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libero_10_2B_mee1e-2_true/starvla_qwen_dual/config.json

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+{
+  "run_id": "starvla_qwen_dual",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_5/libero_10_2B_mee1e-2_true",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.01,
+  "enable_adaptive": true,
+  "framework": {
+    "name": "Qwen-Dual",
+    "qwenvl": {
+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
+    },
+    "dino": {
+      "dino_backbone": "dinov2_vits14"
+    },
+    "action_model": {
+      "action_model_type": "DiT-B",
+      "action_hidden_dim": 2,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 7,
+      "state_dim": 7,
+      "future_action_window_size": 7,
+      "action_horizon": 8,
+      "past_action_window_size": 0,
+      "repeated_diffusion_steps": 8,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 4,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
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+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    },
+    "reduce_in_full_precision": true
+  },
+  "datasets": {
+    "vlm_data": {
+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_10",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 60000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
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+      "vlm": 0.1
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+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
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+      "eps": 1e-08,
+      "weight_decay": 1e-08
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+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_5/libero_10_2B_mee1e-2_true/starvla_qwen_dual"
+}

libero_10_2B_mee1e-2_true/starvla_qwen_dual/dataset_statistics.json

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libero_10_2B_mee1e-2_true/starvla_qwen_dual/final_model/pytorch_model.pt

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libero_10_2B_mee1e-2_true/starvla_qwen_dual/libero_10.log

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+Step 4400, Loss: {'mse_loss': 0.05574542284011841, 'mee_loss': 0.5995193719863892, 'totoal_loss': 0.05574542284011841, 'data_time': 0.019486610952299088, 'model_time': 0.9664879069896415, 'learning_rate': 8.8e-06, 'epoch': 5.58})
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+Step 6900, Loss: {'mse_loss': 0.06727009266614914, 'mee_loss': 0.40313008427619934, 'totoal_loss': 0.06727009266614914, 'data_time': 0.01124498195713386, 'model_time': 0.726094653015025, 'learning_rate': 9.861704697959036e-06, 'epoch': 8.76})
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+Step 7200, Loss: {'mse_loss': 0.056067150086164474, 'mee_loss': 0.41694939136505127, 'totoal_loss': 0.056067150086164474, 'data_time': 0.007927005994133651, 'model_time': 0.7470143709797412, 'learning_rate': 9.814884898982168e-06, 'epoch': 9.14})
+Step 7300, Loss: {'mse_loss': 0.03129657730460167, 'mee_loss': 0.4257647395133972, 'totoal_loss': 0.03129657730460167, 'data_time': 0.009790686948690563, 'model_time': 0.7538269049837254, 'learning_rate': 9.797793721459709e-06, 'epoch': 9.26})
+Step 7400, Loss: {'mse_loss': 0.030011320486664772, 'mee_loss': 0.4257015287876129, 'totoal_loss': 0.030011320486664772, 'data_time': 0.009304764040280133, 'model_time': 0.7131419060169719, 'learning_rate': 9.779964655639886e-06, 'epoch': 9.39})
+Step 7500, Loss: {'mse_loss': 0.03213447332382202, 'mee_loss': 0.40055930614471436, 'totoal_loss': 0.03213447332382202, 'data_time': 0.009003085026051849, 'model_time': 0.7483125510043465, 'learning_rate': 9.761400516938874e-06, 'epoch': 9.52})
+Step 7600, Loss: {'mse_loss': 0.03606994450092316, 'mee_loss': 0.3637637794017792, 'totoal_loss': 0.03606994450092316, 'data_time': 0.006853656028397381, 'model_time': 0.7316976049914956, 'learning_rate': 9.74210423684938e-06, 'epoch': 9.64})
+Step 7700, Loss: {'mse_loss': 0.0495511069893837, 'mee_loss': 0.3902603089809418, 'totoal_loss': 0.0495511069893837, 'data_time': 0.00762182503240183, 'model_time': 0.7262323249597102, 'learning_rate': 9.722078862477715e-06, 'epoch': 9.77})
+Step 7800, Loss: {'mse_loss': 0.027536453679203987, 'mee_loss': 0.3659355640411377, 'totoal_loss': 0.027536453679203987, 'data_time': 0.008413135015871376, 'model_time': 0.750910182017833, 'learning_rate': 9.701327556062637e-06, 'epoch': 9.9})
+Step 7900, Loss: {'mse_loss': 0.045761000365018845, 'mee_loss': 0.39153310656547546, 'totoal_loss': 0.045761000365018845, 'data_time': 0.008093663956969976, 'model_time': 0.7715144839603454, 'learning_rate': 9.679853594475985e-06, 'epoch': 10.03})
+Step 8000, Loss: {'mse_loss': 0.03468460962176323, 'mee_loss': 0.44484981894493103, 'totoal_loss': 0.03468460962176323, 'data_time': 0.007759707048535347, 'model_time': 0.7427369399811141, 'learning_rate': 9.657660368705225e-06, 'epoch': 10.15})
+Step 8100, Loss: {'mse_loss': 0.03177427873015404, 'mee_loss': 0.39926278591156006, 'totoal_loss': 0.03177427873015404, 'data_time': 0.008592704951297492, 'model_time': 0.7280255630030297, 'learning_rate': 9.634751383317983e-06, 'epoch': 10.28})
+Step 8200, Loss: {'mse_loss': 0.04404659569263458, 'mee_loss': 0.3903007209300995, 'totoal_loss': 0.04404659569263458, 'data_time': 0.010263501957524568, 'model_time': 0.7404048010357656, 'learning_rate': 9.611130255908619e-06, 'epoch': 10.41})
+Step 8300, Loss: {'mse_loss': 0.027404777705669403, 'mee_loss': 0.40873241424560547, 'totoal_loss': 0.027404777705669403, 'data_time': 0.007403855968732387, 'model_time': 0.75731136003742, 'learning_rate': 9.586800716526974e-06, 'epoch': 10.53})
+Step 8400, Loss: {'mse_loss': 0.028719265013933182, 'mee_loss': 0.34048452973365784, 'totoal_loss': 0.028719265013933182, 'data_time': 0.013276930956635624, 'model_time': 0.7322044349857606, 'learning_rate': 9.561766607089355e-06, 'epoch': 10.66})
+Step 8500, Loss: {'mse_loss': 0.04929936304688454, 'mee_loss': 0.37337979674339294, 'totoal_loss': 0.04929936304688454, 'data_time': 0.009183207002934068, 'model_time': 0.7285106119816191, 'learning_rate': 9.536031880771846e-06, 'epoch': 10.79})
+Step 8600, Loss: {'mse_loss': 0.028906410560011864, 'mee_loss': 0.3805435597896576, 'totoal_loss': 0.028906410560011864, 'data_time': 0.00884294300340116, 'model_time': 0.7093598039937206, 'learning_rate': 9.50960060138606e-06, 'epoch': 10.91})
+Step 8700, Loss: {'mse_loss': 0.039925675839185715, 'mee_loss': 0.38526496291160583, 'totoal_loss': 0.039925675839185715, 'data_time': 0.022618911985773593, 'model_time': 0.7506267040153034, 'learning_rate': 9.482476942737411e-06, 'epoch': 11.04})
+Step 8800, Loss: {'mse_loss': 0.034439634531736374, 'mee_loss': 0.38244280219078064, 'totoal_loss': 0.034439634531736374, 'data_time': 0.02212081104516983, 'model_time': 0.7183586870087311, 'learning_rate': 9.45466518796603e-06, 'epoch': 11.17})
+Step 8900, Loss: {'mse_loss': 0.024254027754068375, 'mee_loss': 0.3066105246543884, 'totoal_loss': 0.024254027754068375, 'data_time': 0.021586068032775074, 'model_time': 0.7200079960166477, 'learning_rate': 9.426169728870399e-06, 'epoch': 11.29})
+Step 9000, Loss: {'mse_loss': 0.05147369205951691, 'mee_loss': 0.34080544114112854, 'totoal_loss': 0.05147369205951691, 'data_time': 0.026002758007962257, 'model_time': 0.7257284930092283, 'learning_rate': 9.396995065213835e-06, 'epoch': 11.42})
+Step 9100, Loss: {'mse_loss': 0.03058471903204918, 'mee_loss': 0.3576914072036743, 'totoal_loss': 0.03058471903204918, 'data_time': 0.02960334502859041, 'model_time': 0.8088358119712211, 'learning_rate': 9.367145804013938e-06, 'epoch': 11.55})
+Step 9200, Loss: {'mse_loss': 0.03925805166363716, 'mee_loss': 0.3806234300136566, 'totoal_loss': 0.03925805166363716, 'data_time': 0.02106118103256449, 'model_time': 0.7554139730054885, 'learning_rate': 9.336626658815071e-06, 'epoch': 11.68})
+Step 9300, Loss: {'mse_loss': 0.036654260009527206, 'mee_loss': 0.3774193823337555, 'totoal_loss': 0.036654260009527206, 'data_time': 0.019396810967009515, 'model_time': 0.7113295430317521, 'learning_rate': 9.305442448944056e-06, 'epoch': 11.8})
+Step 9400, Loss: {'mse_loss': 0.028724011033773422, 'mee_loss': 0.3435886800289154, 'totoal_loss': 0.028724011033773422, 'data_time': 0.018695792998187244, 'model_time': 0.8199744849698618, 'learning_rate': 9.273598098749124e-06, 'epoch': 11.93})
+Step 9500, Loss: {'mse_loss': 0.022725742310285568, 'mee_loss': 0.3222053050994873, 'totoal_loss': 0.022725742310285568, 'data_time': 0.02047505899099633, 'model_time': 0.7437545720022172, 'learning_rate': 9.241098636822324e-06, 'epoch': 12.06})
+Step 9600, Loss: {'mse_loss': 0.03250241279602051, 'mee_loss': 0.330763041973114, 'totoal_loss': 0.03250241279602051, 'data_time': 0.021544140996411443, 'model_time': 0.7554678799933754, 'learning_rate': 9.207949195205442e-06, 'epoch': 12.18})
+Step 9700, Loss: {'mse_loss': 0.03706502169370651, 'mee_loss': 0.32730206847190857, 'totoal_loss': 0.03706502169370651, 'data_time': 0.023271250014659017, 'model_time': 0.770941702008713, 'learning_rate': 9.174155008579588e-06, 'epoch': 12.31})
+Step 9800, Loss: {'mse_loss': 0.035494860261678696, 'mee_loss': 0.3209995627403259, 'totoal_loss': 0.035494860261678696, 'data_time': 0.020762067986652255, 'model_time': 0.7114540250040591, 'learning_rate': 9.139721413438583e-06, 'epoch': 12.44})
+Step 9900, Loss: {'mse_loss': 0.03297926485538483, 'mee_loss': 0.3496515154838562, 'totoal_loss': 0.03297926485538483, 'data_time': 0.022115968982689083, 'model_time': 0.8402659409912303, 'learning_rate': 9.104653847246273e-06, 'epoch': 12.56})
+Step 10000, Loss: {'mse_loss': 0.027867130935192108, 'mee_loss': 0.34320250153541565, 'totoal_loss': 0.031299155205488205, 'data_time': 0.025954669050406665, 'model_time': 0.7531368799973279, 'learning_rate': 9.068957847577869e-06, 'epoch': 12.69})
+Step 10100, Loss: {'mse_loss': 0.03547114506363869, 'mee_loss': 0.3820676803588867, 'totoal_loss': 0.03929182142019272, 'data_time': 0.020818479999434203, 'model_time': 0.7087927099782974, 'learning_rate': 9.032639051245524e-06, 'epoch': 12.82})
+Step 10200, Loss: {'mse_loss': 0.02579132840037346, 'mee_loss': 0.31042730808258057, 'totoal_loss': 0.028895601630210876, 'data_time': 0.027831461979076266, 'model_time': 0.7175816250382923, 'learning_rate': 8.995703193408199e-06, 'epoch': 12.94})
+Step 10300, Loss: {'mse_loss': 0.037772126495838165, 'mee_loss': 0.3436257541179657, 'totoal_loss': 0.041208382695913315, 'data_time': 0.02210013900185004, 'model_time': 0.7528035559807904, 'learning_rate': 8.958156106666017e-06, 'epoch': 13.07})
+Step 10400, Loss: {'mse_loss': 0.022541936486959457, 'mee_loss': 0.29450803995132446, 'totoal_loss': 0.025487016886472702, 'data_time': 0.015866144036408514, 'model_time': 0.7668152970145456, 'learning_rate': 8.92000372013924e-06, 'epoch': 13.2})
+Step 10500, Loss: {'mse_loss': 0.02953789010643959, 'mee_loss': 0.2869621515274048, 'totoal_loss': 0.03240751102566719, 'data_time': 0.012707103043794632, 'model_time': 0.7072932820301503, 'learning_rate': 8.881252058531973e-06, 'epoch': 13.32})
+Step 10600, Loss: {'mse_loss': 0.03454551845788956, 'mee_loss': 0.3269893229007721, 'totoal_loss': 0.037815410643815994, 'data_time': 0.014975447033066303, 'model_time': 0.7319235170143656, 'learning_rate': 8.841907241180809e-06, 'epoch': 13.45})
+Step 10700, Loss: {'mse_loss': 0.02990037389099598, 'mee_loss': 0.2939787805080414, 'totoal_loss': 0.03284016251564026, 'data_time': 0.014667302020825446, 'model_time': 0.7370663200272247, 'learning_rate': 8.801975481088507e-06, 'epoch': 13.58})
+Step 10800, Loss: {'mse_loss': 0.022327547892928123, 'mee_loss': 0.28112635016441345, 'totoal_loss': 0.025138812139630318, 'data_time': 0.01296740397810936, 'model_time': 0.735347356996499, 'learning_rate': 8.761463083942889e-06, 'epoch': 13.71})
+Step 10900, Loss: {'mse_loss': 0.025428365916013718, 'mee_loss': 0.25149208307266235, 'totoal_loss': 0.027943287044763565, 'data_time': 0.015047807013615966, 'model_time': 0.8309279879904352, 'learning_rate': 8.720376447121098e-06, 'epoch': 13.83})
+Step 11000, Loss: {'mse_loss': 0.04471108689904213, 'mee_loss': 0.3610934019088745, 'totoal_loss': 0.04832202196121216, 'data_time': 0.01474672497715801, 'model_time': 0.700926172954496, 'learning_rate': 8.678722058679382e-06, 'epoch': 13.96})
+Step 11100, Loss: {'mse_loss': 0.026296375319361687, 'mee_loss': 0.32638436555862427, 'totoal_loss': 0.02956021949648857, 'data_time': 0.02161375101422891, 'model_time': 0.721389869984705, 'learning_rate': 8.636506496328546e-06, 'epoch': 14.09})
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+Step 16100, Loss: {'mse_loss': 0.015728220343589783, 'mee_loss': 0.2172989845275879, 'totoal_loss': 0.017901210114359856, 'data_time': 0.025900660955812782, 'model_time': 0.7609831640147604, 'learning_rate': 5.978237412504472e-06, 'epoch': 20.43})
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+Step 16300, Loss: {'mse_loss': 0.010727313347160816, 'mee_loss': 0.20812930166721344, 'totoal_loss': 0.012808606028556824, 'data_time': 0.02185681095579639, 'model_time': 0.717330061015673, 'learning_rate': 5.857349746963692e-06, 'epoch': 20.69})
+Step 16400, Loss: {'mse_loss': 0.03449977561831474, 'mee_loss': 0.23479600250720978, 'totoal_loss': 0.036847736686468124, 'data_time': 0.02085233898833394, 'model_time': 0.7728419929626398, 'learning_rate': 5.796727667087611e-06, 'epoch': 20.81})
+Step 16500, Loss: {'mse_loss': 0.021257195621728897, 'mee_loss': 0.2413320243358612, 'totoal_loss': 0.023670515045523643, 'data_time': 0.021141819015610963, 'model_time': 0.7176279289997183, 'learning_rate': 5.735999513625984e-06, 'epoch': 20.94})
+Step 16600, Loss: {'mse_loss': 0.012412656098604202, 'mee_loss': 0.2278052568435669, 'totoal_loss': 0.014690708369016647, 'data_time': 0.01453258900437504, 'model_time': 0.7178109259693883, 'learning_rate': 5.675174876258223e-06, 'epoch': 21.07})
+Step 16700, Loss: {'mse_loss': 0.027916952967643738, 'mee_loss': 0.17611777782440186, 'totoal_loss': 0.02967813052237034, 'data_time': 0.009169502009171993, 'model_time': 0.7407465510186739, 'learning_rate': 5.614263359899673e-06, 'epoch': 21.19})
+Step 16800, Loss: {'mse_loss': 0.0271107517182827, 'mee_loss': 0.26999029517173767, 'totoal_loss': 0.029810653999447823, 'data_time': 0.009883588994853199, 'model_time': 0.7572817250038497, 'learning_rate': 5.553274583184875e-06, 'epoch': 21.32})
+Step 16900, Loss: {'mse_loss': 0.036054372787475586, 'mee_loss': 0.20510149002075195, 'totoal_loss': 0.03810538724064827, 'data_time': 0.01686400600010529, 'model_time': 0.7129418679978698, 'learning_rate': 5.492218176948673e-06, 'epoch': 21.45})
+Step 17000, Loss: {'mse_loss': 0.024306587874889374, 'mee_loss': 0.26749011874198914, 'totoal_loss': 0.02698148973286152, 'data_time': 0.018498876015655696, 'model_time': 0.8112191610271111, 'learning_rate': 5.431103782705404e-06, 'epoch': 21.57})
+Step 17100, Loss: {'mse_loss': 0.01681942492723465, 'mee_loss': 0.23917771875858307, 'totoal_loss': 0.01921120285987854, 'data_time': 0.014266138023231179, 'model_time': 0.7938551360275596, 'learning_rate': 5.369941051126377e-06, 'epoch': 21.7})
+Step 17200, Loss: {'mse_loss': 0.014222141355276108, 'mee_loss': 0.21735142171382904, 'totoal_loss': 0.016395654529333115, 'data_time': 0.014328392979223281, 'model_time': 0.7580032350379042, 'learning_rate': 5.308739640515932e-06, 'epoch': 21.83})
+Step 17300, Loss: {'mse_loss': 0.010344363749027252, 'mee_loss': 0.18951979279518127, 'totoal_loss': 0.012239561416208744, 'data_time': 0.015423857024870813, 'model_time': 0.7463097849977203, 'learning_rate': 5.24750921528627e-06, 'epoch': 21.95})
+Step 17400, Loss: {'mse_loss': 0.020124781876802444, 'mee_loss': 0.1844923049211502, 'totoal_loss': 0.021969705820083618, 'data_time': 0.01994618895696476, 'model_time': 0.7096639009541832, 'learning_rate': 5.186259444431344e-06, 'epoch': 22.08})
+Step 17500, Loss: {'mse_loss': 0.025157282128930092, 'mee_loss': 0.1930008828639984, 'totoal_loss': 0.027087291702628136, 'data_time': 0.02017391799017787, 'model_time': 0.7382084219716489, 'learning_rate': 5.125e-06, 'epoch': 22.21})
+Step 17600, Loss: {'mse_loss': 0.014603071846067905, 'mee_loss': 0.20928749442100525, 'totoal_loss': 0.01669594645500183, 'data_time': 0.020806020009331405, 'model_time': 0.7929359980043955, 'learning_rate': 5.063740555568656e-06, 'epoch': 22.34})
+Step 17700, Loss: {'mse_loss': 0.007616786286234856, 'mee_loss': 0.1686689853668213, 'totoal_loss': 0.009303475730121136, 'data_time': 0.014359045017044991, 'model_time': 0.7418004759820178, 'learning_rate': 5.002490784713731e-06, 'epoch': 22.46})
+Step 17800, Loss: {'mse_loss': 0.015726998448371887, 'mee_loss': 0.20567116141319275, 'totoal_loss': 0.01778371073305607, 'data_time': 0.01713715895311907, 'model_time': 0.7813203080440871, 'learning_rate': 4.9412603594840695e-06, 'epoch': 22.59})
+Step 17900, Loss: {'mse_loss': 0.018489016219973564, 'mee_loss': 0.1894288808107376, 'totoal_loss': 0.020383305847644806, 'data_time': 0.012888018973171711, 'model_time': 0.740669755032286, 'learning_rate': 4.8800589488736245e-06, 'epoch': 22.72})
+Step 18000, Loss: {'mse_loss': 0.024080950766801834, 'mee_loss': 0.19211365282535553, 'totoal_loss': 0.02600208669900894, 'data_time': 0.018640160968061537, 'model_time': 0.721511977026239, 'learning_rate': 4.818896217294598e-06, 'epoch': 22.84})
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+Step 22600, Loss: {'mse_loss': 0.01051274873316288, 'mee_loss': 0.16656744480133057, 'totoal_loss': 0.012178422883152962, 'data_time': 0.008048740040976554, 'model_time': 0.75495819398202, 'learning_rate': 2.2102132075945974e-06, 'epoch': 28.68})
+Step 22700, Loss: {'mse_loss': 0.01068086363375187, 'mee_loss': 0.13425153493881226, 'totoal_loss': 0.0120233790948987, 'data_time': 0.00792077201185748, 'model_time': 0.7572964760474861, 'learning_rate': 2.1613397987388e-06, 'epoch': 28.81})
+Step 22800, Loss: {'mse_loss': 0.011278348974883556, 'mee_loss': 0.1317392736673355, 'totoal_loss': 0.012595742009580135, 'data_time': 0.008016872976440936, 'model_time': 0.7246383509482257, 'learning_rate': 2.1129343861846207e-06, 'epoch': 28.93})
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+Step 23000, Loss: {'mse_loss': 0.006215015426278114, 'mee_loss': 0.13227184116840363, 'totoal_loss': 0.007537733763456345, 'data_time': 0.00831053196452558, 'model_time': 0.7589668299769983, 'learning_rate': 2.0175580499751375e-06, 'epoch': 29.19})
+Step 23100, Loss: {'mse_loss': 0.021044207736849785, 'mee_loss': 0.17153921723365784, 'totoal_loss': 0.02275959961116314, 'data_time': 0.007846280001103878, 'model_time': 0.7295626499690115, 'learning_rate': 1.9706021873489604e-06, 'epoch': 29.31})
+Step 23200, Loss: {'mse_loss': 0.007259551435709, 'mee_loss': 0.1323683112859726, 'totoal_loss': 0.008583234623074532, 'data_time': 0.009150377998594195, 'model_time': 0.7410268139792606, 'learning_rate': 1.924144440704338e-06, 'epoch': 29.44})
+Step 23300, Loss: {'mse_loss': 0.011781386099755764, 'mee_loss': 0.17463934421539307, 'totoal_loss': 0.013527779839932919, 'data_time': 0.007428582990542054, 'model_time': 0.7481039609992877, 'learning_rate': 1.8781921462580238e-06, 'epoch': 29.57})
+Step 23400, Loss: {'mse_loss': 0.012239727191627026, 'mee_loss': 0.15079057216644287, 'totoal_loss': 0.013747632503509521, 'data_time': 0.009734416962601244, 'model_time': 1.0010017470340244, 'learning_rate': 1.8327525604100058e-06, 'epoch': 29.7})
+Step 23500, Loss: {'mse_loss': 0.00878329761326313, 'mee_loss': 0.1449981927871704, 'totoal_loss': 0.010233279317617416, 'data_time': 0.006804429984185845, 'model_time': 0.7597575659747235, 'learning_rate': 1.7878328585976426e-06, 'epoch': 29.82})
+Step 23600, Loss: {'mse_loss': 0.013839034363627434, 'mee_loss': 0.16434453427791595, 'totoal_loss': 0.015482479706406593, 'data_time': 0.010159449011553079, 'model_time': 1.065471677982714, 'learning_rate': 1.7434401341625765e-06, 'epoch': 29.95})
+Step 23700, Loss: {'mse_loss': 0.011942979879677296, 'mee_loss': 0.15246708691120148, 'totoal_loss': 0.01346765086054802, 'data_time': 0.007834088988602161, 'model_time': 0.7560430309968069, 'learning_rate': 1.6995813972306108e-06, 'epoch': 30.08})
+Step 23800, Loss: {'mse_loss': 0.010629191063344479, 'mee_loss': 0.1569453626871109, 'totoal_loss': 0.012198644690215588, 'data_time': 0.008822306001093239, 'model_time': 0.7634361239615828, 'learning_rate': 1.656263573604734e-06, 'epoch': 30.2})
+Step 23900, Loss: {'mse_loss': 0.014083456248044968, 'mee_loss': 0.2035549134016037, 'totoal_loss': 0.016119005158543587, 'data_time': 0.00873527501244098, 'model_time': 0.7618509010062553, 'learning_rate': 1.613493503671454e-06, 'epoch': 30.33})
+Step 24000, Loss: {'mse_loss': 0.018528027459979057, 'mee_loss': 0.136124387383461, 'totoal_loss': 0.01988927088677883, 'data_time': 0.008795779023785144, 'model_time': 0.7352508130134083, 'learning_rate': 1.5712779413206198e-06, 'epoch': 30.46})
+Step 24100, Loss: {'mse_loss': 0.017335942015051842, 'mee_loss': 0.14417731761932373, 'totoal_loss': 0.018777715042233467, 'data_time': 0.007671909988857806, 'model_time': 0.7081861830083653, 'learning_rate': 1.5296235528789028e-06, 'epoch': 30.58})
+Step 24200, Loss: {'mse_loss': 0.008464492857456207, 'mee_loss': 0.16091829538345337, 'totoal_loss': 0.010073675774037838, 'data_time': 0.00694687501527369, 'model_time': 0.7661978480173275, 'learning_rate': 1.4885369160571124e-06, 'epoch': 30.71})
+Step 24300, Loss: {'mse_loss': 0.01458230335265398, 'mee_loss': 0.1406581997871399, 'totoal_loss': 0.01598888449370861, 'data_time': 0.007403582043480128, 'model_time': 0.716137102979701, 'learning_rate': 1.4480245189114938e-06, 'epoch': 30.84})
+Step 24400, Loss: {'mse_loss': 0.015308419242501259, 'mee_loss': 0.13146093487739563, 'totoal_loss': 0.016623027622699738, 'data_time': 0.009516766993328929, 'model_time': 0.837394141999539, 'learning_rate': 1.408092758819191e-06, 'epoch': 30.96})
+Step 24500, Loss: {'mse_loss': 0.007187936920672655, 'mee_loss': 0.125468447804451, 'totoal_loss': 0.008442621678113937, 'data_time': 0.013435308006592095, 'model_time': 0.7731033800519072, 'learning_rate': 1.368747941468028e-06, 'epoch': 31.09})
+Step 24600, Loss: {'mse_loss': 0.009719197638332844, 'mee_loss': 0.14382846653461456, 'totoal_loss': 0.01115748193114996, 'data_time': 0.013310528011061251, 'model_time': 0.7502764610107988, 'learning_rate': 1.3299962798607614e-06, 'epoch': 31.22})
+Step 24700, Loss: {'mse_loss': 0.012247486971318722, 'mee_loss': 0.15785524249076843, 'totoal_loss': 0.013826039619743824, 'data_time': 0.018838482967112213, 'model_time': 0.7579208899987862, 'learning_rate': 1.2918438933339827e-06, 'epoch': 31.35})
+Step 24800, Loss: {'mse_loss': 0.01143606472760439, 'mee_loss': 0.14996784925460815, 'totoal_loss': 0.012935742735862732, 'data_time': 0.015502760012168437, 'model_time': 0.7334253420121968, 'learning_rate': 1.2542968065918027e-06, 'epoch': 31.47})
+Step 24900, Loss: {'mse_loss': 0.01024932786822319, 'mee_loss': 0.16187748312950134, 'totoal_loss': 0.011868102476000786, 'data_time': 0.014441118983086199, 'model_time': 0.9596681369584985, 'learning_rate': 1.217360948754476e-06, 'epoch': 31.6})
+Step 25000, Loss: {'mse_loss': 0.005304544232785702, 'mee_loss': 0.12333469092845917, 'totoal_loss': 0.0065378909930586815, 'data_time': 0.01434774900553748, 'model_time': 0.7779675160418265, 'learning_rate': 1.1810421524221318e-06, 'epoch': 31.73})
+Step 25100, Loss: {'mse_loss': 0.01575601100921631, 'mee_loss': 0.13226081430912018, 'totoal_loss': 0.017078619450330734, 'data_time': 0.017247037030756474, 'model_time': 0.7279866369790398, 'learning_rate': 1.1453461527537284e-06, 'epoch': 31.85})
+Step 25200, Loss: {'mse_loss': 0.019446544349193573, 'mee_loss': 0.1448032110929489, 'totoal_loss': 0.020894575864076614, 'data_time': 0.012469206005334854, 'model_time': 0.7581713440013118, 'learning_rate': 1.1102785865614162e-06, 'epoch': 31.98})
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+Step 28800, Loss: {'mse_loss': 0.01739654690027237, 'mee_loss': 0.14501900970935822, 'totoal_loss': 0.01884673722088337, 'data_time': 0.013712471001781523, 'model_time': 0.7500657700002193, 'learning_rate': 3.053227444026695e-07, 'epoch': 36.55})
+Step 28900, Loss: {'mse_loss': 0.020328160375356674, 'mee_loss': 0.15173204243183136, 'totoal_loss': 0.021845480427145958, 'data_time': 0.01450558501528576, 'model_time': 0.7406345430063084, 'learning_rate': 2.9650054972882544e-07, 'epoch': 36.68})
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+Step 29300, Loss: {'mse_loss': 0.02255942113697529, 'mee_loss': 0.12625522911548615, 'totoal_loss': 0.02382197417318821, 'data_time': 0.007338495983276516, 'model_time': 0.7249012980028056, 'learning_rate': 2.68848655427034e-07, 'epoch': 37.18})
+Step 29400, Loss: {'mse_loss': 0.005935507360845804, 'mee_loss': 0.12892670929431915, 'totoal_loss': 0.007224774453788996, 'data_time': 0.008590960002038628, 'model_time': 0.721013372996822, 'learning_rate': 2.638503612295071e-07, 'epoch': 37.31})
+Step 29500, Loss: {'mse_loss': 0.02044743299484253, 'mee_loss': 0.1877652406692505, 'totoal_loss': 0.02232508547604084, 'data_time': 0.00944790500216186, 'model_time': 0.7476893190178089, 'learning_rate': 2.5961969891217614e-07, 'epoch': 37.44})
+Step 29600, Loss: {'mse_loss': 0.0114212054759264, 'mee_loss': 0.12837918102741241, 'totoal_loss': 0.012704997323453426, 'data_time': 0.008282568014692515, 'model_time': 0.7315537590184249, 'learning_rate': 2.5615733654566483e-07, 'epoch': 37.56})
+Step 29700, Loss: {'mse_loss': 0.007315524388104677, 'mee_loss': 0.13194267451763153, 'totoal_loss': 0.008634950965642929, 'data_time': 0.010797085997182876, 'model_time': 0.7472589520039037, 'learning_rate': 2.5346382087712764e-07, 'epoch': 37.69})
+Step 29800, Loss: {'mse_loss': 0.0076700784265995026, 'mee_loss': 0.12713313102722168, 'totoal_loss': 0.00894141010940075, 'data_time': 0.010324496950488538, 'model_time': 0.9588424030225724, 'learning_rate': 2.515395772439128e-07, 'epoch': 37.82})
+Step 29900, Loss: {'mse_loss': 0.0052430895157158375, 'mee_loss': 0.11503205448389053, 'totoal_loss': 0.006393410265445709, 'data_time': 0.008904799993615597, 'model_time': 0.7692632079706527, 'learning_rate': 2.5038490950639644e-07, 'epoch': 37.94})
+Step 30000, Loss: {'mse_loss': 0.010387673042714596, 'mee_loss': 0.12249481678009033, 'totoal_loss': 0.011612621136009693, 'data_time': 0.0113898940035142, 'model_time': 0.7043193290010095, 'learning_rate': 2.5e-07, 'epoch': 38.07})

