Evaluation Report: iter6_gpt_384d12_cosine

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

Analysis Notes

ITERATION 6: Best architecture (384d12) with cosine LR schedule + warmup ========================================================================= Changes from Iteration 2 (best so far): - Same architecture: GPT 384d12, 22M params - LR schedule: ReduceLROnPlateau -> Cosine annealing with linear warmup - Warmup: 5 epochs of linear warmup from lr/10 to lr - Peak LR: 2e-4 (slightly higher since warmup provides stability) - Min LR: 1e-6 (cosine decays to this) - epochs: 150 (more epochs to benefit from cosine schedule) Rationale: Iterations 4-5 showed that scaling model capacity beyond 22M params provides no benefit with 700 canvases. We've hit the data ceiling. However, we haven't optimized the LR schedule. ReduceLROnPlateau is a reactive schedule — it only reduces LR after loss plateaus. Cosine annealing with warmup is the standard for ViT training and provides: 1. Stable early training (warmup prevents early divergence) 2. Better exploration of loss landscape at peak LR 3. Smooth convergence (cosine decay avoids abrupt LR drops) Architecture comparison so far: - iter1: GPT 256d8 (6.9M) -> SSIM=0.697, val_mse=0.0127 - iter2: GPT 384d12 (22M) -> SSIM=0.756, val_mse=0.0102 *** BEST *** - iter3: MAE 384d8 -> SSIM=0.616, val_mse=0.0147 - iter4: GPT 384d16 (29M) -> SSIM=0.730, val_mse=0.0133 - iter5: GPT 512d12 (38M) -> SSIM=0.746, val_mse=0.0110 Key insight: 384d12 is the sweet spot for 700 canvases. This iteration keeps that architecture and optimizes training dynamics.

Metrics

MetricValue
val_mse0.011312
val_mse_visual0.011312
ssim0.752383
psnr20.048765
val_mse_motor_strip0.005884
val_mse_action_10.010494
val_mse_action_20.012263
val_mse_static0.001654
val_mse_dynamic0.023512
motor_position_mae_mean0.463344
motor_velocity_mae_mean0.050862
motor_direction_accuracy0.850000
motor_consistency_error0.815252
gpt_teacher_forcing_loss0.004029
gpt_free_running_loss0.011198
gpt_tf_fr_gap0.007170
action_discrimination_score0.033858
motor_discrimination_score0.045413
motor_position_mae_per_joint[1.2519, 0.4528, 0.3251, 0.0981, 0.6310, 0.0211]
motor_position_mae_action_10.473159
motor_position_mae_action_20.451937

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-
J0-39.72332.6925-40.9222-57.8533
J1-90.9068-89.9712-90.7679-90.7894
J266.322465.676066.028266.0088
J339.284539.294339.318139.1661
J48.50838.51988.49308.2391
J510.389610.274510.425810.0022

Sample 1

Counterfactual grid 1
Error heatmap 1

Error heatmap (jet colormap)

JointGT PosSTAYMOVE+MOVE-
J0-59.47253.1776-40.0320-56.5965
J1-89.7081-89.3580-89.9536-89.8698
J272.112971.832672.079072.3555
J339.284539.337739.425739.2219
J48.50838.52418.50598.2822
J510.312710.361710.520010.1146

Sample 2

Counterfactual grid 2
Error heatmap 2

Error heatmap (jet colormap)

JointGT PosSTAYMOVE+MOVE-
J033.12921.107033.885412.0334
J1-89.7081-89.9513-89.9616-89.7730
J270.580170.633370.598770.6106
J339.284539.389739.314139.3335
J48.39538.60008.40638.5656
J510.543310.532110.551410.4672

Sample 3

Counterfactual grid 3
Error heatmap 3

Error heatmap (jet colormap)

JointGT PosSTAYMOVE+MOVE-
J043.22334.822843.433123.8541
J1-89.1403-88.6148-89.3217-89.2275
J284.204884.699984.543984.6068
J340.307739.957239.977540.0745
J48.50838.66198.46298.7898
J510.543310.546810.600810.5529

