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Robot_Arm/docs/experiment_round36_kmf_e1b.json
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{
"n": 512,
"steps": {
"2": {
"vs_teacher_l2": 0.4342995882034302,
"vs_32step_l2": 0.30502474308013916,
"vs_1step_l2": 4.2227020263671875
},
"3": {
"vs_teacher_l2": 0.43872418999671936,
"vs_32step_l2": 0.29536527395248413,
"vs_1step_l2": 4.216776371002197
},
"4": {
"vs_teacher_l2": 0.42935511469841003,
"vs_32step_l2": 0.29940515756607056,
"vs_1step_l2": 4.232732772827148
},
"8": {
"vs_teacher_l2": 0.4444255232810974,
"vs_32step_l2": 0.2452448457479477,
"vs_1step_l2": 4.195967197418213
},
"16": {
"vs_teacher_l2": 0.5166380405426025,
"vs_32step_l2": 0.12673738598823547,
"vs_1step_l2": 4.085569381713867
},
"32": {
"vs_teacher_l2": 0.6008902192115784,
"vs_32step_l2": 0.0,
"vs_1step_l2": 3.970090866088867
}
},
"vs_teacher": {
"a1_1step": {
"l2_mean": 4.325636386871338,
"l2_p95": 4.9564337730407715,
"per_axis_norm": [
0.3975203335285187,
0.36649173498153687,
0.3425973951816559,
0.3447648882865906,
0.3368167281150818,
0.32962310314178467
]
},
"aU_32step_rneq_t": {
"l2_mean": 0.6008902192115784,
"l2_p95": 1.9733507633209229,
"per_axis_norm": [
0.05318881571292877,
0.04853545129299164,
0.04775547981262207,
0.04531646892428398,
0.0381026417016983,
0.034751877188682556
]
},
"aF_flow_map_r_eq_t": {
"l2_mean": 0.6651337146759033,
"l2_p95": 1.9794291257858276,
"per_axis_norm": [
0.06039007008075714,
0.05440700799226761,
0.05297258496284485,
0.05065540224313736,
0.04315900802612305,
0.03988185524940491
]
}
},
"mutual": [
{
"l2_mean": 3.970090866088867,
"pair": [
"a1",
"aU_32"
]
},
{
"l2_mean": 3.891127109527588,
"pair": [
"a1",
"aF_flow"
]
},
{
"l2_mean": 0.08254596590995789,
"pair": [
"aU_32",
"aF_flow"
]
}
],
"note": "动作块是 ±1 归一化的 16×6;l2_mean 无单位权重,越小越贴老师"
}