libero_10_2B_mee1e-2_true/starvla_qwen_dual/libero_eval_libero_10.log

@@ -0,0 +1,2521 @@
+Task suite: libero_10
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 15
+# successes: 14 (93.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 16
+# successes: 15 (93.8%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 17
+# successes: 16 (94.1%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 18
+# successes: 17 (94.4%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 19
+# successes: 17 (89.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 20
+# successes: 18 (90.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 21
+# successes: 19 (90.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 22
+# successes: 20 (90.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 23
+# successes: 21 (91.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 24
+# successes: 22 (91.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 25
+# successes: 23 (92.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 26
+# successes: 24 (92.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 27
+# successes: 25 (92.6%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 28
+# successes: 25 (89.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 29
+# successes: 26 (89.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 30
+# successes: 27 (90.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 31
+# successes: 28 (90.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 32
+# successes: 29 (90.6%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 33
+# successes: 30 (90.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 34
+# successes: 31 (91.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 35
+# successes: 32 (91.4%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 36
+# successes: 33 (91.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 37
+# successes: 34 (91.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 38
+# successes: 35 (92.1%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 39
+# successes: 36 (92.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 40
+# successes: 37 (92.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 41
+# successes: 38 (92.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 42
+# successes: 39 (92.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 43
+# successes: 40 (93.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 44
+# successes: 41 (93.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 45
+# successes: 42 (93.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 46
+# successes: 43 (93.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 47
+# successes: 44 (93.6%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 48
+# successes: 45 (93.8%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 49
+# successes: 46 (93.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 50
+# successes: 47 (94.0%)
+Current task success rate: 0.94
+Current total success rate: 0.94
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 51
+# successes: 48 (94.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 52
+# successes: 49 (94.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 53
+# successes: 50 (94.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 54
+# successes: 51 (94.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 55
+# successes: 52 (94.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 56
+# successes: 53 (94.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 57
+# successes: 54 (94.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 58
+# successes: 55 (94.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 59
+# successes: 56 (94.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 60
+# successes: 57 (95.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 61
+# successes: 58 (95.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 62
+# successes: 59 (95.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 63
+# successes: 60 (95.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 64
+# successes: 61 (95.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 65
+# successes: 62 (95.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 66
+# successes: 63 (95.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 67
+# successes: 64 (95.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 68
+# successes: 65 (95.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 69
+# successes: 66 (95.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 70
+# successes: 67 (95.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 71
+# successes: 68 (95.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 72
+# successes: 69 (95.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 73
+# successes: 70 (95.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 74
+# successes: 71 (95.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 75
+# successes: 72 (96.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: False
+# episodes completed so far: 76
+# successes: 72 (94.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 77
+# successes: 73 (94.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 78
+# successes: 74 (94.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 79
+# successes: 75 (94.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 80
+# successes: 76 (95.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 81
+# successes: 77 (95.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 82
+# successes: 78 (95.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 83
+# successes: 79 (95.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 84
+# successes: 80 (95.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 85
+# successes: 81 (95.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 86
+# successes: 82 (95.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 87
+# successes: 83 (95.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 88
+# successes: 84 (95.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 89
+# successes: 85 (95.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 90
+# successes: 86 (95.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 91
+# successes: 87 (95.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 92
+# successes: 88 (95.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 93
+# successes: 89 (95.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 94
+# successes: 90 (95.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 95
+# successes: 91 (95.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 96
+# successes: 92 (95.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 97
+# successes: 93 (95.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 98
+# successes: 94 (95.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 99
+# successes: 95 (96.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 100
+# successes: 96 (96.0%)
+Current task success rate: 0.98
+Current total success rate: 0.96
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 101
+# successes: 97 (96.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 102
+# successes: 98 (96.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 103
+# successes: 99 (96.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 104
+# successes: 100 (96.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 105
+# successes: 101 (96.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 106
+# successes: 102 (96.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 107
+# successes: 103 (96.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 108
+# successes: 104 (96.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 109
+# successes: 105 (96.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 110
+# successes: 106 (96.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 111
+# successes: 107 (96.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 112
+# successes: 108 (96.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 113
+# successes: 109 (96.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 114
+# successes: 110 (96.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 115
+# successes: 111 (96.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 116
+# successes: 112 (96.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 117
+# successes: 113 (96.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 118
+# successes: 114 (96.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 119
+# successes: 115 (96.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 120
+# successes: 116 (96.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 121
+# successes: 117 (96.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 122
+# successes: 118 (96.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 123
+# successes: 119 (96.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 124
+# successes: 120 (96.8%)
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+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 125
+# successes: 121 (96.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 126
+# successes: 122 (96.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 127
+# successes: 123 (96.9%)
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+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 128
+# successes: 124 (96.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 129
+# successes: 125 (96.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 130
+# successes: 126 (96.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 131
+# successes: 127 (96.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 132
+# successes: 128 (97.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 133
+# successes: 129 (97.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 134
+# successes: 130 (97.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 135
+# successes: 131 (97.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 136
+# successes: 132 (97.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 137
+# successes: 133 (97.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 138
+# successes: 134 (97.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 139
+# successes: 135 (97.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 140
+# successes: 136 (97.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 141
+# successes: 137 (97.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 142
+# successes: 138 (97.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 143
+# successes: 139 (97.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 144
+# successes: 140 (97.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 145
+# successes: 141 (97.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 146
+# successes: 142 (97.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 147
+# successes: 143 (97.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 148
+# successes: 144 (97.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 149
+# successes: 145 (97.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 150
+# successes: 146 (97.3%)
+Current task success rate: 1.0
+Current total success rate: 0.9733333333333334
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 151
+# successes: 147 (97.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 152
+# successes: 148 (97.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 153
+# successes: 149 (97.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 154
+# successes: 149 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 155
+# successes: 150 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 156
+# successes: 151 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 157
+# successes: 152 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 158
+# successes: 153 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 159
+# successes: 154 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 160
+# successes: 155 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 161
+# successes: 156 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 162
+# successes: 157 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 163
+# successes: 158 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 164
+# successes: 159 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 165
+# successes: 160 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 166
+# successes: 161 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 167
+# successes: 162 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 168
+# successes: 163 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 169
+# successes: 164 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 170
+# successes: 164 (96.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 171
+# successes: 165 (96.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 172
+# successes: 166 (96.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 173
+# successes: 167 (96.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 174
+# successes: 168 (96.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 175
+# successes: 169 (96.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 176
+# successes: 170 (96.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 177
+# successes: 171 (96.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 178
+# successes: 172 (96.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 179
+# successes: 173 (96.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 180
+# successes: 174 (96.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 181
+# successes: 175 (96.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 182
+# successes: 176 (96.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 183
+# successes: 177 (96.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 184
+# successes: 178 (96.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 185
+# successes: 178 (96.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 186
+# successes: 179 (96.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 187
+# successes: 180 (96.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 188
+# successes: 181 (96.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 189
+# successes: 181 (95.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 190
+# successes: 182 (95.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 191
+# successes: 183 (95.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 192
+# successes: 184 (95.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 193
+# successes: 185 (95.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 194
+# successes: 186 (95.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 195
+# successes: 187 (95.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 196
+# successes: 188 (95.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 197
+# successes: 189 (95.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 198
+# successes: 190 (96.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 199
+# successes: 191 (96.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 200
+# successes: 192 (96.0%)
+Current task success rate: 0.92
+Current total success rate: 0.96
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 201
+# successes: 193 (96.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 202
+# successes: 194 (96.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 203
+# successes: 195 (96.1%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 204
+# successes: 196 (96.1%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 205
+# successes: 197 (96.1%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: False
+# episodes completed so far: 206
+# successes: 197 (95.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 207
+# successes: 198 (95.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 208
+# successes: 199 (95.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 209
+# successes: 200 (95.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 210
+# successes: 201 (95.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 211
+# successes: 202 (95.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 212
+# successes: 203 (95.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 213
+# successes: 204 (95.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 205 (95.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 206 (95.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 216
+# successes: 207 (95.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 217
+# successes: 208 (95.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 209 (95.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 219
+# successes: 210 (95.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 211 (95.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: False
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+# successes: 211 (95.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 212 (95.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 223
+# successes: 213 (95.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 214 (95.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 215 (95.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 216 (95.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 217 (95.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 218 (95.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 219 (95.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 220 (95.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 231
+# successes: 221 (95.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 222 (95.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 223 (95.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 234
+# successes: 224 (95.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 235
+# successes: 225 (95.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 236
+# successes: 226 (95.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 237
+# successes: 227 (95.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: False
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+# successes: 227 (95.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 239
+# successes: 228 (95.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 240
+# successes: 229 (95.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 241
+# successes: 230 (95.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: False
+# episodes completed so far: 242
+# successes: 230 (95.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: False
+# episodes completed so far: 243
+# successes: 230 (94.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 244
+# successes: 231 (94.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 232 (94.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: False
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+# successes: 232 (94.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 233 (94.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 248
+# successes: 234 (94.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 249
+# successes: 235 (94.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 250
+# successes: 236 (94.4%)
+Current task success rate: 0.88
+Current total success rate: 0.944
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 251
+# successes: 237 (94.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 252
+# successes: 238 (94.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 253
+# successes: 239 (94.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 254
+# successes: 240 (94.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 255
+# successes: 241 (94.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 256
+# successes: 242 (94.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 257
+# successes: 243 (94.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 258
+# successes: 244 (94.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 259
+# successes: 245 (94.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 260
+# successes: 246 (94.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 261
+# successes: 247 (94.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 262
+# successes: 248 (94.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 263
+# successes: 249 (94.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 264
+# successes: 250 (94.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 251 (94.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 266
+# successes: 252 (94.7%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 267
+# successes: 253 (94.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 254 (94.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 255 (94.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 256 (94.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 257 (94.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 258 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 273
+# successes: 259 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 274
+# successes: 260 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 261 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 262 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 263 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 264 (95.0%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 265 (95.0%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 266 (95.0%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 267 (95.0%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 268 (95.0%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 283
+# successes: 269 (95.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 269 (94.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 285
+# successes: 270 (94.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 271 (94.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 272 (94.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 288
+# successes: 273 (94.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 289
+# successes: 274 (94.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 290
+# successes: 275 (94.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 291
+# successes: 276 (94.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 292
+# successes: 277 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 293
+# successes: 278 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 279 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 295
+# successes: 280 (94.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 296
+# successes: 281 (94.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 297
+# successes: 282 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 283 (95.0%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 299
+# successes: 284 (95.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 300
+# successes: 285 (95.0%)
+Current task success rate: 0.98
+Current total success rate: 0.95
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 301
+# successes: 286 (95.0%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 302
+# successes: 287 (95.0%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 303
+# successes: 288 (95.0%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 289 (95.1%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 305
+# successes: 290 (95.1%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 306
+# successes: 291 (95.1%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 292 (95.1%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 293 (95.1%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 294 (95.1%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 310
+# successes: 295 (95.2%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 296 (95.2%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 312
+# successes: 297 (95.2%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 297 (94.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 298 (94.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 299 (94.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 299 (94.6%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 299 (94.3%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 300 (94.3%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 302 (94.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 303 (94.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 304 (94.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 305 (94.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 312 (94.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 314 (94.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 315 (94.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 316 (94.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 317 (94.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 318 (94.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 319 (94.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 320 (94.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 339
+# successes: 321 (94.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 322 (94.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 323 (94.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 342
+# successes: 324 (94.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 343
+# successes: 325 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 344
+# successes: 326 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 345
+# successes: 327 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 346
+# successes: 328 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 347
+# successes: 329 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 348
+# successes: 330 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 349
+# successes: 331 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 350
+# successes: 332 (94.9%)
+Current task success rate: 0.94
+Current total success rate: 0.9485714285714286
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 351
+# successes: 333 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 352
+# successes: 334 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 353
+# successes: 335 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 354
+# successes: 336 (94.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 355
+# successes: 337 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 356
+# successes: 338 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 357
+# successes: 339 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 358
+# successes: 340 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 359
+# successes: 341 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 360
+# successes: 342 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 361
+# successes: 343 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 362
+# successes: 344 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 363
+# successes: 345 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 364
+# successes: 346 (95.1%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 365
+# successes: 347 (95.1%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 366
+# successes: 348 (95.1%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 367
+# successes: 349 (95.1%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: False
+# episodes completed so far: 368
+# successes: 349 (94.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 369
+# successes: 350 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 370
+# successes: 351 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 371
+# successes: 352 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 372
+# successes: 353 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 373
+# successes: 354 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 374
+# successes: 355 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 375
+# successes: 356 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 376
+# successes: 357 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 377
+# successes: 358 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 378
+# successes: 359 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 379
+# successes: 360 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 380
+# successes: 361 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 381
+# successes: 362 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: False
+# episodes completed so far: 382
+# successes: 362 (94.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 383
+# successes: 363 (94.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: False
+# episodes completed so far: 384
+# successes: 363 (94.5%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 385
+# successes: 364 (94.5%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 386
+# successes: 365 (94.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 387
+# successes: 366 (94.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 388
+# successes: 367 (94.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 389
+# successes: 368 (94.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 390
+# successes: 369 (94.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 391
+# successes: 370 (94.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 392
+# successes: 371 (94.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 393
+# successes: 372 (94.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 394
+# successes: 373 (94.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 395
+# successes: 374 (94.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 396
+# successes: 375 (94.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 397
+# successes: 376 (94.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 398
+# successes: 377 (94.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 399
+# successes: 378 (94.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 400
+# successes: 379 (94.8%)
+Current task success rate: 0.94
+Current total success rate: 0.9475
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 401
+# successes: 380 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 402
+# successes: 381 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 403
+# successes: 382 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 404
+# successes: 383 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 405
+# successes: 384 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 406
+# successes: 385 (94.8%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 407
+# successes: 385 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 408
+# successes: 386 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 409
+# successes: 387 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 410
+# successes: 388 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 411
+# successes: 389 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 412
+# successes: 390 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 413
+# successes: 391 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 414
+# successes: 392 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 415
+# successes: 393 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 416
+# successes: 394 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 417
+# successes: 395 (94.7%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 418
+# successes: 395 (94.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 419
+# successes: 396 (94.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 420
+# successes: 397 (94.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 421
+# successes: 398 (94.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 422
+# successes: 399 (94.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 423
+# successes: 400 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 424
+# successes: 401 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 425
+# successes: 402 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 426
+# successes: 403 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 427
+# successes: 404 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 428
+# successes: 405 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 429
+# successes: 406 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 430
+# successes: 407 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 431
+# successes: 408 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 432
+# successes: 409 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 433
+# successes: 410 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 434
+# successes: 411 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 435
+# successes: 412 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 436
+# successes: 413 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 437
+# successes: 414 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 438
+# successes: 415 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 439
+# successes: 416 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 440
+# successes: 417 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 441
+# successes: 418 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 442
+# successes: 419 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 443
+# successes: 420 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 444
+# successes: 421 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 445
+# successes: 422 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 446
+# successes: 423 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 447
+# successes: 424 (94.9%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 448
+# successes: 424 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 449
+# successes: 425 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 450
+# successes: 426 (94.7%)
+Current task success rate: 0.94
+Current total success rate: 0.9466666666666667
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 451
+# successes: 427 (94.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 452
+# successes: 428 (94.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 453
+# successes: 429 (94.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 454
+# successes: 430 (94.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 455
+# successes: 431 (94.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 456
+# successes: 432 (94.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 457
+# successes: 433 (94.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 458
+# successes: 434 (94.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 459
+# successes: 435 (94.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 460
+# successes: 436 (94.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 461
+# successes: 437 (94.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 462
+# successes: 438 (94.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 463
+# successes: 439 (94.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 464
+# successes: 440 (94.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 465
+# successes: 441 (94.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 466
+# successes: 442 (94.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 467
+# successes: 443 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 468
+# successes: 444 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 469
+# successes: 445 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 470
+# successes: 446 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 471
+# successes: 447 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 472
+# successes: 448 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 473
+# successes: 449 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 474
+# successes: 450 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 475
+# successes: 451 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 476
+# successes: 452 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 477
+# successes: 453 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 478
+# successes: 454 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 479
+# successes: 455 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 480
+# successes: 456 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 481
+# successes: 457 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 482
+# successes: 458 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 483
+# successes: 459 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 484
+# successes: 460 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 485
+# successes: 461 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 486
+# successes: 462 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 487
+# successes: 463 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 488
+# successes: 464 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 489
+# successes: 465 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 490
+# successes: 466 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 491
+# successes: 467 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 492
+# successes: 468 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 493
+# successes: 469 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 494
+# successes: 470 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: False
+# episodes completed so far: 495
+# successes: 470 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 496
+# successes: 471 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 497
+# successes: 472 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 498
+# successes: 473 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 499
+# successes: 474 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 500
+# successes: 475 (95.0%)
+Current task success rate: 0.98
+Current total success rate: 0.95

libero_goal_2B_mee1e-2_true/starvla_qwen_dual/config.json

@@ -0,0 +1,130 @@
+{
+  "run_id": "starvla_qwen_dual",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_5/libero_goal_2B_mee1e-2_true",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.01,
+  "enable_adaptive": true,
+  "framework": {
+    "name": "Qwen-Dual",
+    "qwenvl": {
+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
+    },
+    "dino": {
+      "dino_backbone": "dinov2_vits14"
+    },
+    "action_model": {
+      "action_model_type": "DiT-B",
+      "action_hidden_dim": 2,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 7,
+      "state_dim": 7,
+      "future_action_window_size": 7,
+      "action_horizon": 8,
+      "past_action_window_size": 0,
+      "repeated_diffusion_steps": 8,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 4,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
+        "cross_attention_dim": 2048,
+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    },
+    "reduce_in_full_precision": true
+  },
+  "datasets": {
+    "vlm_data": {
+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_goal",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 60000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
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+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_5/libero_goal_2B_mee1e-2_true/starvla_qwen_dual"
+}

libero_goal_2B_mee1e-2_true/starvla_qwen_dual/dataset_statistics.json

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libero_goal_2B_mee1e-2_true/starvla_qwen_dual/final_model/pytorch_model.pt

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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+# successes: 142 (97.9%)
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+Task: put the wine bottle on top of the cabinet
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+# successes: 143 (97.9%)
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+# successes: 146 (98.0%)
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+Task: put the wine bottle on top of the cabinet
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+# successes: 147 (98.0%)
+Current task success rate: 0.94
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+Task: open the top drawer and put the bowl inside
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+# successes: 148 (98.0%)
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+# successes: 183 (95.8%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 184 (95.8%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 184 (95.3%)
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+# successes: 186 (95.4%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 187 (95.4%)
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+# successes: 190 (95.0%)
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: push the plate to the front of the stove
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+# successes: 240 (95.6%)
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 297
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+Task: push the plate to the front of the stove
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+# successes: 285 (95.6%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 299
+# successes: 286 (95.7%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 300
+# successes: 287 (95.7%)
+Current task success rate: 0.96
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+
+Task: put the cream cheese in the bowl
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+# episodes completed so far: 301
+# successes: 288 (95.7%)
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+# successes: 308 (96.0%)
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+Task: put the cream cheese in the bowl
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+# successes: 309 (96.0%)
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the wine bottle on the rack
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+# successes: 468 (96.5%)
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+Task: put the wine bottle on the rack
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+# successes: 471 (96.5%)
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+Task: put the wine bottle on the rack
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+# successes: 472 (96.5%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 490
+# successes: 473 (96.5%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 491
+# successes: 474 (96.5%)
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+Task: put the wine bottle on the rack
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+# successes: 475 (96.5%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 493
+# successes: 476 (96.6%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 494
+# successes: 477 (96.6%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 495
+# successes: 478 (96.6%)
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+Task: put the wine bottle on the rack
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+# successes: 478 (96.4%)
+
+Task: put the wine bottle on the rack
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+# episodes completed so far: 497
+# successes: 479 (96.4%)
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+Task: put the wine bottle on the rack
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+# successes: 479 (96.2%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 499
+# successes: 480 (96.2%)
+
+Task: put the wine bottle on the rack
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+# episodes completed so far: 500
+# successes: 481 (96.2%)
+Current task success rate: 0.9
+Current total success rate: 0.962

