| { | |
| "version": "v10_robot", | |
| "domain": "ur5e_robot_joint", | |
| "task": "rul_regression", | |
| "badge": "VALIDATED", | |
| "n_features": 14, | |
| "d_model": 64, | |
| "feature_cols": [ | |
| "j1_vel", | |
| "j2_vel", | |
| "j3_vel", | |
| "j4_vel", | |
| "j5_vel", | |
| "j6_vel", | |
| "j1_trq", | |
| "j2_trq", | |
| "j3_trq", | |
| "j4_trq", | |
| "j5_trq", | |
| "j6_trq", | |
| "payload_norm", | |
| "speed_norm" | |
| ], | |
| "rul_cap": 300, | |
| "window_size": 30, | |
| "n_conditions": 2, | |
| "conditions": [ | |
| { | |
| "condition_id": 0, | |
| "payload_norm": 0.2, | |
| "speed_norm": 0.3 | |
| }, | |
| { | |
| "condition_id": 1, | |
| "payload_norm": 0.8, | |
| "speed_norm": 0.8 | |
| } | |
| ], | |
| "backbone_checkpoint": "tft_best_v9c.pt", | |
| "backbone_frozen": true, | |
| "dataset": "ur5e_degradation.parquet", | |
| "dataset_repo": "narteybrown/twinnable-weights", | |
| "dataset_path": "data/synthetic/ur5e_degradation.parquet", | |
| "n_training_runs": 86, | |
| "n_val_runs": 22, | |
| "total_dataset_rows": 32400, | |
| "fault_modes": [ | |
| "friction", | |
| "backlash", | |
| "stiffness" | |
| ], | |
| "severities": [ | |
| 2.0, | |
| 5.0, | |
| 10.0 | |
| ], | |
| "physics_engine": "MuJoCo 3.4.0", | |
| "mjcf_source": "MuJoCo Menagerie UR5e (BSD-3-Clause)", | |
| "results": { | |
| "best_epoch": 78, | |
| "val_loss": 0.0003727209164375941, | |
| "rmse_cycles": 5.812502861022949, | |
| "nrmse": 0.019375009536743162, | |
| "r2": 0.9954952597618103 | |
| } | |
| } |