001654 |
| val_mse_dynamic | 0.023512 |
| motor_position_mae_mean | 0.463344 |
| motor_velocity_mae_mean | 0.050862 |
| motor_direction_accuracy | 0.850000 |
| motor_consistency_error | 0.815252 |
| gpt_teacher_forcing_loss | 0.004029 |
| gpt_free_running_loss | 0.011198 |
| gpt_tf_fr_gap | 0.007170 |
| action_discrimination_score | 0.033858 |
| motor_discrimination_score | 0.045413 |
| motor_position_mae_per_joint | [1.2519, 0.4528, 0.3251, 0.0981, 0.6310, 0.0211] |
| motor_position_mae_action_1 | 0.473159 |
| motor_position_mae_action_2 | 0.451937 |
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 | 2.6925 | -40.9222 | -57.8533 |
| J1 | -90.9068 | -89.9712 | -90.7679 | -90.7894 |
| J2 | 66.3224 | 65.6760 | 66.0282 | 66.0088 |
| J3 | 39.2845 | 39.2943 | 39.3181 | 39.1661 |
| J4 | 8.5083 | 8.5198 | 8.4930 | 8.2391 |
| J5 | 10.3896 | 10.2745 | 10.4258 | 10.0022 |
Error heatmap (jet colormap)
| Joint | GT Pos | STAY | MOVE+ | MOVE- |
|---|---|---|---|---|
| J0 | -59.4725 | 3.1776 | -40.0320 | -56.5965 |
| J1 | -89.7081 | -89.3580 | -89.9536 | -89.8698 |
| J2 | 72.1129 | 71.8326 | 72.0790 | 72.3555 |
| J3 | 39.2845 | 39.3377 | 39.4257 | 39.2219 |
| J4 | 8.5083 | 8.5241 | 8.5059 | 8.2822 |
| J5 | 10.3127 | 10.3617 | 10.5200 | 10.1146 |
Error heatmap (jet colormap)
| Joint | GT Pos | STAY | MOVE+ | MOVE- |
|---|---|---|---|---|
| J0 | 33.1292 | 1.1070 | 33.8854 | 12.0334 |
| J1 | -89.7081 | -89.9513 | -89.9616 | -89.7730 |
| J2 | 70.5801 | 70.6333 | 70.5987 | 70.6106 |
| J3 | 39.2845 | 39.3897 | 39.3141 | 39.3335 |
| J4 | 8.3953 | 8.6000 | 8.4063 | 8.5656 |
| J5 | 10.5433 | 10.5321 | 10.5514 | 10.4672 |
Error heatmap (jet colormap)
| Joint | GT Pos | STAY | MOVE+ | MOVE- |
|---|---|---|---|---|
| J0 | 43.2233 | 4.8228 | 43.4331 | 23.8541 |
| J1 | -89.1403 | -88.6148 | -89.3217 | -89.2275 |
| J2 | 84.2048 | 84.6999 | 84.5439 | 84.6068 |
| J3 | 40.3077 | 39.9572 | 39.9775 | 40.0745 |
| J4 | 8.5083 | 8.6619 | 8.4629 | 8.7898 |
| J5 | 10.5433 | 10.5468 | 10.6008 | 10.5529 |
| Position | MSE |
|---|---|
| 0 | 0.005143 |
| 1 | 0.003857 |
| 2 | 0.003448 |
| 3 | 0.003389 |
| 4 | 0.001764 |
| 5 | 0.001338 |
| 6 | 0.000456 |
| 7 | 0.000333 |
| 8 | 0.000253 |
| 9 | 0.000262 |
| 10 | 0.000410 |
| 11 | 0.004855 |
| 12 | 0.005558 |
| 13 | 0.007605 |
| 14 | 0.002870 |
| 15 | 0.000618 |
| 16 | 0.001279 |
| 17 | 0.001343 |
| 18 | 0.000676 |
| 19 | 0.000446 |
| 20 | 0.000366 |