libero_goal_2B_mee1e-2_true/starvla_qwen_dual/libero_goal.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.127375602722168, 'mee_loss': 1.6879889965057373, 'totoal_loss': 1.127375602722168, 'data_time': 0.014863298005366232, 'model_time': 0.7793586360057816, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.25})
+Step 200, Loss: {'mse_loss': 1.012296199798584, 'mee_loss': 2.637462615966797, 'totoal_loss': 1.012296199798584, 'data_time': 0.014921501002390869, 'model_time': 0.7899869100001524, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.49})
+Step 300, Loss: {'mse_loss': 0.7788044214248657, 'mee_loss': 2.8319180011749268, 'totoal_loss': 0.7788044214248657, 'data_time': 0.012575922002724838, 'model_time': 0.6948081309965346, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.74})
+Step 400, Loss: {'mse_loss': 0.5598592758178711, 'mee_loss': 2.5183982849121094, 'totoal_loss': 0.5598592758178711, 'data_time': 0.014575989000150003, 'model_time': 0.6685530869945069, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.99})
+Step 500, Loss: {'mse_loss': 0.4452914595603943, 'mee_loss': 2.4154272079467773, 'totoal_loss': 0.4452914595603943, 'data_time': 0.007776626000122633, 'model_time': 0.7090616380010033, 'learning_rate': 1.0000000000000002e-06, 'epoch': 1.23})
+Step 600, Loss: {'mse_loss': 0.3120066821575165, 'mee_loss': 2.1365647315979004, 'totoal_loss': 0.3120066821575165, 'data_time': 0.009659706003731117, 'model_time': 0.7424623929982772, 'learning_rate': 1.2000000000000002e-06, 'epoch': 1.48})
+Step 700, Loss: {'mse_loss': 0.2978624105453491, 'mee_loss': 1.709908366203308, 'totoal_loss': 0.2978624105453491, 'data_time': 0.008917058999941219, 'model_time': 0.7448429010037216, 'learning_rate': 1.4000000000000001e-06, 'epoch': 1.72})
+Step 800, Loss: {'mse_loss': 0.3007664680480957, 'mee_loss': 1.5372580289840698, 'totoal_loss': 0.3007664680480957, 'data_time': 0.011105536003015004, 'model_time': 0.8147787119960412, 'learning_rate': 1.6000000000000001e-06, 'epoch': 1.97})
+Step 900, Loss: {'mse_loss': 0.14191818237304688, 'mee_loss': 1.321003794670105, 'totoal_loss': 0.14191818237304688, 'data_time': 0.021349439994082786, 'model_time': 0.7385933819969068, 'learning_rate': 1.8000000000000001e-06, 'epoch': 2.22})
+Step 1000, Loss: {'mse_loss': 0.13006441295146942, 'mee_loss': 1.1042214632034302, 'totoal_loss': 0.13006441295146942, 'data_time': 0.02767461700568674, 'model_time': 0.7859492470015539, 'learning_rate': 2.0000000000000003e-06, 'epoch': 2.46})
+Step 1100, Loss: {'mse_loss': 0.1034177914261818, 'mee_loss': 1.0790190696716309, 'totoal_loss': 0.1034177914261818, 'data_time': 0.023739331001706887, 'model_time': 0.8024966750017484, 'learning_rate': 2.2e-06, 'epoch': 2.71})
+Step 1200, Loss: {'mse_loss': 0.16482964158058167, 'mee_loss': 1.112863540649414, 'totoal_loss': 0.16482964158058167, 'data_time': 0.013914574003138114, 'model_time': 0.6967021800010116, 'learning_rate': 2.4000000000000003e-06, 'epoch': 2.96})
+Step 1300, Loss: {'mse_loss': 0.15954764187335968, 'mee_loss': 1.146877646446228, 'totoal_loss': 0.15954764187335968, 'data_time': 0.0004730159998871386, 'model_time': 0.7715685039947857, 'learning_rate': 2.6e-06, 'epoch': 3.2})
+Step 1400, Loss: {'mse_loss': 0.15220363438129425, 'mee_loss': 1.1011683940887451, 'totoal_loss': 0.15220363438129425, 'data_time': 0.00047046800318639725, 'model_time': 0.8047946480000974, 'learning_rate': 2.8000000000000003e-06, 'epoch': 3.45})
+Step 1500, Loss: {'mse_loss': 0.18560904264450073, 'mee_loss': 1.0411992073059082, 'totoal_loss': 0.18560904264450073, 'data_time': 0.000536407002073247, 'model_time': 0.8214556120001362, 'learning_rate': 3e-06, 'epoch': 3.69})
+Step 1600, Loss: {'mse_loss': 0.13142196834087372, 'mee_loss': 1.055128812789917, 'totoal_loss': 0.13142196834087372, 'data_time': 0.0006668260029982775, 'model_time': 0.76906217099895, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.94})
+Step 1700, Loss: {'mse_loss': 0.14630737900733948, 'mee_loss': 1.0804858207702637, 'totoal_loss': 0.14630737900733948, 'data_time': 0.021701318000850733, 'model_time': 0.6928879879997112, 'learning_rate': 3.4000000000000005e-06, 'epoch': 4.19})
+Step 1800, Loss: {'mse_loss': 0.11103180050849915, 'mee_loss': 0.8483091592788696, 'totoal_loss': 0.11103180050849915, 'data_time': 0.02084757299599005, 'model_time': 0.7901801260013599, 'learning_rate': 3.6000000000000003e-06, 'epoch': 4.43})
+Step 1900, Loss: {'mse_loss': 0.12675312161445618, 'mee_loss': 1.000840187072754, 'totoal_loss': 0.12675312161445618, 'data_time': 0.019503641997289378, 'model_time': 0.72384493300342, 'learning_rate': 3.8000000000000005e-06, 'epoch': 4.68})
+Step 2000, Loss: {'mse_loss': 0.11110803484916687, 'mee_loss': 0.7934295535087585, 'totoal_loss': 0.11110803484916687, 'data_time': 0.02313467500061961, 'model_time': 0.7181118859953131, 'learning_rate': 4.000000000000001e-06, 'epoch': 4.93})
+Step 2100, Loss: {'mse_loss': 0.11130128055810928, 'mee_loss': 0.8805158138275146, 'totoal_loss': 0.11130128055810928, 'data_time': 0.00042407200089655817, 'model_time': 0.7412295469985111, 'learning_rate': 4.2000000000000004e-06, 'epoch': 5.17})
+Step 2200, Loss: {'mse_loss': 0.12208279967308044, 'mee_loss': 0.8456424474716187, 'totoal_loss': 0.12208279967308044, 'data_time': 0.0004318189967307262, 'model_time': 0.7153642209959798, 'learning_rate': 4.4e-06, 'epoch': 5.42})
+Step 2300, Loss: {'mse_loss': 0.11913877725601196, 'mee_loss': 0.833168089389801, 'totoal_loss': 0.11913877725601196, 'data_time': 0.0005346429970813915, 'model_time': 0.8234272810004768, 'learning_rate': 4.600000000000001e-06, 'epoch': 5.67})
+Step 2400, Loss: {'mse_loss': 0.11599090695381165, 'mee_loss': 0.8066859841346741, 'totoal_loss': 0.11599090695381165, 'data_time': 0.0005090100021334365, 'model_time': 0.7540057630030788, 'learning_rate': 4.800000000000001e-06, 'epoch': 5.91})
+Step 2500, Loss: {'mse_loss': 0.08271969854831696, 'mee_loss': 0.8024847507476807, 'totoal_loss': 0.08271969854831696, 'data_time': 0.008917742998164613, 'model_time': 0.748689560998173, 'learning_rate': 5e-06, 'epoch': 6.16})
+Step 2600, Loss: {'mse_loss': 0.12961512804031372, 'mee_loss': 0.7283624410629272, 'totoal_loss': 0.12961512804031372, 'data_time': 0.009524553999654017, 'model_time': 0.7109643509975285, 'learning_rate': 5.2e-06, 'epoch': 6.4})
+Step 2700, Loss: {'mse_loss': 0.08349955826997757, 'mee_loss': 0.6805717945098877, 'totoal_loss': 0.08349955826997757, 'data_time': 0.007265259999257978, 'model_time': 0.7681330150007852, 'learning_rate': 5.400000000000001e-06, 'epoch': 6.65})
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+Step 3000, Loss: {'mse_loss': 0.07798150926828384, 'mee_loss': 0.775975227355957, 'totoal_loss': 0.07798150926828384, 'data_time': 0.008107026005745865, 'model_time': 0.6947465689954697, 'learning_rate': 6e-06, 'epoch': 7.39})
+Step 3100, Loss: {'mse_loss': 0.05506126582622528, 'mee_loss': 0.6091949939727783, 'totoal_loss': 0.05506126582622528, 'data_time': 0.00840566300030332, 'model_time': 0.7368621339992387, 'learning_rate': 6.200000000000001e-06, 'epoch': 7.64})
+Step 3200, Loss: {'mse_loss': 0.07208028435707092, 'mee_loss': 0.628960132598877, 'totoal_loss': 0.07208028435707092, 'data_time': 0.007787980997818522, 'model_time': 0.7251976640036446, 'learning_rate': 6.4000000000000006e-06, 'epoch': 7.88})
+Step 3300, Loss: {'mse_loss': 0.05783965066075325, 'mee_loss': 0.5939707159996033, 'totoal_loss': 0.05783965066075325, 'data_time': 0.011021310994692612, 'model_time': 0.717278639000142, 'learning_rate': 6.600000000000001e-06, 'epoch': 8.13})
+Step 3400, Loss: {'mse_loss': 0.08653920143842697, 'mee_loss': 0.6109626293182373, 'totoal_loss': 0.08653920143842697, 'data_time': 0.010775057002319954, 'model_time': 0.7924805579968961, 'learning_rate': 6.800000000000001e-06, 'epoch': 8.37})
+Step 3500, Loss: {'mse_loss': 0.09139589220285416, 'mee_loss': 0.69985032081604, 'totoal_loss': 0.09139589220285416, 'data_time': 0.010063890003948472, 'model_time': 0.7502563430025475, 'learning_rate': 7e-06, 'epoch': 8.62})
+Step 3600, Loss: {'mse_loss': 0.07606175541877747, 'mee_loss': 0.7057042121887207, 'totoal_loss': 0.07606175541877747, 'data_time': 0.00856150300387526, 'model_time': 0.7473544730019057, 'learning_rate': 7.2000000000000005e-06, 'epoch': 8.87})
+Step 3700, Loss: {'mse_loss': 0.060417577624320984, 'mee_loss': 0.5881997346878052, 'totoal_loss': 0.060417577624320984, 'data_time': 0.009405450000485871, 'model_time': 0.7492820040060906, 'learning_rate': 7.4e-06, 'epoch': 9.11})
+Step 3800, Loss: {'mse_loss': 0.06094685196876526, 'mee_loss': 0.6055451035499573, 'totoal_loss': 0.06094685196876526, 'data_time': 0.007614654001372401, 'model_time': 0.971201522006595, 'learning_rate': 7.600000000000001e-06, 'epoch': 9.36})
+Step 3900, Loss: {'mse_loss': 0.06432458013296127, 'mee_loss': 0.6149408221244812, 'totoal_loss': 0.06432458013296127, 'data_time': 0.00826078200043412, 'model_time': 0.7608269990014378, 'learning_rate': 7.800000000000002e-06, 'epoch': 9.61})
+Step 4000, Loss: {'mse_loss': 0.04870216175913811, 'mee_loss': 0.5540392398834229, 'totoal_loss': 0.04870216175913811, 'data_time': 0.009474042999499943, 'model_time': 0.7230356189975282, 'learning_rate': 8.000000000000001e-06, 'epoch': 9.85})
+Step 4100, Loss: {'mse_loss': 0.07239243388175964, 'mee_loss': 0.6291530132293701, 'totoal_loss': 0.07239243388175964, 'data_time': 0.01322586400056025, 'model_time': 0.7412853440036997, 'learning_rate': 8.2e-06, 'epoch': 10.1})
+Step 4200, Loss: {'mse_loss': 0.044295623898506165, 'mee_loss': 0.5130268335342407, 'totoal_loss': 0.044295623898506165, 'data_time': 0.014533191002556123, 'model_time': 0.7408669100041152, 'learning_rate': 8.400000000000001e-06, 'epoch': 10.34})
+Step 4300, Loss: {'mse_loss': 0.06300894916057587, 'mee_loss': 0.6631385087966919, 'totoal_loss': 0.06300894916057587, 'data_time': 0.015189585996267851, 'model_time': 0.701653592994262, 'learning_rate': 8.6e-06, 'epoch': 10.59})
+Step 4400, Loss: {'mse_loss': 0.06120358407497406, 'mee_loss': 0.5589637160301208, 'totoal_loss': 0.06120358407497406, 'data_time': 0.013527087001421023, 'model_time': 0.7337586869980441, 'learning_rate': 8.8e-06, 'epoch': 10.84})
+Step 4500, Loss: {'mse_loss': 0.07406003773212433, 'mee_loss': 0.5157123804092407, 'totoal_loss': 0.07406003773212433, 'data_time': 0.0005026979997637682, 'model_time': 0.7069440230043256, 'learning_rate': 9e-06, 'epoch': 11.08})
+Step 4600, Loss: {'mse_loss': 0.049282632768154144, 'mee_loss': 0.5285416841506958, 'totoal_loss': 0.049282632768154144, 'data_time': 0.00036490899947239086, 'model_time': 0.719603741003084, 'learning_rate': 9.200000000000002e-06, 'epoch': 11.33})
+Step 4700, Loss: {'mse_loss': 0.04447321966290474, 'mee_loss': 0.5227689743041992, 'totoal_loss': 0.04447321966290474, 'data_time': 0.00032119300158228725, 'model_time': 0.7276520730010816, 'learning_rate': 9.4e-06, 'epoch': 11.58})
+Step 4800, Loss: {'mse_loss': 0.06772397458553314, 'mee_loss': 0.6009008884429932, 'totoal_loss': 0.06772397458553314, 'data_time': 0.0003444460016908124, 'model_time': 0.7089818609965732, 'learning_rate': 9.600000000000001e-06, 'epoch': 11.82})
+Step 4900, Loss: {'mse_loss': 0.04498235136270523, 'mee_loss': 0.5059592127799988, 'totoal_loss': 0.04498235136270523, 'data_time': 0.02161773800617084, 'model_time': 0.7117685379998875, 'learning_rate': 9.800000000000001e-06, 'epoch': 12.07})
+Step 5000, Loss: {'mse_loss': 0.07534507662057877, 'mee_loss': 0.5344693064689636, 'totoal_loss': 0.07534507662057877, 'data_time': 0.021670303998689633, 'model_time': 0.7051072379981633, 'learning_rate': 1e-05, 'epoch': 12.32})
+Step 5100, Loss: {'mse_loss': 0.05041877180337906, 'mee_loss': 0.494455486536026, 'totoal_loss': 0.05041877180337906, 'data_time': 0.024026200000662357, 'model_time': 0.7387847329955548, 'learning_rate': 9.999615090493604e-06, 'epoch': 12.56})
+Step 5200, Loss: {'mse_loss': 0.04009212926030159, 'mee_loss': 0.5542877912521362, 'totoal_loss': 0.04009212926030159, 'data_time': 0.021369796006183606, 'model_time': 0.7484237440003199, 'learning_rate': 9.998460422756089e-06, 'epoch': 12.81})
+Step 5300, Loss: {'mse_loss': 0.04505383223295212, 'mee_loss': 0.48854976892471313, 'totoal_loss': 0.04505383223295212, 'data_time': 0.0005299459953675978, 'model_time': 0.7196162239997648, 'learning_rate': 9.996536179122874e-06, 'epoch': 13.05})
+Step 5400, Loss: {'mse_loss': 0.042510226368904114, 'mee_loss': 0.4875084161758423, 'totoal_loss': 0.042510226368904114, 'data_time': 0.00035396799648879096, 'model_time': 0.7893185360007919, 'learning_rate': 9.993842663454337e-06, 'epoch': 13.3})
+Step 5500, Loss: {'mse_loss': 0.054289981722831726, 'mee_loss': 0.4781089425086975, 'totoal_loss': 0.054289981722831726, 'data_time': 0.0003851910005323589, 'model_time': 0.7371675690010306, 'learning_rate': 9.990380301087824e-06, 'epoch': 13.55})
+Step 5600, Loss: {'mse_loss': 0.05066313222050667, 'mee_loss': 0.4725191593170166, 'totoal_loss': 0.05066313222050667, 'data_time': 0.0004830149991903454, 'model_time': 0.7278645979968132, 'learning_rate': 9.986149638770493e-06, 'epoch': 13.79})
+Step 5700, Loss: {'mse_loss': 0.0542018860578537, 'mee_loss': 0.5076709389686584, 'totoal_loss': 0.0542018860578537, 'data_time': 0.020174879995465744, 'model_time': 0.7542836260035983, 'learning_rate': 9.981151344572967e-06, 'epoch': 14.04})
+Step 5800, Loss: {'mse_loss': 0.04566524177789688, 'mee_loss': 0.4778526723384857, 'totoal_loss': 0.04566524177789688, 'data_time': 0.023913265998999123, 'model_time': 0.7490855419964646, 'learning_rate': 9.975386207783839e-06, 'epoch': 14.29})
+Step 5900, Loss: {'mse_loss': 0.04054156690835953, 'mee_loss': 0.44550085067749023, 'totoal_loss': 0.04054156690835953, 'data_time': 0.022361358998750802, 'model_time': 0.7259256369943614, 'learning_rate': 9.968855138785041e-06, 'epoch': 14.53})
+Step 6000, Loss: {'mse_loss': 0.03993665426969528, 'mee_loss': 0.49841630458831787, 'totoal_loss': 0.03993665426969528, 'data_time': 0.01784946000407217, 'model_time': 0.82679539599485, 'learning_rate': 9.961559168908081e-06, 'epoch': 14.78})
+Step 6100, Loss: {'mse_loss': 0.044486578553915024, 'mee_loss': 0.5371711254119873, 'totoal_loss': 0.044486578553915024, 'data_time': 0.007097523994161747, 'model_time': 0.7584450150025077, 'learning_rate': 9.953499450271174e-06, 'epoch': 15.02})
+Step 6200, Loss: {'mse_loss': 0.052659932523965836, 'mee_loss': 0.47349464893341064, 'totoal_loss': 0.052659932523965836, 'data_time': 0.00674303800042253, 'model_time': 0.7237443880003411, 'learning_rate': 9.944677255597332e-06, 'epoch': 15.27})
+Step 6300, Loss: {'mse_loss': 0.04503476247191429, 'mee_loss': 0.44855672121047974, 'totoal_loss': 0.04503476247191429, 'data_time': 0.006647891001193784, 'model_time': 0.715354946005391, 'learning_rate': 9.935093978013357e-06, 'epoch': 15.52})
+Step 6400, Loss: {'mse_loss': 0.06502686440944672, 'mee_loss': 0.44601213932037354, 'totoal_loss': 0.06502686440944672, 'data_time': 0.009302556005422957, 'model_time': 0.7147037449976779, 'learning_rate': 9.924751130829878e-06, 'epoch': 15.76})
+Step 6500, Loss: {'mse_loss': 0.04995410889387131, 'mee_loss': 0.5868409872055054, 'totoal_loss': 0.04995410889387131, 'data_time': 0.016258520998235326, 'model_time': 0.7876974379978492, 'learning_rate': 9.91365034730236e-06, 'epoch': 16.01})
+Step 6600, Loss: {'mse_loss': 0.055704981088638306, 'mee_loss': 0.38815978169441223, 'totoal_loss': 0.055704981088638306, 'data_time': 0.013286941997648682, 'model_time': 0.6941974359942833, 'learning_rate': 9.901793380373204e-06, 'epoch': 16.26})
+Step 6700, Loss: {'mse_loss': 0.03305327892303467, 'mee_loss': 0.42839720845222473, 'totoal_loss': 0.03305327892303467, 'data_time': 0.020357339999463875, 'model_time': 0.7781908600009046, 'learning_rate': 9.889182102394944e-06, 'epoch': 16.5})
+Step 6800, Loss: {'mse_loss': 0.043597664684057236, 'mee_loss': 0.42026978731155396, 'totoal_loss': 0.043597664684057236, 'data_time': 0.01352335000410676, 'model_time': 0.716276373997971, 'learning_rate': 9.875818504834564e-06, 'epoch': 16.75})
+Step 6900, Loss: {'mse_loss': 0.047296132892370224, 'mee_loss': 0.3623563349246979, 'totoal_loss': 0.047296132892370224, 'data_time': 0.008011509002244566, 'model_time': 0.6844051029984257, 'learning_rate': 9.861704697959036e-06, 'epoch': 17.0})
+Step 7000, Loss: {'mse_loss': 0.03178156539797783, 'mee_loss': 0.40280652046203613, 'totoal_loss': 0.03178156539797783, 'data_time': 0.0005440480017568916, 'model_time': 0.7291984539988334, 'learning_rate': 9.846842910502077e-06, 'epoch': 17.24})
+Step 7100, Loss: {'mse_loss': 0.03888745605945587, 'mee_loss': 0.38790780305862427, 'totoal_loss': 0.03888745605945587, 'data_time': 0.0003542140038916841, 'model_time': 0.7191997469999478, 'learning_rate': 9.831235489312212e-06, 'epoch': 17.49})
+Step 7200, Loss: {'mse_loss': 0.0406523197889328, 'mee_loss': 0.3942265510559082, 'totoal_loss': 0.0406523197889328, 'data_time': 0.0003192869990016334, 'model_time': 0.7087747799960198, 'learning_rate': 9.814884898982168e-06, 'epoch': 17.73})
+Step 7300, Loss: {'mse_loss': 0.04369615018367767, 'mee_loss': 0.44944334030151367, 'totoal_loss': 0.04369615018367767, 'data_time': 0.0003397050022613257, 'model_time': 0.6905633450005553, 'learning_rate': 9.797793721459709e-06, 'epoch': 17.98})
