Comments (1)
Hi @AnqiaoLi,
Since I aws running simulation evaluation periodically with training, I didn't have need to log additional metrics for most of my experiments. The "train_action_mse_error" was logged as a sanity check, as it should be going down no matter what. Validation error for behavior cloning have been shown to not be very useful in robomimic.
However, feel free to implement it yourself! It might be helpful for training real world polices! You might want to sample multiple actions and log the one with lowest error, since the action could come from multiple modes for each observation.
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