| 21 | 0.000276 |
| 22 | 0.000437 |
| 23 | 0.002439 |
| 24 | 0.005053 |
| 25 | 0.005348 |
| 26 | 0.006538 |
| 27 | 0.010553 |
| 28 | 0.000759 |
| 29 | 0.001410 |
| 30 | 0.000671 |
| 31 | 0.001070 |
| 32 | 0.000851 |
| 33 | 0.000216 |
| 34 | 0.000331 |
| 35 | 0.000274 |
| 36 | 0.000624 |
| 37 | 0.004201 |
| 38 | 0.005687 |
| 39 | 0.005693 |
| 40 | 0.006385 |
| 41 | 0.007704 |
| 42 | 0.000553 |
| 43 | 0.000903 |
| 44 | 0.000878 |
| 45 | 0.001179 |
| 46 | 0.000443 |
| 47 | 0.000276 |
| 48 | 0.000322 |
| 49 | 0.000228 |
| 50 | 0.000900 |
| 51 | 0.004135 |
| 52 | 0.004770 |
| 53 | 0.004902 |
| 54 | 0.005306 |
| 55 | 0.008114 |
| 56 | 0.000380 |
| 57 | 0.000658 |
| 58 | 0.000321 |
| 59 | 0.000353 |
| 60 | 0.000270 |
| 61 | 0.000318 |
| 62 | 0.000236 |
| 63 | 0.000256 |
| 64 | 0.000711 |
| 65 | 0.003935 |
| 66 | 0.004648 |
| 67 | 0.005273 |
| 68 | 0.004177 |
| 69 | 0.005958 |
| 70 | 0.000423 |
| 71 | 0.000517 |
| 72 | 0.000315 |
| 73 | 0.000180 |
| 74 | 0.000251 |
| 75 | 0.000124 |
| 76 | 0.000119 |
| 77 | 0.001366 |
| 78 | 0.003437 |
| 79 | 0.001897 |
| 80 | 0.001245 |
| 81 | 0.002357 |
| 82 | 0.002357 |
| 83 | 0.002455 |
| 84 | 0.000619 |
| 85 | 0.000404 |
| 86 | 0.000223 |
| 87 | 0.000131 |
| 88 | 0.000151 |
| 89 | 0.000113 |
| 90 | 0.000107 |
| 91 | 0.000230 |
| 92 | 0.001100 |
| 93 | 0.000622 |
| 94 | 0.000587 |
| 95 | 0.001509 |
| 96 | 0.002414 |
| 97 | 0.001458 |
| 98 | 0.000337 |
| 99 | 0.000248 |
| 100 | 0.000244 |
| 101 | 0.000190 |
| 102 | 0.000145 |
| 103 | 0.000126 |
| 104 | 0.000113 |
| 105 | 0.000254 |
| 106 | 0.000510 |
| 107 | 0.000571 |
| 108 | 0.000332 |
| 109 | 0.000362 |
| 110 | 0.000939 |
| 111 | 0.003359 |
| 112 | 0.000408 |
| 113 | 0.000161 |
| 114 | 0.000196 |
| 115 | 0.000196 |
| 116 | 0.000187 |
| 117 | 0.000171 |
| 118 | 0.000114 |
| 119 | 0.000226 |
| 120 | 0.000411 |
| 121 | 0.000323 |
| 122 | 0.000278 |
| 123 | 0.000136 |
| 124 | 0.001434 |
| 125 | 0.004457 |
| 126 | 0.000251 |
| 127 | 0.000177 |
| 128 | 0.000184 |
| 129 | 0.000201 |
| 130 | 0.000215 |
| 131 | 0.000136 |
| 132 | 0.000101 |
| 133 | 0.000134 |
| 134 | 0.000182 |
| 135 | 0.000207 |
| 136 | 0.000148 |
| 137 | 0.000280 |
| 138 | 0.001815 |
| 139 | 0.002261 |
| 140 | 0.000151 |
| 141 | 0.000126 |
| 142 | 0.000136 |
| 143 | 0.000144 |
| 144 | 0.000148 |
| 145 | 0.000132 |
| 146 | 0.000115 |
| 147 | 0.000096 |
| 148 | 0.000189 |
| 149 | 0.000194 |
| 150 | 0.000286 |
| 151 | 0.000776 |