+Step 7400, Loss: {'mse_loss': 0.02943444810807705, 'mee_loss': 0.3833349049091339, 'totoal_loss': 0.02943444810807705, 'data_time': 0.008376778001547791, 'model_time': 0.8274441059984383, 'learning_rate': 9.779964655639886e-06, 'epoch': 18.23})
+Step 7500, Loss: {'mse_loss': 0.04429703578352928, 'mee_loss': 0.4460306763648987, 'totoal_loss': 0.04429703578352928, 'data_time': 0.007029990003502462, 'model_time': 0.7532500680026715, 'learning_rate': 9.761400516938874e-06, 'epoch': 18.47})
+Step 7600, Loss: {'mse_loss': 0.03591597080230713, 'mee_loss': 0.4182601571083069, 'totoal_loss': 0.03591597080230713, 'data_time': 0.0004300420041545294, 'model_time': 0.7386270149945631, 'learning_rate': 9.74210423684938e-06, 'epoch': 18.72})
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+Step 12400, Loss: {'mse_loss': 0.024538420140743256, 'mee_loss': 0.2920565903186798, 'totoal_loss': 0.02745898626744747, 'data_time': 0.007163706999563146, 'model_time': 0.7352717009998742, 'learning_rate': 8.039786792405404e-06, 'epoch': 30.54})
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+Step 12600, Loss: {'mse_loss': 0.02315349318087101, 'mee_loss': 0.25570446252822876, 'totoal_loss': 0.025710538029670715, 'data_time': 0.00033256800088565797, 'model_time': 0.8131223219970707, 'learning_rate': 7.940666929183554e-06, 'epoch': 31.03})
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+Step 12800, Loss: {'mse_loss': 0.02709578350186348, 'mee_loss': 0.33061859011650085, 'totoal_loss': 0.030401969328522682, 'data_time': 0.00048046500160126016, 'model_time': 0.7388183840012061, 'learning_rate': 7.839768630379917e-06, 'epoch': 31.53})
+Step 12900, Loss: {'mse_loss': 0.023154234513640404, 'mee_loss': 0.2638540267944336, 'totoal_loss': 0.025792773813009262, 'data_time': 0.0005554259987547994, 'model_time': 0.8195427469981951, 'learning_rate': 7.788672440329562e-06, 'epoch': 31.77})
+Step 13000, Loss: {'mse_loss': 0.042815543711185455, 'mee_loss': 0.30543285608291626, 'totoal_loss': 0.045869871973991394, 'data_time': 0.006975087002501823, 'model_time': 0.7244677850030712, 'learning_rate': 7.737155625522608e-06, 'epoch': 32.02})
+Step 13100, Loss: {'mse_loss': 0.044092100113630295, 'mee_loss': 0.277843713760376, 'totoal_loss': 0.04687053710222244, 'data_time': 0.006513395994261373, 'model_time': 0.7603021539980546, 'learning_rate': 7.685226321061318e-06, 'epoch': 32.27})
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+Step 13300, Loss: {'mse_loss': 0.035355761647224426, 'mee_loss': 0.25054773688316345, 'totoal_loss': 0.03786123916506767, 'data_time': 0.0074987569969380274, 'model_time': 0.7012745169995469, 'learning_rate': 7.580163107974335e-06, 'epoch': 32.76})
+Step 13400, Loss: {'mse_loss': 0.024216217920184135, 'mee_loss': 0.27517804503440857, 'totoal_loss': 0.02696799859404564, 'data_time': 0.0005263339990051463, 'model_time': 0.8252912559983088, 'learning_rate': 7.527045790047922e-06, 'epoch': 33.0})
+Step 13500, Loss: {'mse_loss': 0.03047197312116623, 'mee_loss': 0.23178650438785553, 'totoal_loss': 0.03278983756899834, 'data_time': 0.00033228599932044744, 'model_time': 0.7346153559992672, 'learning_rate': 7.473549161245862e-06, 'epoch': 33.25})
+Step 13600, Loss: {'mse_loss': 0.019449422135949135, 'mee_loss': 0.28481119871139526, 'totoal_loss': 0.022297535091638565, 'data_time': 0.0004664859952754341, 'model_time': 0.7147946499972022, 'learning_rate': 7.419681669305998e-06, 'epoch': 33.5})
+Step 13700, Loss: {'mse_loss': 0.02662138268351555, 'mee_loss': 0.25742673873901367, 'totoal_loss': 0.029195649549365044, 'data_time': 0.00032825000380398706, 'model_time': 0.7404690830007894, 'learning_rate': 7.365451820529756e-06, 'epoch': 33.74})
+Step 13800, Loss: {'mse_loss': 0.024114424362778664, 'mee_loss': 0.2190496325492859, 'totoal_loss': 0.02630492113530636, 'data_time': 0.00025359299615956843, 'model_time': 0.867644042999018, 'learning_rate': 7.310868178438909e-06, 'epoch': 33.99})
+Step 13900, Loss: {'mse_loss': 0.021135898306965828, 'mee_loss': 0.2545645534992218, 'totoal_loss': 0.02368154376745224, 'data_time': 0.006777622998924926, 'model_time': 0.7801009510003496, 'learning_rate': 7.2559393624232985e-06, 'epoch': 34.24})
+Step 14000, Loss: {'mse_loss': 0.01887769065797329, 'mee_loss': 0.2424883097410202, 'totoal_loss': 0.02130257338285446, 'data_time': 0.008644463996461127, 'model_time': 0.7277237079979386, 'learning_rate': 7.2006740463797296e-06, 'epoch': 34.48})
+Step 14100, Loss: {'mse_loss': 0.028653975576162338, 'mee_loss': 0.2735046446323395, 'totoal_loss': 0.031389020383358, 'data_time': 0.007043453995720483, 'model_time': 0.9746394399990095, 'learning_rate': 7.145080957342262e-06, 'epoch': 34.73})
+Step 14200, Loss: {'mse_loss': 0.019670069217681885, 'mee_loss': 0.24482601881027222, 'totoal_loss': 0.022118330001831055, 'data_time': 0.007503544002247509, 'model_time': 0.7289242789993295, 'learning_rate': 7.0891688741041065e-06, 'epoch': 34.98})
+Step 14300, Loss: {'mse_loss': 0.014173583127558231, 'mee_loss': 0.22814710438251495, 'totoal_loss': 0.01645505428314209, 'data_time': 0.0005514570002560504, 'model_time': 0.7407284930013702, 'learning_rate': 7.032946625831363e-06, 'epoch': 35.22})
+Step 14400, Loss: {'mse_loss': 0.010972700081765652, 'mee_loss': 0.21574179828166962, 'totoal_loss': 0.013130118139088154, 'data_time': 0.0003868670028168708, 'model_time': 0.74349537800299, 'learning_rate': 6.976423090668781e-06, 'epoch': 35.47})
+Step 14500, Loss: {'mse_loss': 0.03006027825176716, 'mee_loss': 0.2700873613357544, 'totoal_loss': 0.03276115283370018, 'data_time': 0.0003789410038734786, 'model_time': 0.7082463129991083, 'learning_rate': 6.919607194337806e-06, 'epoch': 35.71})
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+Step 17700, Loss: {'mse_loss': 0.027363672852516174, 'mee_loss': 0.20334233343601227, 'totoal_loss': 0.02939709648489952, 'data_time': 0.0004789449958479963, 'model_time': 0.7237907739981893, 'learning_rate': 5.002490784713731e-06, 'epoch': 43.6})
+Step 17800, Loss: {'mse_loss': 0.01818258874118328, 'mee_loss': 0.2080366164445877, 'totoal_loss': 0.020262954756617546, 'data_time': 0.00033973800600506365, 'model_time': 0.7471217720012646, 'learning_rate': 4.9412603594840695e-06, 'epoch': 43.84})
+Step 17900, Loss: {'mse_loss': 0.018200678750872612, 'mee_loss': 0.214484304189682, 'totoal_loss': 0.020345522090792656, 'data_time': 0.015645772000425495, 'model_time': 0.7185717729953467, 'learning_rate': 4.8800589488736245e-06, 'epoch': 44.09})
+Step 18000, Loss: {'mse_loss': 0.03306465595960617, 'mee_loss': 0.23502954840660095, 'totoal_loss': 0.03541495278477669, 'data_time': 0.012036997999530286, 'model_time': 0.7558260829973733, 'learning_rate': 4.818896217294598e-06, 'epoch': 44.33})
+Step 18100, Loss: {'mse_loss': 0.019450142979621887, 'mee_loss': 0.1675330549478531, 'totoal_loss': 0.021125473082065582, 'data_time': 0.014522393001243472, 'model_time': 0.7435697140026605, 'learning_rate': 4.757781823051329e-06, 'epoch': 44.58})
+Step 18200, Loss: {'mse_loss': 0.019292879849672318, 'mee_loss': 0.1908554881811142, 'totoal_loss': 0.02120143547654152, 'data_time': 0.015569471994240303, 'model_time': 0.7069556599963107, 'learning_rate': 4.696725416815128e-06, 'epoch': 44.83})
+Step 18300, Loss: {'mse_loss': 0.007720479276031256, 'mee_loss': 0.1580696851015091, 'totoal_loss': 0.00930117629468441, 'data_time': 0.013473954000801314, 'model_time': 0.6988564580024104, 'learning_rate': 4.635736640100327e-06, 'epoch': 45.07})
+Step 18400, Loss: {'mse_loss': 0.023216353729367256, 'mee_loss': 0.18172551691532135, 'totoal_loss': 0.025033608078956604, 'data_time': 0.0135617909982102, 'model_time': 0.7958625510000275, 'learning_rate': 4.574825123741778e-06, 'epoch': 45.32})
+Step 18500, Loss: {'mse_loss': 0.013150403276085854, 'mee_loss': 0.20115593075752258, 'totoal_loss': 0.015161962248384953, 'data_time': 0.007153395003115293, 'model_time': 0.7060328360021231, 'learning_rate': 4.5140004863740165e-06, 'epoch': 45.57})
+Step 18600, Loss: {'mse_loss': 0.01405139546841383, 'mee_loss': 0.19694052636623383, 'totoal_loss': 0.016020800918340683, 'data_time': 0.009609572000044864, 'model_time': 0.7074739889940247, 'learning_rate': 4.45327233291239e-06, 'epoch': 45.81})
+Step 18700, Loss: {'mse_loss': 0.016725540161132812, 'mee_loss': 0.18306994438171387, 'totoal_loss': 0.01855623908340931, 'data_time': 0.014513274996716063, 'model_time': 0.8062081710013445, 'learning_rate': 4.39265025303631e-06, 'epoch': 46.06})
+Step 18800, Loss: {'mse_loss': 0.018627189099788666, 'mee_loss': 0.1925322413444519, 'totoal_loss': 0.020552512258291245, 'data_time': 0.01458357900264673, 'model_time': 0.7016200180005399, 'learning_rate': 4.332143819674943e-06, 'epoch': 46.31})
+Step 18900, Loss: {'mse_loss': 0.010272917337715626, 'mee_loss': 0.18338365852832794, 'totoal_loss': 0.012106753885746002, 'data_time': 0.01435359800234437, 'model_time': 0.7209645149996504, 'learning_rate': 4.271762587495529e-06, 'epoch': 46.55})
+Step 19000, Loss: {'mse_loss': 0.01359686627984047, 'mee_loss': 0.18852797150611877, 'totoal_loss': 0.015482146292924881, 'data_time': 0.008279130997834727, 'model_time': 0.7321523479986354, 'learning_rate': 4.2115160913945914e-06, 'epoch': 46.8})
+Step 19100, Loss: {'mse_loss': 0.01983676664531231, 'mee_loss': 0.18511620163917542, 'totoal_loss': 0.021687928587198257, 'data_time': 0.00040398600685875863, 'model_time': 0.7261665100013488, 'learning_rate': 4.151413844992267e-06, 'epoch': 47.04})
+Step 19200, Loss: {'mse_loss': 0.012090050615370274, 'mee_loss': 0.1793152391910553, 'totoal_loss': 0.013883203268051147, 'data_time': 0.00032199300039792433, 'model_time': 0.7984461699961685, 'learning_rate': 4.091465339129985e-06, 'epoch': 47.29})
+Step 19300, Loss: {'mse_loss': 0.012721610255539417, 'mee_loss': 0.1893499344587326, 'totoal_loss': 0.01461510919034481, 'data_time': 0.0003157149985781871, 'model_time': 0.7392759140057024, 'learning_rate': 4.031680040371768e-06, 'epoch': 47.54})
+Step 19400, Loss: {'mse_loss': 0.009711301885545254, 'mee_loss': 0.18730191886425018, 'totoal_loss': 0.011584321036934853, 'data_time': 0.00038059899816289544, 'model_time': 0.7809447199979331, 'learning_rate': 3.972067389509344e-06, 'epoch': 47.78})
+Step 19500, Loss: {'mse_loss': 0.014238924719393253, 'mee_loss': 0.16451434791088104, 'totoal_loss': 0.015884067863225937, 'data_time': 0.00656230599997798, 'model_time': 0.7590255679970142, 'learning_rate': 3.912636800071335e-06, 'epoch': 48.03})
+Step 19600, Loss: {'mse_loss': 0.019871095195412636, 'mee_loss': 0.226799875497818, 'totoal_loss': 0.02213909476995468, 'data_time': 0.006569930999830831, 'model_time': 0.7346036480012117, 'learning_rate': 3.853397656836754e-06, 'epoch': 48.28})
+Step 19700, Loss: {'mse_loss': 0.012088706716895103, 'mee_loss': 0.18580111861228943, 'totoal_loss': 0.013946717604994774, 'data_time': 0.007191247001173906, 'model_time': 0.7045310110042919, 'learning_rate': 3.7943593143530404e-06, 'epoch': 48.52})
+Step 19800, Loss: {'mse_loss': 0.015162695199251175, 'mee_loss': 0.19813981652259827, 'totoal_loss': 0.01714409328997135, 'data_time': 0.006990882997342851, 'model_time': 0.7117389100021683, 'learning_rate': 3.735531095458867e-06, 'epoch': 48.77})
+Step 19900, Loss: {'mse_loss': 0.018618268892169, 'mee_loss': 0.20012971758842468, 'totoal_loss': 0.02061956562101841, 'data_time': 0.006909841999004129, 'model_time': 0.7319330559985247, 'learning_rate': 3.6769222898119562e-06, 'epoch': 49.01})
+Step 20000, Loss: {'mse_loss': 0.01457140687853098, 'mee_loss': 0.1590612232685089, 'totoal_loss': 0.016162019222974777, 'data_time': 0.0068674009962705895, 'model_time': 0.7243082169952686, 'learning_rate': 3.618542152422132e-06, 'epoch': 49.26})
+Step 20100, Loss: {'mse_loss': 0.0194642823189497, 'mee_loss': 0.197263702750206, 'totoal_loss': 0.021436918526887894, 'data_time': 0.006238194000616204, 'model_time': 0.8145038700022269, 'learning_rate': 3.560399902189855e-06, 'epoch': 49.51})
+Step 20200, Loss: {'mse_loss': 0.013368683867156506, 'mee_loss': 0.1652219444513321, 'totoal_loss': 0.015020903199911118, 'data_time': 0.006461654003942385, 'model_time': 0.7267211469952599, 'learning_rate': 3.502504720450441e-06, 'epoch': 49.75})
+Step 20300, Loss: {'mse_loss': 0.007526874542236328, 'mee_loss': 0.13561072945594788, 'totoal_loss': 0.008882981725037098, 'data_time': 0.7638828880008077, 'model_time': 0.8079445419934927, 'learning_rate': 3.4448657495242304e-06, 'epoch': 50.0})
+Step 20400, Loss: {'mse_loss': 0.028982141986489296, 'mee_loss': 0.1630239188671112, 'totoal_loss': 0.030612381175160408, 'data_time': 0.012894822997623123, 'model_time': 0.743996536002669, 'learning_rate': 3.387492091272904e-06, 'epoch': 50.25})
+Step 20500, Loss: {'mse_loss': 0.009678914211690426, 'mee_loss': 0.16449284553527832, 'totoal_loss': 0.011323843151330948, 'data_time': 0.016309783997712657, 'model_time': 0.8068998489980004, 'learning_rate': 3.3303928056621955e-06, 'epoch': 50.49})
+Step 20600, Loss: {'mse_loss': 0.010711674578487873, 'mee_loss': 0.16971085965633392, 'totoal_loss': 0.012408783659338951, 'data_time': 0.013844316999893636, 'model_time': 0.6931435090009472, 'learning_rate': 3.2735769093312202e-06, 'epoch': 50.74})
+Step 20700, Loss: {'mse_loss': 0.021947188302874565, 'mee_loss': 0.14494501054286957, 'totoal_loss': 0.02339663915336132, 'data_time': 0.012610042998858262, 'model_time': 0.6598824859975139, 'learning_rate': 3.217053374168639e-06, 'epoch': 50.99})
+Step 20800, Loss: {'mse_loss': 0.006369686685502529, 'mee_loss': 0.14331446588039398, 'totoal_loss': 0.007802831474691629, 'data_time': 0.00033006199373630807, 'model_time': 0.7204520529994625, 'learning_rate': 3.1608311258958953e-06, 'epoch': 51.23})
+Step 20900, Loss: {'mse_loss': 0.018485311418771744, 'mee_loss': 0.18031829595565796, 'totoal_loss': 0.02028849348425865, 'data_time': 0.00035508400469552726, 'model_time': 0.725598604993138, 'learning_rate': 3.10491904265774e-06, 'epoch': 51.48})
+Step 21000, Loss: {'mse_loss': 0.009792398661375046, 'mee_loss': 0.16900263726711273, 'totoal_loss': 0.011482425034046173, 'data_time': 0.0003492980031296611, 'model_time': 0.7138274899989483, 'learning_rate': 3.0493259536202714e-06, 'epoch': 51.72})
+Step 21100, Loss: {'mse_loss': 0.023784231394529343, 'mee_loss': 0.16884349286556244, 'totoal_loss': 0.025472667068243027, 'data_time': 0.0003341369956615381, 'model_time': 0.7034323400002904, 'learning_rate': 2.9940606375767038e-06, 'epoch': 51.97})
+Step 21200, Loss: {'mse_loss': 0.012914522551000118, 'mee_loss': 0.17452962696552277, 'totoal_loss': 0.014659818261861801, 'data_time': 0.019852220997563563, 'model_time': 0.7230883529991843, 'learning_rate': 2.939131821561094e-06, 'epoch': 52.22})
+Step 21300, Loss: {'mse_loss': 0.020433418452739716, 'mee_loss': 0.14867331087589264, 'totoal_loss': 0.021920152008533478, 'data_time': 0.0137802209937945, 'model_time': 0.7017037479963619, 'learning_rate': 2.8845481794702473e-06, 'epoch': 52.46})
+Step 21400, Loss: {'mse_loss': 0.01930173859000206, 'mee_loss': 0.1545286774635315, 'totoal_loss': 0.020847026258707047, 'data_time': 0.014017683002748527, 'model_time': 0.7327958789974218, 'learning_rate': 2.830318330694004e-06, 'epoch': 52.71})
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+Step 27900, Loss: {'mse_loss': 0.009127221070230007, 'mee_loss': 0.13276854157447815, 'totoal_loss': 0.010454906150698662, 'data_time': 0.007880650999140926, 'model_time': 0.7283463479980128, 'learning_rate': 4.1876451068778983e-07, 'epoch': 68.72})
+Step 28000, Loss: {'mse_loss': 0.017135318368673325, 'mee_loss': 0.14850369095802307, 'totoal_loss': 0.018620355054736137, 'data_time': 0.00941924299695529, 'model_time': 0.789436316001229, 'learning_rate': 4.031570894979235e-07, 'epoch': 68.97})
+Step 28100, Loss: {'mse_loss': 0.008877349086105824, 'mee_loss': 0.1564749926328659, 'totoal_loss': 0.01044209860265255, 'data_time': 0.00875829899450764, 'model_time': 0.7346105809992878, 'learning_rate': 3.882953020409644e-07, 'epoch': 69.21})
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+Step 28300, Loss: {'mse_loss': 0.01471161562949419, 'mee_loss': 0.10099563002586365, 'totoal_loss': 0.015721572563052177, 'data_time': 0.008366576999833342, 'model_time': 0.7249126440001419, 'learning_rate': 3.608178976050568e-07, 'epoch': 69.7})
+Step 28400, Loss: {'mse_loss': 0.013364571146667004, 'mee_loss': 0.16606563329696655, 'totoal_loss': 0.015025227330625057, 'data_time': 0.007966659002704546, 'model_time': 0.7303509650009801, 'learning_rate': 3.482066196267966e-07, 'epoch': 69.95})
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+Step 29900, Loss: {'mse_loss': 0.008587684482336044, 'mee_loss': 0.12646178901195526, 'totoal_loss': 0.009852302260696888, 'data_time': 0.0003368940015207045, 'model_time': 0.7697544769980595, 'learning_rate': 2.5038490950639644e-07, 'epoch': 73.65})
+Step 30000, Loss: {'mse_loss': 0.01091711688786745, 'mee_loss': 0.15138524770736694, 'totoal_loss': 0.012430969625711441, 'data_time': 0.00031027200020616874, 'model_time': 0.7399709599994821, 'learning_rate': 2.5e-07, 'epoch': 73.89})