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

PositionMSE
00.005143
10.003857
20.003448
30.003389
40.001764
50.001338
60.000456
70.000333
80.000253
90.000262
100.000410
110.004855
120.005558
130.007605
140.002870
150.000618
160.001279
170.001343
180.000676
190.000446
200.000366
210.000276
220.000437
230.002439
240.005053
250.005348
260.006538
270.010553
280.000759
290.001410
300.000671
310.001070
320.000851
330.000216
340.000331
350.000274
360.000624
370.004201
380.005687
390.005693
400.006385
410.007704
420.000553
430.000903
440.000878
450.001179
460.000443
470.000276
480.000322
490.000228
500.000900
510.004135
520.004770
530.004902
540.005306
550.008114
560.000380
570.000658
580.000321
590.000353
600.000270
610.000318
620.000236
630.000256
640.000711
650.003935
660.004648
670.005273
680.004177
690.005958
700.000423
710.000517
720.000315
730.000180
740.000251
750.000124
760.000119
770.001366
780.003437
790.001897
800.001245
810.002357
820.002357
830.002455
840.000619
850.000404
860.000223
870.000131
880.000151
890.000113
900.000107
910.000230
920.001100
930.000622
940.000587
950.001509
960.002414
970.001458
980.000337
990.000248
1000.000244
1010.000190
1020.000145
1030.000126
1040.000113
1050.000254
1060.000510
1070.000571
1080.000332
1090.000362
1100.000939
1110.003359
1120.000408
1130.000161
1140.000196
1150.000196
1160.000187
1170.000171
1180.000114
1190.000226
1200.000411
1210.000323
1220.000278
1230.000136
1240.001434
1250.004457
1260.000251
1270.000177
1280.000184
1290.000201
1300.000215
1310.000136
1320.000101
1330.000134
1340.000182
1350.000207
1360.000148
1370.000280
1380.001815
1390.002261
1400.000151
1410.000126
1420.000136
1430.000144
1440.000148
1450.000132
1460.000115
1470.000096
1480.000189
1490.000194
1500.000286
1510.000776
1520.001180
1530.001793
1540.000156
1550.000125
1560.000127
1570.000122
1580.000140
1590.000122
1600.000108
1610.000062
1620.000065
1630.000153
1640.000243
1650.001294
1660.000533
1670.001257
1680.000137
1690.000117
1700.000117
1710.000109
1720.000125
1730.000127
1740.000105
1750.000073
1760.000063
1770.000074
1780.000267
1790.000518
1800.000171
1810.000766
1820.000136
1830.000122
1840.000110
1850.000100
1860.000108
1870.000140
1880.000212
1890.000250
1900.000207
1910.000129
1920.000136
1930.000407
1940.000346
1950.000702
1960.029103
1970.016850
1980.011146
1990.013365
2000.012227
2010.015582
2020.018720
2030.017059
2040.024929
2050.020351
2060.017720
2070.023168
2080.018485
2090.018768
2100.015707
2110.010626
2120.007666
2130.009174
2140.007262
2150.007180
2160.010541
2170.013728
2180.012901
2190.013554
2200.012279
2210.009651
2220.008093
2230.008724
2240.016415
2250.011930
2260.008934
2270.010432
2280.007453
2290.007202
2300.009710
2310.011573
2320.011789
2330.012188
2340.009244
2350.007994
2360.007821
2370.006689
2380.014816
2390.008962
2400.010287
2410.009795
2420.006411
2430.006037
2440.007218
2450.011873
2460.011429
2470.009192
2480.007854
2490.007885
2500.007279
2510.007311
2520.013711
2530.007293
2540.005690
2550.008229
2560.007439
2570.005225
2580.006469
2590.009431
2600.010770
2610.009233
2620.008171
2630.007141
2640.004305
2650.006193
2660.010803
2670.005143
2680.007764
2690.006464
2700.005996
2710.006668
2720.005027
2730.006164
2740.010894
2750.006935
2760.004187
2770.003810
2780.003891
2790.003558
2800.007883
2810.006198
2820.004925
2830.005251
2840.005681
2850.008116
2860.006486
2870.010886
2880.007275
2890.005089
2900.004304
2910.002705
2920.004845
2930.003774
2940.006118
2950.005109
2960.006035
2970.005170
2980.007480
2990.003631
3000.006493
3010.010133
3020.007380
3030.004768
3040.002800
3050.002182
3060.003124
3070.002346
3080.004492
3090.002913
3100.003947
3110.004244
3120.000990
3130.009405
3140.005847
3150.004250
3160.005822
3170.004098
3180.003936
3190.002624
3200.001219
3210.001542
3220.004963
3230.002615
3240.005657
3250.001118
3260.000212
3270.010311
3280.006677
3290.000984
3300.005304
3310.003821
3320.002193
3330.001855
3340.000743
3350.001055
3360.006630
3370.005646
3380.005351
3390.000219
3400.000167
3410.006868
3420.007199
3430.000767
3440.003070
3450.005639
3460.002659
3470.001499
3480.001023
3490.001434
3500.010159
3510.008592
3520.003728
3530.000170
3540.000161
3550.014027
3560.010298
3570.000986
3580.000493
3590.004961
3600.003421
3610.001126
3620.001168
3630.000677
3640.008332
3650.010275
3660.001032
3670.000120
3680.000281
3690.010065
3700.005466
3710.001418
3720.000271
3730.000409
3740.002391
3750.002378
3760.000814
3770.000536
3780.009251
3790.003661
3800.000113
3810.000101
3820.000456
3830.007057
3840.005033
3850.001607
3860.000165
3870.000103
3880.000544
3890.001820
3900.001002
3910.000831
3920.000249
3930.001485
3940.000127
3950.000105
3960.019592
3970.000042
3980.000091
3990.020049
4000.021063
4010.000054
4020.023104
4030.001596
4040.000018
4050.000017