| 152 | 0.001180 |
| 153 | 0.001793 |
| 154 | 0.000156 |
| 155 | 0.000125 |
| 156 | 0.000127 |
| 157 | 0.000122 |
| 158 | 0.000140 |
| 159 | 0.000122 |
| 160 | 0.000108 |
| 161 | 0.000062 |
| 162 | 0.000065 |
| 163 | 0.000153 |
| 164 | 0.000243 |
| 165 | 0.001294 |
| 166 | 0.000533 |
| 167 | 0.001257 |
| 168 | 0.000137 |
| 169 | 0.000117 |
| 170 | 0.000117 |
| 171 | 0.000109 |
| 172 | 0.000125 |
| 173 | 0.000127 |
| 174 | 0.000105 |
| 175 | 0.000073 |
| 176 | 0.000063 |
| 177 | 0.000074 |
| 178 | 0.000267 |
| 179 | 0.000518 |
| 180 | 0.000171 |
| 181 | 0.000766 |
| 182 | 0.000136 |
| 183 | 0.000122 |
| 184 | 0.000110 |
| 185 | 0.000100 |
| 186 | 0.000108 |
| 187 | 0.000140 |
| 188 | 0.000212 |
| 189 | 0.000250 |
| 190 | 0.000207 |
| 191 | 0.000129 |
| 192 | 0.000136 |
| 193 | 0.000407 |
| 194 | 0.000346 |
| 195 | 0.000702 |
| 196 | 0.029103 |
| 197 | 0.016850 |
| 198 | 0.011146 |
| 199 | 0.013365 |
| 200 | 0.012227 |
| 201 | 0.015582 |
| 202 | 0.018720 |
| 203 | 0.017059 |
| 204 | 0.024929 |
| 205 | 0.020351 |
| 206 | 0.017720 |
| 207 | 0.023168 |
| 208 | 0.018485 |
| 209 | 0.018768 |
| 210 | 0.015707 |
| 211 | 0.010626 |
| 212 | 0.007666 |
| 213 | 0.009174 |
| 214 | 0.007262 |
| 215 | 0.007180 |
| 216 | 0.010541 |
| 217 | 0.013728 |
| 218 | 0.012901 |
| 219 | 0.013554 |
| 220 | 0.012279 |
| 221 | 0.009651 |
| 222 | 0.008093 |
| 223 | 0.008724 |
| 224 | 0.016415 |
| 225 | 0.011930 |
| 226 | 0.008934 |
| 227 | 0.010432 |
| 228 | 0.007453 |
| 229 | 0.007202 |
| 230 | 0.009710 |
| 231 | 0.011573 |
| 232 | 0.011789 |
| 233 | 0.012188 |
| 234 | 0.009244 |
| 235 | 0.007994 |
| 236 | 0.007821 |
| 237 | 0.006689 |
| 238 | 0.014816 |
| 239 | 0.008962 |
| 240 | 0.010287 |
| 241 | 0.009795 |
| 242 | 0.006411 |
| 243 | 0.006037 |
| 244 | 0.007218 |
| 245 | 0.011873 |
| 246 | 0.011429 |
| 247 | 0.009192 |
| 248 | 0.007854 |
| 249 | 0.007885 |
| 250 | 0.007279 |
| 251 | 0.007311 |
| 252 | 0.013711 |
| 253 | 0.007293 |
| 254 | 0.005690 |
| 255 | 0.008229 |
| 256 | 0.007439 |
| 257 | 0.005225 |
| 258 | 0.006469 |
| 259 | 0.009431 |
| 260 | 0.010770 |
| 261 | 0.009233 |
| 262 | 0.008171 |
| 263 | 0.007141 |
| 264 | 0.004305 |
| 265 | 0.006193 |
| 266 | 0.010803 |
| 267 | 0.005143 |
| 268 | 0.007764 |
| 269 | 0.006464 |
| 270 | 0.005996 |
| 271 | 0.006668 |
| 272 | 0.005027 |
| 273 | 0.006164 |
| 274 | 0.010894 |
| 275 | 0.006935 |
| 276 | 0.004187 |
| 277 | 0.003810 |
| 278 | 0.003891 |