libero_object_2B_mee1e-2_true/starvla_qwen_dual/config.json

@@ -0,0 +1,130 @@
+{
+  "run_id": "starvla_qwen_dual",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_5/libero_object_2B_mee1e-2_true",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.01,
+  "enable_adaptive": true,
+  "framework": {
+    "name": "Qwen-Dual",
+    "qwenvl": {
+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
+    },
+    "dino": {
+      "dino_backbone": "dinov2_vits14"
+    },
+    "action_model": {
+      "action_model_type": "DiT-B",
+      "action_hidden_dim": 2,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 7,
+      "state_dim": 7,
+      "future_action_window_size": 7,
+      "action_horizon": 8,
+      "past_action_window_size": 0,
+      "repeated_diffusion_steps": 8,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 4,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
+        "cross_attention_dim": 2048,
+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    },
+    "reduce_in_full_precision": true
+  },
+  "datasets": {
+    "vlm_data": {
+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_object",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 60000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
+    },
+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
+    },
+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_5/libero_object_2B_mee1e-2_true/starvla_qwen_dual"
+}

libero_object_2B_mee1e-2_true/starvla_qwen_dual/dataset_statistics.json

@@ -0,0 +1,133 @@
+{
+  "franka": {
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+        true,
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+        false
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+    "state": {
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+    "num_transitions": 66605,
+    "num_trajectories": 454
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+}

libero_object_2B_mee1e-2_true/starvla_qwen_dual/final_model/pytorch_model.pt

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+oid sha256:02a3d3c7a426876e1eee04b49ff6d6cad5d6d3f7f02e47caca8d6f8e53fde651
+size 5233814193

libero_object_2B_mee1e-2_true/starvla_qwen_dual/libero_eval_libero_object.log

@@ -0,0 +1,2521 @@
+Task suite: libero_object
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
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+# successes: 19 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 21
+# successes: 21 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 22
+# successes: 22 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 23
+# successes: 23 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 24
+# successes: 24 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 25
+# successes: 25 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 26
+# successes: 26 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
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+# successes: 27 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
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+# successes: 28 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 29
+# successes: 29 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 30
+# successes: 30 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 31
+# successes: 31 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
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+# successes: 32 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 33
+# successes: 33 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 34
+# successes: 34 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 35
+# successes: 35 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 36
+# successes: 36 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 37
+# successes: 37 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 38
+# successes: 38 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 39
+# successes: 39 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 40
+# successes: 40 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 41
+# successes: 41 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 42
+# successes: 42 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 43
+# successes: 43 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 44
+# successes: 44 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 45
+# successes: 45 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 46
+# successes: 46 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 47
+# successes: 47 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 48
+# successes: 48 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 49
+# successes: 49 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 50
+# successes: 50 (100.0%)
+Current task success rate: 1.0
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+Task: pick up the ketchup and place it in the basket
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+# successes: 392 (99.5%)
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+Task: pick up the milk and place it in the basket
+Success: True
+# episodes completed so far: 395
+# successes: 393 (99.5%)
+
+Task: pick up the milk and place it in the basket
+Success: True
+# episodes completed so far: 396
+# successes: 394 (99.5%)
+
+Task: pick up the milk and place it in the basket
+Success: True
+# episodes completed so far: 397
+# successes: 395 (99.5%)
+
+Task: pick up the milk and place it in the basket
+Success: True
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+# successes: 396 (99.5%)
+
+Task: pick up the milk and place it in the basket
+Success: True
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+# successes: 397 (99.5%)
+
+Task: pick up the milk and place it in the basket
+Success: True
+# episodes completed so far: 400
+# successes: 398 (99.5%)
+Current task success rate: 1.0
+Current total success rate: 0.995
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 401
+# successes: 399 (99.5%)
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+Success: True
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+# successes: 400 (99.5%)
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+# successes: 401 (99.5%)
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+Success: True
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+Success: True
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+Success: True
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+Success: True
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+
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+Success: True
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+
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+Success: True
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+Success: True
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+Success: True
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+Success: True
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+Success: True
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+Success: True
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+Success: True
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+Success: True
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 436 (99.5%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 440
+# successes: 438 (99.5%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 441
+# successes: 439 (99.5%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 442
+# successes: 440 (99.5%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 443
+# successes: 441 (99.5%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 444
+# successes: 442 (99.5%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 445
+# successes: 443 (99.6%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 446
+# successes: 444 (99.6%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 447
+# successes: 445 (99.6%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 448
+# successes: 446 (99.6%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 449
+# successes: 447 (99.6%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 450
+# successes: 448 (99.6%)
+Current task success rate: 1.0
+Current total success rate: 0.9955555555555555
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 451
+# successes: 449 (99.6%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 452
+# successes: 450 (99.6%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+# successes: 451 (99.6%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+# successes: 452 (99.6%)
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 490
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+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 491
+# successes: 489 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 492
+# successes: 490 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 493
+# successes: 491 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 494
+# successes: 492 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 495
+# successes: 493 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 496
+# successes: 494 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 497
+# successes: 495 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 498
+# successes: 496 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 499
+# successes: 497 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 500
+# successes: 498 (99.6%)
+Current task success rate: 1.0
+Current total success rate: 0.996

