LOG #4
2 DEMOS,
200 STEPS,
1 SECOND
AHEAD
π0.5 / mechArm 270 / A40
Step 0: grad_norm=1.0302, loss=0.1031
Step 50: grad_norm=0.1691, loss=0.0510
Step 100: grad_norm=0.1610, loss=0.0324
Step 150: grad_norm=0.1396, loss=0.0242
Step 190: grad_norm=0.1266, loss=0.0162
Finished asynchronous save in 22.99 seconds
[POLICY] ws://localhost:8000
[000] 954ms Δ= +2.7 +4.3 +1.3 +0.1 +2.1
[001] 547ms Δ= -0.2 +3.7 +0.7 -0.2 +1.9
[003] 2288ms Δ= -2.2 +7.9 -2.7 -0.5 -8.8
[004] 1051ms Δ= -0.2 +12.9 -3.6 -0.7 -9.9
DEMO · 10 Hz · 307 STEPS
#000
#040
#080
#150
#207
#300
CLOSE
OPEN
J0–J5 · MEASURED ANGLES
LoRA FINETUNE · 2 DEMOS · 200 STEPS
0.1031
0.0162
LOSS · A40 · 6.6 s / STEP
ACTION CHUNK · 10 × 0.1 s
01
02
03
04
05
06
07
08
09
10
USED
■ J1 □ J4 · DRY RUN 547–2288 ms