| 279 | 0.003558 |
| 280 | 0.007883 |
| 281 | 0.006198 |
| 282 | 0.004925 |
| 283 | 0.005251 |
| 284 | 0.005681 |
| 285 | 0.008116 |
| 286 | 0.006486 |
| 287 | 0.010886 |
| 288 | 0.007275 |
| 289 | 0.005089 |
| 290 | 0.004304 |
| 291 | 0.002705 |
| 292 | 0.004845 |
| 293 | 0.003774 |
| 294 | 0.006118 |
| 295 | 0.005109 |
| 296 | 0.006035 |
| 297 | 0.005170 |
| 298 | 0.007480 |
| 299 | 0.003631 |
| 300 | 0.006493 |
| 301 | 0.010133 |
| 302 | 0.007380 |
| 303 | 0.004768 |
| 304 | 0.002800 |
| 305 | 0.002182 |
| 306 | 0.003124 |
| 307 | 0.002346 |
| 308 | 0.004492 |
| 309 | 0.002913 |
| 310 | 0.003947 |
| 311 | 0.004244 |
| 312 | 0.000990 |
| 313 | 0.009405 |
| 314 | 0.005847 |
| 315 | 0.004250 |
| 316 | 0.005822 |
| 317 | 0.004098 |
| 318 | 0.003936 |
| 319 | 0.002624 |
| 320 | 0.001219 |
| 321 | 0.001542 |
| 322 | 0.004963 |
| 323 | 0.002615 |
| 324 | 0.005657 |
| 325 | 0.001118 |
| 326 | 0.000212 |
| 327 | 0.010311 |
| 328 | 0.006677 |
| 329 | 0.000984 |
| 330 | 0.005304 |
| 331 | 0.003821 |
| 332 | 0.002193 |
| 333 | 0.001855 |
| 334 | 0.000743 |
| 335 | 0.001055 |
| 336 | 0.006630 |
| 337 | 0.005646 |
| 338 | 0.005351 |
| 339 | 0.000219 |
| 340 | 0.000167 |
| 341 | 0.006868 |
| 342 | 0.007199 |
| 343 | 0.000767 |
| 344 | 0.003070 |
| 345 | 0.005639 |
| 346 | 0.002659 |
| 347 | 0.001499 |
| 348 | 0.001023 |
| 349 | 0.001434 |
| 350 | 0.010159 |
| 351 | 0.008592 |
| 352 | 0.003728 |
| 353 | 0.000170 |
| 354 | 0.000161 |
| 355 | 0.014027 |
| 356 | 0.010298 |
| 357 | 0.000986 |
| 358 | 0.000493 |
| 359 | 0.004961 |
| 360 | 0.003421 |
| 361 | 0.001126 |
| 362 | 0.001168 |
| 363 | 0.000677 |
| 364 | 0.008332 |
| 365 | 0.010275 |
| 366 | 0.001032 |
| 367 | 0.000120 |
| 368 | 0.000281 |
| 369 | 0.010065 |
| 370 | 0.005466 |
| 371 | 0.001418 |
| 372 | 0.000271 |
| 373 | 0.000409 |
| 374 | 0.002391 |
| 375 | 0.002378 |
| 376 | 0.000814 |
| 377 | 0.000536 |
| 378 | 0.009251 |
| 379 | 0.003661 |
| 380 | 0.000113 |
| 381 | 0.000101 |
| 382 | 0.000456 |
| 383 | 0.007057 |
| 384 | 0.005033 |
| 385 | 0.001607 |
| 386 | 0.000165 |
| 387 | 0.000103 |
| 388 | 0.000544 |
| 389 | 0.001820 |
| 390 | 0.001002 |
| 391 | 0.000831 |
| 392 | 0.000249 |
| 393 | 0.001485 |
| 394 | 0.000127 |
| 395 | 0.000105 |
| 396 | 0.019592 |
| 397 | 0.000042 |
| 398 | 0.000091 |
| 399 | 0.020049 |
| 400 | 0.021063 |
| 401 | 0.000054 |
| 402 | 0.023104 |
| 403 | 0.001596 |
| 404 | 0.000018 |
| 405 | 0.000017 |