libero_object_2B_mee1e-2_true/starvla_qwen_dual/libero_object.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.093760371208191, 'mee_loss': 1.726158857345581, 'totoal_loss': 1.093760371208191, 'data_time': 0.018421393004246056, 'model_time': 0.7054315080167726, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.19})
+Step 200, Loss: {'mse_loss': 1.024278163909912, 'mee_loss': 2.7554211616516113, 'totoal_loss': 1.024278163909912, 'data_time': 0.014755070907995105, 'model_time': 0.7447845459682867, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.38})
+Step 300, Loss: {'mse_loss': 0.7554157376289368, 'mee_loss': 2.5488181114196777, 'totoal_loss': 0.7554157376289368, 'data_time': 0.015102244913578033, 'model_time': 0.7219552479218692, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.58})
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+Step 500, Loss: {'mse_loss': 0.4187926650047302, 'mee_loss': 2.354696035385132, 'totoal_loss': 0.4187926650047302, 'data_time': 0.01683089800644666, 'model_time': 0.7062193190213293, 'learning_rate': 1.0000000000000002e-06, 'epoch': 0.96})
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+Step 1500, Loss: {'mse_loss': 0.10806300491094589, 'mee_loss': 0.8371851444244385, 'totoal_loss': 0.10806300491094589, 'data_time': 0.014457533950917423, 'model_time': 0.9349470200249925, 'learning_rate': 3e-06, 'epoch': 2.88})
+Step 1600, Loss: {'mse_loss': 0.11717793345451355, 'mee_loss': 0.9547442197799683, 'totoal_loss': 0.11717793345451355, 'data_time': 0.015660575008951128, 'model_time': 0.7218365829903632, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.07})
+Step 1700, Loss: {'mse_loss': 0.10103776305913925, 'mee_loss': 0.8648766875267029, 'totoal_loss': 0.10103776305913925, 'data_time': 0.013775311992503703, 'model_time': 0.7337801089743152, 'learning_rate': 3.4000000000000005e-06, 'epoch': 3.26})
+Step 1800, Loss: {'mse_loss': 0.08323685079813004, 'mee_loss': 0.8537952899932861, 'totoal_loss': 0.08323685079813004, 'data_time': 0.014473791001364589, 'model_time': 0.7259435909800231, 'learning_rate': 3.6000000000000003e-06, 'epoch': 3.45})
+Step 1900, Loss: {'mse_loss': 0.10789944231510162, 'mee_loss': 0.7760022282600403, 'totoal_loss': 0.10789944231510162, 'data_time': 0.014588317018933594, 'model_time': 0.730759336031042, 'learning_rate': 3.8000000000000005e-06, 'epoch': 3.65})
+Step 2000, Loss: {'mse_loss': 0.0805555135011673, 'mee_loss': 0.716732919216156, 'totoal_loss': 0.0805555135011673, 'data_time': 0.01601642498280853, 'model_time': 0.6956067960709333, 'learning_rate': 4.000000000000001e-06, 'epoch': 3.84})
+Step 2100, Loss: {'mse_loss': 0.08155688643455505, 'mee_loss': 0.8145268559455872, 'totoal_loss': 0.08155688643455505, 'data_time': 0.01718161499593407, 'model_time': 0.7223402129020542, 'learning_rate': 4.2000000000000004e-06, 'epoch': 4.03})
+Step 2200, Loss: {'mse_loss': 0.12229955941438675, 'mee_loss': 0.7049651145935059, 'totoal_loss': 0.12229955941438675, 'data_time': 0.01634792611002922, 'model_time': 0.7156975190155208, 'learning_rate': 4.4e-06, 'epoch': 4.22})
+Step 2300, Loss: {'mse_loss': 0.11167475581169128, 'mee_loss': 0.7329666614532471, 'totoal_loss': 0.11167475581169128, 'data_time': 0.016489952919073403, 'model_time': 0.7561206259997562, 'learning_rate': 4.600000000000001e-06, 'epoch': 4.41})
+Step 2400, Loss: {'mse_loss': 0.08448059856891632, 'mee_loss': 0.7328616380691528, 'totoal_loss': 0.08448059856891632, 'data_time': 0.016150314011611044, 'model_time': 0.7190462179714814, 'learning_rate': 4.800000000000001e-06, 'epoch': 4.61})
+Step 2500, Loss: {'mse_loss': 0.09672801941633224, 'mee_loss': 0.6685636043548584, 'totoal_loss': 0.09672801941633224, 'data_time': 0.01694735896307975, 'model_time': 0.7149682899471372, 'learning_rate': 5e-06, 'epoch': 4.8})
+Step 2600, Loss: {'mse_loss': 0.08213745802640915, 'mee_loss': 0.6668255925178528, 'totoal_loss': 0.08213745802640915, 'data_time': 0.014585530967451632, 'model_time': 0.6871976589318365, 'learning_rate': 5.2e-06, 'epoch': 4.99})
+Step 2700, Loss: {'mse_loss': 0.0697300061583519, 'mee_loss': 0.6973782777786255, 'totoal_loss': 0.0697300061583519, 'data_time': 0.010091139003634453, 'model_time': 0.7546146619133651, 'learning_rate': 5.400000000000001e-06, 'epoch': 5.18})
+Step 2800, Loss: {'mse_loss': 0.08001315593719482, 'mee_loss': 0.65965336561203, 'totoal_loss': 0.08001315593719482, 'data_time': 0.008779485942795873, 'model_time': 0.7954500030027702, 'learning_rate': 5.600000000000001e-06, 'epoch': 5.37})
+Step 2900, Loss: {'mse_loss': 0.05508968606591225, 'mee_loss': 0.6509745717048645, 'totoal_loss': 0.05508968606591225, 'data_time': 0.010062576970085502, 'model_time': 0.7283146000700071, 'learning_rate': 5.8e-06, 'epoch': 5.57})
+Step 3000, Loss: {'mse_loss': 0.07174184173345566, 'mee_loss': 0.8346554040908813, 'totoal_loss': 0.07174184173345566, 'data_time': 0.01008261798415333, 'model_time': 0.7181100799934939, 'learning_rate': 6e-06, 'epoch': 5.76})
+Step 3100, Loss: {'mse_loss': 0.0829368531703949, 'mee_loss': 0.6610814332962036, 'totoal_loss': 0.0829368531703949, 'data_time': 0.010130476905032992, 'model_time': 0.7330716130090877, 'learning_rate': 6.200000000000001e-06, 'epoch': 5.95})
+Step 3200, Loss: {'mse_loss': 0.05396850034594536, 'mee_loss': 0.6585735082626343, 'totoal_loss': 0.05396850034594536, 'data_time': 0.0004473460139706731, 'model_time': 1.0010320950532332, 'learning_rate': 6.4000000000000006e-06, 'epoch': 6.14})
+Step 3300, Loss: {'mse_loss': 0.05011329427361488, 'mee_loss': 0.5946417450904846, 'totoal_loss': 0.05011329427361488, 'data_time': 0.00037987902760505676, 'model_time': 0.749011363950558, 'learning_rate': 6.600000000000001e-06, 'epoch': 6.33})
+Step 3400, Loss: {'mse_loss': 0.08955928683280945, 'mee_loss': 0.6383975744247437, 'totoal_loss': 0.08955928683280945, 'data_time': 0.0003937829751521349, 'model_time': 0.7572751849656925, 'learning_rate': 6.800000000000001e-06, 'epoch': 6.53})
+Step 3500, Loss: {'mse_loss': 0.07283033430576324, 'mee_loss': 0.6323504447937012, 'totoal_loss': 0.07283033430576324, 'data_time': 0.0003864739555865526, 'model_time': 0.7374579739989713, 'learning_rate': 7e-06, 'epoch': 6.72})
+Step 3600, Loss: {'mse_loss': 0.048370610922575, 'mee_loss': 0.5522890090942383, 'totoal_loss': 0.048370610922575, 'data_time': 0.000376315088942647, 'model_time': 0.7148958729812875, 'learning_rate': 7.2000000000000005e-06, 'epoch': 6.91})
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+Step 3800, Loss: {'mse_loss': 0.05115048959851265, 'mee_loss': 0.6020423173904419, 'totoal_loss': 0.05115048959851265, 'data_time': 0.00037770799826830626, 'model_time': 0.7195976859657094, 'learning_rate': 7.600000000000001e-06, 'epoch': 7.29})
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+Step 4400, Loss: {'mse_loss': 0.08323700726032257, 'mee_loss': 0.5200007557868958, 'totoal_loss': 0.08323700726032257, 'data_time': 0.018026018980890512, 'model_time': 0.7472121269674972, 'learning_rate': 8.8e-06, 'epoch': 8.45})
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+Step 4600, Loss: {'mse_loss': 0.04753708094358444, 'mee_loss': 0.5427608489990234, 'totoal_loss': 0.04753708094358444, 'data_time': 0.01017423695884645, 'model_time': 0.7522209431044757, 'learning_rate': 9.200000000000002e-06, 'epoch': 8.83})
+Step 4700, Loss: {'mse_loss': 0.07689198851585388, 'mee_loss': 0.5417091846466064, 'totoal_loss': 0.07689198851585388, 'data_time': 0.008435633964836597, 'model_time': 0.7700446989620104, 'learning_rate': 9.4e-06, 'epoch': 9.02})
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+Step 5100, Loss: {'mse_loss': 0.05453209578990936, 'mee_loss': 0.5014961957931519, 'totoal_loss': 0.05453209578990936, 'data_time': 0.010589073994196951, 'model_time': 0.7233888619812205, 'learning_rate': 9.999615090493604e-06, 'epoch': 9.79})
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+Step 5400, Loss: {'mse_loss': 0.05398473143577576, 'mee_loss': 0.5182983875274658, 'totoal_loss': 0.05398473143577576, 'data_time': 0.0004332819953560829, 'model_time': 0.7281767959939316, 'learning_rate': 9.993842663454337e-06, 'epoch': 10.36})
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+Step 5600, Loss: {'mse_loss': 0.04521378502249718, 'mee_loss': 0.5099735856056213, 'totoal_loss': 0.04521378502249718, 'data_time': 0.00033618800807744265, 'model_time': 0.8037753429962322, 'learning_rate': 9.986149638770493e-06, 'epoch': 10.75})
+Step 5700, Loss: {'mse_loss': 0.05999401956796646, 'mee_loss': 0.48951250314712524, 'totoal_loss': 0.05999401956796646, 'data_time': 0.0003586269449442625, 'model_time': 0.738040340016596, 'learning_rate': 9.981151344572967e-06, 'epoch': 10.94})
+Step 5800, Loss: {'mse_loss': 0.03739388659596443, 'mee_loss': 0.46019047498703003, 'totoal_loss': 0.03739388659596443, 'data_time': 0.00038245494943112135, 'model_time': 0.7606441420502961, 'learning_rate': 9.975386207783839e-06, 'epoch': 11.13})
+Step 5900, Loss: {'mse_loss': 0.026331208646297455, 'mee_loss': 0.43052494525909424, 'totoal_loss': 0.026331208646297455, 'data_time': 0.0008806430269032717, 'model_time': 0.7278641300508752, 'learning_rate': 9.968855138785041e-06, 'epoch': 11.32})
+Step 6000, Loss: {'mse_loss': 0.047956205904483795, 'mee_loss': 0.4568648636341095, 'totoal_loss': 0.047956205904483795, 'data_time': 0.00036308099515736103, 'model_time': 0.72385493805632, 'learning_rate': 9.961559168908081e-06, 'epoch': 11.52})
+Step 6100, Loss: {'mse_loss': 0.028434377163648605, 'mee_loss': 0.44815176725387573, 'totoal_loss': 0.028434377163648605, 'data_time': 0.00037261692341417074, 'model_time': 0.7894884330453351, 'learning_rate': 9.953499450271174e-06, 'epoch': 11.71})
+Step 6200, Loss: {'mse_loss': 0.06022774428129196, 'mee_loss': 0.5442318916320801, 'totoal_loss': 0.06022774428129196, 'data_time': 0.00036110798828303814, 'model_time': 0.7259427470853552, 'learning_rate': 9.944677255597332e-06, 'epoch': 11.9})
+Step 6300, Loss: {'mse_loss': 0.06887771934270859, 'mee_loss': 0.5172976851463318, 'totoal_loss': 0.06887771934270859, 'data_time': 0.026653705979697406, 'model_time': 0.7708361230324954, 'learning_rate': 9.935093978013357e-06, 'epoch': 12.09})
+Step 6400, Loss: {'mse_loss': 0.05953595042228699, 'mee_loss': 0.3851929306983948, 'totoal_loss': 0.05953595042228699, 'data_time': 0.0209023579955101, 'model_time': 0.6860615169862285, 'learning_rate': 9.924751130829878e-06, 'epoch': 12.28})
+Step 6500, Loss: {'mse_loss': 0.05608012154698372, 'mee_loss': 0.48613473773002625, 'totoal_loss': 0.05608012154698372, 'data_time': 0.02921365899965167, 'model_time': 0.6901609878987074, 'learning_rate': 9.91365034730236e-06, 'epoch': 12.48})
+Step 6600, Loss: {'mse_loss': 0.041253712028265, 'mee_loss': 0.38226038217544556, 'totoal_loss': 0.041253712028265, 'data_time': 0.025847023935057223, 'model_time': 0.6952913519926369, 'learning_rate': 9.901793380373204e-06, 'epoch': 12.67})
+Step 6700, Loss: {'mse_loss': 0.04300641268491745, 'mee_loss': 0.38201904296875, 'totoal_loss': 0.04300641268491745, 'data_time': 0.02349410206079483, 'model_time': 0.7173809739761055, 'learning_rate': 9.889182102394944e-06, 'epoch': 12.86})
+Step 6800, Loss: {'mse_loss': 0.03312508761882782, 'mee_loss': 0.383434534072876, 'totoal_loss': 0.03312508761882782, 'data_time': 0.008225662051700056, 'model_time': 0.7378583390964195, 'learning_rate': 9.875818504834564e-06, 'epoch': 13.05})
+Step 6900, Loss: {'mse_loss': 0.06114940345287323, 'mee_loss': 0.404870867729187, 'totoal_loss': 0.06114940345287323, 'data_time': 0.008320920984260738, 'model_time': 0.7442022130126134, 'learning_rate': 9.861704697959036e-06, 'epoch': 13.24})
+Step 7000, Loss: {'mse_loss': 0.027693822979927063, 'mee_loss': 0.36697807908058167, 'totoal_loss': 0.027693822979927063, 'data_time': 0.008080763975158334, 'model_time': 0.7296294160187244, 'learning_rate': 9.846842910502077e-06, 'epoch': 13.44})
+Step 7100, Loss: {'mse_loss': 0.03680585324764252, 'mee_loss': 0.4074895977973938, 'totoal_loss': 0.03680585324764252, 'data_time': 0.00924086500890553, 'model_time': 0.7226454230258241, 'learning_rate': 9.831235489312212e-06, 'epoch': 13.63})
+Step 7200, Loss: {'mse_loss': 0.029896751046180725, 'mee_loss': 0.3366297781467438, 'totoal_loss': 0.029896751046180725, 'data_time': 0.0075024120742455125, 'model_time': 0.7435781330568716, 'learning_rate': 9.814884898982168e-06, 'epoch': 13.82})
+Step 7300, Loss: {'mse_loss': 0.030123086646199226, 'mee_loss': 0.34132200479507446, 'totoal_loss': 0.030123086646199226, 'data_time': 0.00824115495197475, 'model_time': 0.7899322459707037, 'learning_rate': 9.797793721459709e-06, 'epoch': 14.01})
+Step 7400, Loss: {'mse_loss': 0.026606174185872078, 'mee_loss': 0.3528083264827728, 'totoal_loss': 0.026606174185872078, 'data_time': 0.010149457026273012, 'model_time': 0.7005392549326643, 'learning_rate': 9.779964655639886e-06, 'epoch': 14.2})
+Step 7500, Loss: {'mse_loss': 0.04412205144762993, 'mee_loss': 0.414460688829422, 'totoal_loss': 0.04412205144762993, 'data_time': 0.00904864096082747, 'model_time': 0.7070434680208564, 'learning_rate': 9.761400516938874e-06, 'epoch': 14.4})
+Step 7600, Loss: {'mse_loss': 0.03998900204896927, 'mee_loss': 0.3940374553203583, 'totoal_loss': 0.03998900204896927, 'data_time': 0.00960462202783674, 'model_time': 0.7710235220147297, 'learning_rate': 9.74210423684938e-06, 'epoch': 14.59})
+Step 7700, Loss: {'mse_loss': 0.04975109547376633, 'mee_loss': 0.37918850779533386, 'totoal_loss': 0.04975109547376633, 'data_time': 0.009483000030741096, 'model_time': 0.7031531899701804, 'learning_rate': 9.722078862477715e-06, 'epoch': 14.78})
+Step 7800, Loss: {'mse_loss': 0.035350553691387177, 'mee_loss': 0.382318377494812, 'totoal_loss': 0.035350553691387177, 'data_time': 0.010797959985211492, 'model_time': 0.7232805070234463, 'learning_rate': 9.701327556062637e-06, 'epoch': 14.97})
+Step 7900, Loss: {'mse_loss': 0.041557032614946365, 'mee_loss': 0.46336430311203003, 'totoal_loss': 0.041557032614946365, 'data_time': 0.022698341053910553, 'model_time': 0.7132893080124632, 'learning_rate': 9.679853594475985e-06, 'epoch': 15.16})
+Step 8000, Loss: {'mse_loss': 0.024420667439699173, 'mee_loss': 0.3575199246406555, 'totoal_loss': 0.024420667439699173, 'data_time': 0.022006461978890002, 'model_time': 0.6867923209210858, 'learning_rate': 9.657660368705225e-06, 'epoch': 15.36})
+Step 8100, Loss: {'mse_loss': 0.04393862187862396, 'mee_loss': 0.40064167976379395, 'totoal_loss': 0.04393862187862396, 'data_time': 0.020319410949014127, 'model_time': 0.6889263989869505, 'learning_rate': 9.634751383317983e-06, 'epoch': 15.55})
+Step 8200, Loss: {'mse_loss': 0.033669281750917435, 'mee_loss': 0.3669367730617523, 'totoal_loss': 0.033669281750917435, 'data_time': 0.01986982801463455, 'model_time': 0.7862650849856436, 'learning_rate': 9.611130255908619e-06, 'epoch': 15.74})
+Step 8300, Loss: {'mse_loss': 0.0250175092369318, 'mee_loss': 0.3350524604320526, 'totoal_loss': 0.0250175092369318, 'data_time': 0.025469964952208102, 'model_time': 0.6953202179865912, 'learning_rate': 9.586800716526974e-06, 'epoch': 15.93})
+Step 8400, Loss: {'mse_loss': 0.036489106714725494, 'mee_loss': 0.3173254728317261, 'totoal_loss': 0.036489106714725494, 'data_time': 0.008687570923939347, 'model_time': 0.8157465249532834, 'learning_rate': 9.561766607089355e-06, 'epoch': 16.12})
+Step 8500, Loss: {'mse_loss': 0.04691412299871445, 'mee_loss': 0.32501208782196045, 'totoal_loss': 0.04691412299871445, 'data_time': 0.008512458996847272, 'model_time': 0.7571155179757625, 'learning_rate': 9.536031880771846e-06, 'epoch': 16.31})
+Step 8600, Loss: {'mse_loss': 0.05807028338313103, 'mee_loss': 0.4066055715084076, 'totoal_loss': 0.05807028338313103, 'data_time': 0.011207501054741442, 'model_time': 0.6992353880777955, 'learning_rate': 9.50960060138606e-06, 'epoch': 16.51})
