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model_metadata_v10_robot.json
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{
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"version": "v10_robot",
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"domain": "ur5e_robot_joint",
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"task": "rul_regression",
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"badge": "VALIDATED",
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"n_features": 14,
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"d_model": 64,
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"feature_cols": [
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"j1_vel",
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"j2_vel",
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"j3_vel",
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"j4_vel",
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"j5_vel",
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"j6_vel",
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"j1_trq",
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"j2_trq",
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"j3_trq",
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"j4_trq",
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"j5_trq",
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"j6_trq",
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"payload_norm",
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"speed_norm"
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],
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"rul_cap": 300,
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"window_size": 30,
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"n_conditions": 2,
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"conditions": [
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{
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"condition_id": 0,
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"payload_norm": 0.2,
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"speed_norm": 0.3
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},
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{
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"condition_id": 1,
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"payload_norm": 0.8,
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"speed_norm": 0.8
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}
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],
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"backbone_checkpoint": "tft_best_v9c.pt",
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"backbone_frozen": true,
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"dataset": "ur5e_degradation.parquet",
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"dataset_repo": "narteybrown/twinnable-weights",
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"dataset_path": "data/synthetic/ur5e_degradation.parquet",
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"n_training_runs": 86,
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"n_val_runs": 22,
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"total_dataset_rows": 32400,
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"fault_modes": [
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"friction",
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"backlash",
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"stiffness"
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],
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"severities": [
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2.0,
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5.0,
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10.0
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],
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"physics_engine": "MuJoCo 3.4.0",
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"mjcf_source": "MuJoCo Menagerie UR5e (BSD-3-Clause)",
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"results": {
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"best_epoch": 78,
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"val_loss": 0.0003727209164375941,
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"rmse_cycles": 5.812502861022949,
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"nrmse": 0.019375009536743162,
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"r2": 0.9954952597618103
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}
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}
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