+Step 8700, Loss: {'mse_loss': 0.03431028127670288, 'mee_loss': 0.310724675655365, 'totoal_loss': 0.03431028127670288, 'data_time': 0.009044463047757745, 'model_time': 0.7411256979685277, 'learning_rate': 9.482476942737411e-06, 'epoch': 16.7})
+Step 8800, Loss: {'mse_loss': 0.03730316087603569, 'mee_loss': 0.38848936557769775, 'totoal_loss': 0.03730316087603569, 'data_time': 0.008157999953255057, 'model_time': 0.7700067210244015, 'learning_rate': 9.45466518796603e-06, 'epoch': 16.89})
+Step 8900, Loss: {'mse_loss': 0.029647674411535263, 'mee_loss': 0.31032106280326843, 'totoal_loss': 0.029647674411535263, 'data_time': 0.012174359988421202, 'model_time': 0.7459430519957095, 'learning_rate': 9.426169728870399e-06, 'epoch': 17.08})
+Step 9000, Loss: {'mse_loss': 0.05006444826722145, 'mee_loss': 0.32797154784202576, 'totoal_loss': 0.05006444826722145, 'data_time': 0.007441911962814629, 'model_time': 0.7999536000424996, 'learning_rate': 9.396995065213835e-06, 'epoch': 17.27})
+Step 9100, Loss: {'mse_loss': 0.019963223487138748, 'mee_loss': 0.3103756904602051, 'totoal_loss': 0.019963223487138748, 'data_time': 0.008276462904177606, 'model_time': 0.7229126769816503, 'learning_rate': 9.367145804013938e-06, 'epoch': 17.47})
+Step 9200, Loss: {'mse_loss': 0.03197532519698143, 'mee_loss': 0.3104481101036072, 'totoal_loss': 0.03197532519698143, 'data_time': 0.009584805928170681, 'model_time': 0.7141672989819199, 'learning_rate': 9.336626658815071e-06, 'epoch': 17.66})
+Step 9300, Loss: {'mse_loss': 0.046251554042100906, 'mee_loss': 0.31972673535346985, 'totoal_loss': 0.046251554042100906, 'data_time': 0.00782593502663076, 'model_time': 0.8215583759592846, 'learning_rate': 9.305442448944056e-06, 'epoch': 17.85})
+Step 9400, Loss: {'mse_loss': 0.047993406653404236, 'mee_loss': 0.36787354946136475, 'totoal_loss': 0.047993406653404236, 'data_time': 0.00037621904630213976, 'model_time': 0.7465319790644571, 'learning_rate': 9.273598098749124e-06, 'epoch': 18.04})
+Step 9500, Loss: {'mse_loss': 0.022472186014056206, 'mee_loss': 0.2720620036125183, 'totoal_loss': 0.022472186014056206, 'data_time': 0.00045932503417134285, 'model_time': 0.7739524559583515, 'learning_rate': 9.241098636822324e-06, 'epoch': 18.23})
+Step 9600, Loss: {'mse_loss': 0.029622089117765427, 'mee_loss': 0.29669761657714844, 'totoal_loss': 0.029622089117765427, 'data_time': 0.0003513040719553828, 'model_time': 0.8316008719848469, 'learning_rate': 9.207949195205442e-06, 'epoch': 18.43})
+Step 9700, Loss: {'mse_loss': 0.017859233543276787, 'mee_loss': 0.2867373526096344, 'totoal_loss': 0.017859233543276787, 'data_time': 0.0003961999900639057, 'model_time': 0.7128976199310273, 'learning_rate': 9.174155008579588e-06, 'epoch': 18.62})
+Step 9800, Loss: {'mse_loss': 0.029730334877967834, 'mee_loss': 0.2937862277030945, 'totoal_loss': 0.029730334877967834, 'data_time': 0.00040081306360661983, 'model_time': 0.7725035910261795, 'learning_rate': 9.139721413438583e-06, 'epoch': 18.81})
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+Step 14800, Loss: {'mse_loss': 0.019283965229988098, 'mee_loss': 0.21194329857826233, 'totoal_loss': 0.021403398364782333, 'data_time': 0.008553165942430496, 'model_time': 0.7310484710615128, 'learning_rate': 6.747495279549561e-06, 'epoch': 28.41})
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+Step 15000, Loss: {'mse_loss': 0.019602550193667412, 'mee_loss': 0.24271941184997559, 'totoal_loss': 0.02202974446117878, 'data_time': 0.010331960977055132, 'model_time': 0.734000459080562, 'learning_rate': 6.631457847577869e-06, 'epoch': 28.79})
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+Step 15500, Loss: {'mse_loss': 0.021862167865037918, 'mee_loss': 0.1987687200307846, 'totoal_loss': 0.0238498542457819, 'data_time': 0.010585488984361291, 'model_time': 0.7346878970274702, 'learning_rate': 6.337363199928669e-06, 'epoch': 29.75})
+Step 15600, Loss: {'mse_loss': 0.016788054257631302, 'mee_loss': 0.22726421058177948, 'totoal_loss': 0.01906069554388523, 'data_time': 0.008439364959485829, 'model_time': 0.7066046820254996, 'learning_rate': 6.277932610490659e-06, 'epoch': 29.94})
+Step 15700, Loss: {'mse_loss': 0.011978658847510815, 'mee_loss': 0.20338696241378784, 'totoal_loss': 0.014012528583407402, 'data_time': 0.00047543190885335207, 'model_time': 0.7403075681068003, 'learning_rate': 6.218319959628234e-06, 'epoch': 30.13})
+Step 15800, Loss: {'mse_loss': 0.02550206147134304, 'mee_loss': 0.20599599182605743, 'totoal_loss': 0.02756202220916748, 'data_time': 0.00038461899384856224, 'model_time': 0.7287233809474856, 'learning_rate': 6.158534660870018e-06, 'epoch': 30.33})
+Step 15900, Loss: {'mse_loss': 0.03081841953098774, 'mee_loss': 0.2263370305299759, 'totoal_loss': 0.0330817885696888, 'data_time': 0.0003805189626291394, 'model_time': 0.7461596470093355, 'learning_rate': 6.0985861550077345e-06, 'epoch': 30.52})
+Step 16000, Loss: {'mse_loss': 0.01616264134645462, 'mee_loss': 0.19441434741020203, 'totoal_loss': 0.01810678467154503, 'data_time': 0.0006319510284811258, 'model_time': 0.7415430309483781, 'learning_rate': 6.0384839086054095e-06, 'epoch': 30.71})
+Step 16100, Loss: {'mse_loss': 0.01236006896942854, 'mee_loss': 0.18356947600841522, 'totoal_loss': 0.014195763505995274, 'data_time': 0.00036837998777627945, 'model_time': 0.7163529719691724, 'learning_rate': 5.978237412504472e-06, 'epoch': 30.9})
+Step 16200, Loss: {'mse_loss': 0.011268815957009792, 'mee_loss': 0.2158500850200653, 'totoal_loss': 0.013427317142486572, 'data_time': 0.0004037609323859215, 'model_time': 0.7472806409932673, 'learning_rate': 5.917856180325059e-06, 'epoch': 31.09})
+Step 16300, Loss: {'mse_loss': 0.01997709646821022, 'mee_loss': 0.22781963646411896, 'totoal_loss': 0.022255292162299156, 'data_time': 0.0003913319669663906, 'model_time': 0.7328872370999306, 'learning_rate': 5.857349746963692e-06, 'epoch': 31.29})
+Step 16400, Loss: {'mse_loss': 0.016731657087802887, 'mee_loss': 0.18092958629131317, 'totoal_loss': 0.01854095235466957, 'data_time': 0.00036159600131213665, 'model_time': 0.745427948073484, 'learning_rate': 5.796727667087611e-06, 'epoch': 31.48})
+Step 16500, Loss: {'mse_loss': 0.01674700900912285, 'mee_loss': 0.226753368973732, 'totoal_loss': 0.019014542922377586, 'data_time': 0.00039433594793081284, 'model_time': 0.9516941870097071, 'learning_rate': 5.735999513625984e-06, 'epoch': 31.67})
+Step 16600, Loss: {'mse_loss': 0.013848777860403061, 'mee_loss': 0.17243507504463196, 'totoal_loss': 0.015573129057884216, 'data_time': 0.0003558620810508728, 'model_time': 0.7404201559256762, 'learning_rate': 5.675174876258223e-06, 'epoch': 31.86})
+Step 16700, Loss: {'mse_loss': 0.016487430781126022, 'mee_loss': 0.192999005317688, 'totoal_loss': 0.018417421728372574, 'data_time': 0.00910672009922564, 'model_time': 0.8088312190957367, 'learning_rate': 5.614263359899673e-06, 'epoch': 32.05})
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+Step 20900, Loss: {'mse_loss': 0.016427690163254738, 'mee_loss': 0.17791339755058289, 'totoal_loss': 0.018206823617219925, 'data_time': 0.015206580050289631, 'model_time': 0.7217340839561075, 'learning_rate': 3.10491904265774e-06, 'epoch': 40.12})
+Step 21000, Loss: {'mse_loss': 0.012493621557950974, 'mee_loss': 0.16562125086784363, 'totoal_loss': 0.014149834401905537, 'data_time': 0.015205227071419358, 'model_time': 0.7419440150260925, 'learning_rate': 3.0493259536202714e-06, 'epoch': 40.31})
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+Step 21200, Loss: {'mse_loss': 0.010777735151350498, 'mee_loss': 0.15700401365756989, 'totoal_loss': 0.012347775511443615, 'data_time': 0.016605893964879215, 'model_time': 0.9836930140154436, 'learning_rate': 2.939131821561094e-06, 'epoch': 40.69})
+Step 21300, Loss: {'mse_loss': 0.013520044274628162, 'mee_loss': 0.18016105890274048, 'totoal_loss': 0.015321655198931694, 'data_time': 0.016799642937257886, 'model_time': 0.713939665001817, 'learning_rate': 2.8845481794702473e-06, 'epoch': 40.88})
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+Step 21500, Loss: {'mse_loss': 0.008557412773370743, 'mee_loss': 0.14764855802059174, 'totoal_loss': 0.010033898055553436, 'data_time': 0.008368930080905557, 'model_time': 0.9498857189901173, 'learning_rate': 2.7764508387541378e-06, 'epoch': 41.27})
+Step 21600, Loss: {'mse_loss': 0.012701835483312607, 'mee_loss': 0.14456404745578766, 'totoal_loss': 0.01414747629314661, 'data_time': 0.0101468589855358, 'model_time': 0.7262188480235636, 'learning_rate': 2.7229542099520797e-06, 'epoch': 41.46})
+Step 21700, Loss: {'mse_loss': 0.01246732659637928, 'mee_loss': 0.18015477061271667, 'totoal_loss': 0.014268874190747738, 'data_time': 0.011332828900776803, 'model_time': 0.6973510750103742, 'learning_rate': 2.669836892025666e-06, 'epoch': 41.65})
+Step 21800, Loss: {'mse_loss': 0.006785070523619652, 'mee_loss': 0.1447945386171341, 'totoal_loss': 0.008233016356825829, 'data_time': 0.0075079340022057295, 'model_time': 0.7275173140224069, 'learning_rate': 2.6171072728151557e-06, 'epoch': 41.84})
+Step 21900, Loss: {'mse_loss': 0.015515927225351334, 'mee_loss': 0.12359169125556946, 'totoal_loss': 0.016751844435930252, 'data_time': 0.009866225998848677, 'model_time': 0.7204585769213736, 'learning_rate': 2.5647736789386828e-06, 'epoch': 42.03})
+Step 22000, Loss: {'mse_loss': 0.019638538360595703, 'mee_loss': 0.16903947293758392, 'totoal_loss': 0.021328933537006378, 'data_time': 0.008031354984268546, 'model_time': 0.7062665430130437, 'learning_rate': 2.5128443744773904e-06, 'epoch': 42.23})
+Step 22100, Loss: {'mse_loss': 0.01067541353404522, 'mee_loss': 0.14205490052700043, 'totoal_loss': 0.012095962651073933, 'data_time': 0.00036343501415103674, 'model_time': 0.6960406629368663, 'learning_rate': 2.4613275596704386e-06, 'epoch': 42.42})
+Step 22200, Loss: {'mse_loss': 0.015062225982546806, 'mee_loss': 0.18038910627365112, 'totoal_loss': 0.01686611771583557, 'data_time': 0.00036530999932438135, 'model_time': 0.7323795949341729, 'learning_rate': 2.4102313696200853e-06, 'epoch': 42.61})
+Step 22300, Loss: {'mse_loss': 0.0139315752312541, 'mee_loss': 0.15610864758491516, 'totoal_loss': 0.015492661856114864, 'data_time': 0.00034829392097890377, 'model_time': 0.7898990019457415, 'learning_rate': 2.359563873007063e-06, 'epoch': 42.8})
+Step 22400, Loss: {'mse_loss': 0.010177607648074627, 'mee_loss': 0.1507013887166977, 'totoal_loss': 0.011684621684253216, 'data_time': 0.0002863499103114009, 'model_time': 0.6849031419260427, 'learning_rate': 2.3093330708164465e-06, 'epoch': 42.99})
+Step 22500, Loss: {'mse_loss': 0.0174659825861454, 'mee_loss': 0.157523974776268, 'totoal_loss': 0.01904122158885002, 'data_time': 0.000353401992470026, 'model_time': 0.7109470369759947, 'learning_rate': 2.2595468950741943e-06, 'epoch': 43.19})
+Step 22600, Loss: {'mse_loss': 0.008845590054988861, 'mee_loss': 0.1389254480600357, 'totoal_loss': 0.010234844870865345, 'data_time': 0.0005115100648254156, 'model_time': 0.7414709540316835, 'learning_rate': 2.2102132075945974e-06, 'epoch': 43.38})
+Step 22700, Loss: {'mse_loss': 0.012387343682348728, 'mee_loss': 0.1269148737192154, 'totoal_loss': 0.013656492345035076, 'data_time': 0.0004281450528651476, 'model_time': 1.0187070849351585, 'learning_rate': 2.1613397987388e-06, 'epoch': 43.57})
+Step 22800, Loss: {'mse_loss': 0.016757110133767128, 'mee_loss': 0.140036940574646, 'totoal_loss': 0.018157480284571648, 'data_time': 0.0004969330038875341, 'model_time': 0.7508426830172539, 'learning_rate': 2.1129343861846207e-06, 'epoch': 43.76})
+Step 22900, Loss: {'mse_loss': 0.007529058028012514, 'mee_loss': 0.14612984657287598, 'totoal_loss': 0.00899035669863224, 'data_time': 0.0004937390331178904, 'model_time': 0.8354891979834065, 'learning_rate': 2.065004613707836e-06, 'epoch': 43.95})
+Step 23000, Loss: {'mse_loss': 0.012268572114408016, 'mee_loss': 0.1638268530368805, 'totoal_loss': 0.013906840234994888, 'data_time': 0.016008941107429564, 'model_time': 0.7478290949948132, 'learning_rate': 2.0175580499751375e-06, 'epoch': 44.15})
+Step 23100, Loss: {'mse_loss': 0.012503629550337791, 'mee_loss': 0.13106191158294678, 'totoal_loss': 0.013814248144626617, 'data_time': 0.020107222022488713, 'model_time': 0.7404681639745831, 'learning_rate': 1.9706021873489604e-06, 'epoch': 44.34})
+Step 23200, Loss: {'mse_loss': 0.008106520399451256, 'mee_loss': 0.1514357477426529, 'totoal_loss': 0.009620877914130688, 'data_time': 0.014053040998987854, 'model_time': 0.7190032110083848, 'learning_rate': 1.924144440704338e-06, 'epoch': 44.53})
+Step 23300, Loss: {'mse_loss': 0.010225247591733932, 'mee_loss': 0.14760179817676544, 'totoal_loss': 0.011701265349984169, 'data_time': 0.018986526993103325, 'model_time': 0.697304793051444, 'learning_rate': 1.8781921462580238e-06, 'epoch': 44.72})
+Step 23400, Loss: {'mse_loss': 0.006950887385755777, 'mee_loss': 0.1351478099822998, 'totoal_loss': 0.008302365429699421, 'data_time': 0.015553798992186785, 'model_time': 0.7134364019148052, 'learning_rate': 1.8327525604100058e-06, 'epoch': 44.91})
+Step 23500, Loss: {'mse_loss': 0.013669212348759174, 'mee_loss': 0.13647720217704773, 'totoal_loss': 0.015033984556794167, 'data_time': 0.008491721004247665, 'model_time': 0.7065156819298863, 'learning_rate': 1.7878328585976426e-06, 'epoch': 45.11})
+Step 23600, Loss: {'mse_loss': 0.013315383344888687, 'mee_loss': 0.1488245129585266, 'totoal_loss': 0.01480362843722105, 'data_time': 0.011699037975631654, 'model_time': 0.7094360450282693, 'learning_rate': 1.7434401341625765e-06, 'epoch': 45.3})
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+Step 28900, Loss: {'mse_loss': 0.008081087842583656, 'mee_loss': 0.12513847649097443, 'totoal_loss': 0.009332472458481789, 'data_time': 0.008091544033959508, 'model_time': 0.7928066899767146, 'learning_rate': 2.9650054972882544e-07, 'epoch': 55.47})
+Step 29000, Loss: {'mse_loss': 0.007054133340716362, 'mee_loss': 0.13677813112735748, 'totoal_loss': 0.008421914651989937, 'data_time': 0.010769597021862864, 'model_time': 0.706098441965878, 'learning_rate': 2.884408310919209e-07, 'epoch': 55.66})
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+Step 29200, Loss: {'mse_loss': 0.008792931213974953, 'mee_loss': 0.12118219584226608, 'totoal_loss': 0.01000475324690342, 'data_time': 0.00828666496090591, 'model_time': 0.7548359429929405, 'learning_rate': 2.746137922161617e-07, 'epoch': 56.05})
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+Step 29500, Loss: {'mse_loss': 0.011939949356019497, 'mee_loss': 0.16049718856811523, 'totoal_loss': 0.013544920831918716, 'data_time': 0.010463948012329638, 'model_time': 0.734821729012765, 'learning_rate': 2.5961969891217614e-07, 'epoch': 56.62})
+Step 29600, Loss: {'mse_loss': 0.013691040687263012, 'mee_loss': 0.14611811935901642, 'totoal_loss': 0.01515222154557705, 'data_time': 0.007563940016552806, 'model_time': 0.7075206360314041, 'learning_rate': 2.5615733654566483e-07, 'epoch': 56.81})
+Step 29700, Loss: {'mse_loss': 0.02652828022837639, 'mee_loss': 0.13321025669574738, 'totoal_loss': 0.027860382571816444, 'data_time': 0.00042679603211581707, 'model_time': 0.8054085749899969, 'learning_rate': 2.5346382087712764e-07, 'epoch': 57.01})
+Step 29800, Loss: {'mse_loss': 0.011939762160182, 'mee_loss': 0.1305103600025177, 'totoal_loss': 0.013244865462183952, 'data_time': 0.0003537620650604367, 'model_time': 0.7613788130693138, 'learning_rate': 2.515395772439128e-07, 'epoch': 57.2})
+Step 29900, Loss: {'mse_loss': 0.0045767901465296745, 'mee_loss': 0.09643863886594772, 'totoal_loss': 0.005541176535189152, 'data_time': 0.0003761370899155736, 'model_time': 0.7070298040052876, 'learning_rate': 2.5038490950639644e-07, 'epoch': 57.39})
+Step 30000, Loss: {'mse_loss': 0.00530979922041297, 'mee_loss': 0.11292856186628342, 'totoal_loss': 0.006439084652811289, 'data_time': 0.0003870319342240691, 'model_time': 0.7869186750613153, 'learning_rate': 2.5e-07, 'epoch': 57.58})

libero_spatial_2B_mee1e-2_true/starvla_qwen_dual/config.json

@@ -0,0 +1,130 @@
+{
+  "run_id": "starvla_qwen_dual",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_5/libero_spatial_2B_mee1e-2_true",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.01,
+  "enable_adaptive": true,
+  "framework": {
+    "name": "Qwen-Dual",
+    "qwenvl": {
+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
+    },
+    "dino": {
+      "dino_backbone": "dinov2_vits14"
+    },
+    "action_model": {
+      "action_model_type": "DiT-B",
+      "action_hidden_dim": 2,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 7,
+      "state_dim": 7,
+      "future_action_window_size": 7,
+      "action_horizon": 8,
+      "past_action_window_size": 0,
+      "repeated_diffusion_steps": 8,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
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+        "positional_embeddings": null
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+    },
+    "reduce_in_full_precision": true
+  },
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+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_spatial",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 60000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
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+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
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+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_5/libero_spatial_2B_mee1e-2_true/starvla_qwen_dual"
+}

libero_spatial_2B_mee1e-2_true/starvla_qwen_dual/dataset_statistics.json

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libero_spatial_2B_mee1e-2_true/starvla_qwen_dual/final_model/pytorch_model.pt

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libero_spatial_2B_mee1e-2_true/starvla_qwen_dual/libero_eval_libero_spatial.log

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+Task suite: libero_spatial
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# episodes completed so far: 95
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+
+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+
+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# successes: 99 (100.0%)
+
+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# successes: 100 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+
+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 101 (100.0%)
+
+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 150 (100.0%)
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+# successes: 198 (99.0%)
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+# successes: 199 (99.0%)
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl next to the cookie box and place it on the plate
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+Task: pick up the black bowl next to the cookie box and place it on the plate
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+Task: pick up the black bowl next to the cookie box and place it on the plate
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+# successes: 403 (99.0%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 408
+# successes: 404 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 409
+# successes: 405 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 410
+# successes: 406 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 411
+# successes: 407 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 412
+# successes: 408 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 413
+# successes: 409 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 414
+# successes: 410 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 415
+# successes: 411 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 416
+# successes: 412 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 417
+# successes: 413 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 418
+# successes: 414 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 419
+# successes: 415 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 420
+# successes: 416 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 421
+# successes: 417 (99.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 422
+# successes: 418 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 423
+# successes: 419 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 424
+# successes: 420 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 425
+# successes: 421 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 426
+# successes: 422 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 427
+# successes: 423 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 428
+# successes: 424 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 429
+# successes: 425 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 430
+# successes: 426 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 431
+# successes: 427 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 432
+# successes: 428 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 433
+# successes: 429 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 434
+# successes: 430 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 435
+# successes: 431 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 436
+# successes: 432 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 437
+# successes: 433 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 438
+# successes: 434 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 439
+# successes: 435 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 440
+# successes: 436 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 441
+# successes: 437 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 442
+# successes: 438 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 443
+# successes: 439 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 444
+# successes: 440 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 445
+# successes: 441 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 446
+# successes: 442 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 447
+# successes: 443 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 448
+# successes: 444 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 449
+# successes: 445 (99.1%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 450
+# successes: 446 (99.1%)
+Current task success rate: 1.0
+Current total success rate: 0.9911111111111112
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 451
+# successes: 447 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 452
+# successes: 448 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 453
+# successes: 449 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 454
+# successes: 450 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 455
+# successes: 451 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 456
+# successes: 452 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 457
+# successes: 453 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 458
+# successes: 454 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 459
+# successes: 455 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 460
+# successes: 456 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 461
+# successes: 457 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 462
+# successes: 458 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 463
+# successes: 459 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 464
+# successes: 460 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 465
+# successes: 461 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 466
+# successes: 462 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 467
+# successes: 463 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 468
+# successes: 464 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 469
+# successes: 465 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 470
+# successes: 466 (99.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 471
+# successes: 467 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 472
+# successes: 468 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 473
+# successes: 469 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 474
+# successes: 470 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 475
+# successes: 471 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 476
+# successes: 472 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 477
+# successes: 473 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 478
+# successes: 474 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 479
+# successes: 475 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 480
+# successes: 476 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 481
+# successes: 477 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 482
+# successes: 478 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 483
+# successes: 479 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 484
+# successes: 480 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 485
+# successes: 481 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 486
+# successes: 482 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 487
+# successes: 483 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 488
+# successes: 484 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 489
+# successes: 485 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 490
+# successes: 486 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 491
+# successes: 487 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 492
+# successes: 488 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 493
+# successes: 489 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 494
+# successes: 490 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 495
+# successes: 491 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 496
+# successes: 492 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 497
+# successes: 493 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 498
+# successes: 494 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 499
+# successes: 495 (99.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 500
+# successes: 496 (99.2%)
+Current task success rate: 1.0
+Current total success rate: 0.992

libero_spatial_2B_mee1e-2_true/starvla_qwen_dual/libero_spatial.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.0776655673980713, 'mee_loss': 2.2172188758850098, 'totoal_loss': 1.0776655673980713, 'data_time': 0.017744477998348884, 'model_time': 0.7353593970037764, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.24})
+Step 200, Loss: {'mse_loss': 0.993992030620575, 'mee_loss': 2.3537306785583496, 'totoal_loss': 0.993992030620575, 'data_time': 0.01703303199610673, 'model_time': 0.7091499739981373, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.48})
+Step 300, Loss: {'mse_loss': 0.8133655190467834, 'mee_loss': 2.6543965339660645, 'totoal_loss': 0.8133655190467834, 'data_time': 0.015028285997686908, 'model_time': 0.7582446409942349, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.73})
+Step 400, Loss: {'mse_loss': 0.5812543034553528, 'mee_loss': 2.1920974254608154, 'totoal_loss': 0.5812543034553528, 'data_time': 0.01898762400378473, 'model_time': 0.7360103350001737, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.97})
+Step 500, Loss: {'mse_loss': 0.4642762541770935, 'mee_loss': 2.372687339782715, 'totoal_loss': 0.4642762541770935, 'data_time': 0.008330442993610632, 'model_time': 0.7133526719990186, 'learning_rate': 1.0000000000000002e-06, 'epoch': 1.21})
+Step 600, Loss: {'mse_loss': 0.3569118082523346, 'mee_loss': 1.8847121000289917, 'totoal_loss': 0.3569118082523346, 'data_time': 0.00935024600039469, 'model_time': 0.732214830997691, 'learning_rate': 1.2000000000000002e-06, 'epoch': 1.45})
+Step 700, Loss: {'mse_loss': 0.30463162064552307, 'mee_loss': 1.7700073719024658, 'totoal_loss': 0.30463162064552307, 'data_time': 0.00958817100035958, 'model_time': 0.7867168820012012, 'learning_rate': 1.4000000000000001e-06, 'epoch': 1.69})
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+Step 1100, Loss: {'mse_loss': 0.13509626686573029, 'mee_loss': 1.219577431678772, 'totoal_loss': 0.13509626686573029, 'data_time': 0.014026725002622698, 'model_time': 0.7167142860052991, 'learning_rate': 2.2e-06, 'epoch': 2.66})
+Step 1200, Loss: {'mse_loss': 0.11775359511375427, 'mee_loss': 1.0911037921905518, 'totoal_loss': 0.11775359511375427, 'data_time': 0.014707977999933064, 'model_time': 0.6921891000019968, 'learning_rate': 2.4000000000000003e-06, 'epoch': 2.91})
+Step 1300, Loss: {'mse_loss': 0.18677455186843872, 'mee_loss': 1.044566035270691, 'totoal_loss': 0.18677455186843872, 'data_time': 0.015120372001547366, 'model_time': 0.7119575709948549, 'learning_rate': 2.6e-06, 'epoch': 3.15})
+Step 1400, Loss: {'mse_loss': 0.1498531550168991, 'mee_loss': 1.1183197498321533, 'totoal_loss': 0.1498531550168991, 'data_time': 0.01987610500509618, 'model_time': 0.7226474260023679, 'learning_rate': 2.8000000000000003e-06, 'epoch': 3.39})
+Step 1500, Loss: {'mse_loss': 0.15530918538570404, 'mee_loss': 1.0603134632110596, 'totoal_loss': 0.15530918538570404, 'data_time': 0.014092637997237034, 'model_time': 0.713548264997371, 'learning_rate': 3e-06, 'epoch': 3.63})
+Step 1600, Loss: {'mse_loss': 0.14909955859184265, 'mee_loss': 1.0468391180038452, 'totoal_loss': 0.14909955859184265, 'data_time': 0.013734038002439775, 'model_time': 0.7091250839948771, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.87})
+Step 1700, Loss: {'mse_loss': 0.16488973796367645, 'mee_loss': 1.0416088104248047, 'totoal_loss': 0.16488973796367645, 'data_time': 0.024535133001336362, 'model_time': 0.7286601910018362, 'learning_rate': 3.4000000000000005e-06, 'epoch': 4.12})
+Step 1800, Loss: {'mse_loss': 0.13576696813106537, 'mee_loss': 1.0989625453948975, 'totoal_loss': 0.13576696813106537, 'data_time': 0.02213490599388024, 'model_time': 0.7285975810009404, 'learning_rate': 3.6000000000000003e-06, 'epoch': 4.36})
+Step 1900, Loss: {'mse_loss': 0.11645084619522095, 'mee_loss': 1.066258430480957, 'totoal_loss': 0.11645084619522095, 'data_time': 0.022771884003304876, 'model_time': 0.7452821730039432, 'learning_rate': 3.8000000000000005e-06, 'epoch': 4.6})
+Step 2000, Loss: {'mse_loss': 0.1347634345293045, 'mee_loss': 0.9572017192840576, 'totoal_loss': 0.1347634345293045, 'data_time': 0.021899239996855613, 'model_time': 0.7392559040017659, 'learning_rate': 4.000000000000001e-06, 'epoch': 4.84})
+Step 2100, Loss: {'mse_loss': 0.13091906905174255, 'mee_loss': 0.940530002117157, 'totoal_loss': 0.13091906905174255, 'data_time': 0.01007788199785864, 'model_time': 0.7175634429950151, 'learning_rate': 4.2000000000000004e-06, 'epoch': 5.08})
+Step 2200, Loss: {'mse_loss': 0.18060201406478882, 'mee_loss': 0.8244976997375488, 'totoal_loss': 0.18060201406478882, 'data_time': 0.009893551999994088, 'model_time': 0.7060579739991226, 'learning_rate': 4.4e-06, 'epoch': 5.33})
+Step 2300, Loss: {'mse_loss': 0.11035279929637909, 'mee_loss': 0.8645695447921753, 'totoal_loss': 0.11035279929637909, 'data_time': 0.008638102000986692, 'model_time': 0.6985733059991617, 'learning_rate': 4.600000000000001e-06, 'epoch': 5.57})
+Step 2400, Loss: {'mse_loss': 0.08583255112171173, 'mee_loss': 0.7023453712463379, 'totoal_loss': 0.08583255112171173, 'data_time': 0.011080735996074509, 'model_time': 0.704284108003776, 'learning_rate': 4.800000000000001e-06, 'epoch': 5.81})
+Step 2500, Loss: {'mse_loss': 0.10654490441083908, 'mee_loss': 0.7262845039367676, 'totoal_loss': 0.10654490441083908, 'data_time': 0.009114947002672125, 'model_time': 0.7393821940058842, 'learning_rate': 5e-06, 'epoch': 6.05})
+Step 2600, Loss: {'mse_loss': 0.08402717858552933, 'mee_loss': 0.688398003578186, 'totoal_loss': 0.08402717858552933, 'data_time': 0.007834198004275095, 'model_time': 0.6861541440011933, 'learning_rate': 5.2e-06, 'epoch': 6.3})
+Step 2700, Loss: {'mse_loss': 0.07823038101196289, 'mee_loss': 0.7700940370559692, 'totoal_loss': 0.07823038101196289, 'data_time': 0.007508957001846284, 'model_time': 0.7400875379971694, 'learning_rate': 5.400000000000001e-06, 'epoch': 6.54})
+Step 2800, Loss: {'mse_loss': 0.07991455495357513, 'mee_loss': 0.6969048976898193, 'totoal_loss': 0.07991455495357513, 'data_time': 0.009323421996668912, 'model_time': 0.7271957749981084, 'learning_rate': 5.600000000000001e-06, 'epoch': 6.78})
+Step 2900, Loss: {'mse_loss': 0.07385949045419693, 'mee_loss': 0.7406507134437561, 'totoal_loss': 0.07385949045419693, 'data_time': 0.013947610001196153, 'model_time': 0.6917464419966564, 'learning_rate': 5.8e-06, 'epoch': 7.02})
+Step 3000, Loss: {'mse_loss': 0.07113760709762573, 'mee_loss': 0.7335381507873535, 'totoal_loss': 0.07113760709762573, 'data_time': 0.0178718979950645, 'model_time': 0.7418474139994942, 'learning_rate': 6e-06, 'epoch': 7.26})
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+Step 7700, Loss: {'mse_loss': 0.051871296018362045, 'mee_loss': 0.4280146360397339, 'totoal_loss': 0.051871296018362045, 'data_time': 0.008944884997617919, 'model_time': 0.7243913669954054, 'learning_rate': 9.722078862477715e-06, 'epoch': 18.64})
+Step 7800, Loss: {'mse_loss': 0.038732875138521194, 'mee_loss': 0.42527464032173157, 'totoal_loss': 0.038732875138521194, 'data_time': 0.008198976996936835, 'model_time': 0.7055022189961164, 'learning_rate': 9.701327556062637e-06, 'epoch': 18.89})
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+Step 8200, Loss: {'mse_loss': 0.03503798693418503, 'mee_loss': 0.37336620688438416, 'totoal_loss': 0.03503798693418503, 'data_time': 0.00036428099701879546, 'model_time': 0.7440967509974143, 'learning_rate': 9.611130255908619e-06, 'epoch': 19.85})
+Step 8300, Loss: {'mse_loss': 0.030439456924796104, 'mee_loss': 0.4045240581035614, 'totoal_loss': 0.030439456924796104, 'data_time': 0.008928150993597228, 'model_time': 0.7402914659978705, 'learning_rate': 9.586800716526974e-06, 'epoch': 20.1})
+Step 8400, Loss: {'mse_loss': 0.0407833568751812, 'mee_loss': 0.33236274123191833, 'totoal_loss': 0.0407833568751812, 'data_time': 0.007848082997952588, 'model_time': 0.7981633590025012, 'learning_rate': 9.561766607089355e-06, 'epoch': 20.34})
+Step 8500, Loss: {'mse_loss': 0.06280814856290817, 'mee_loss': 0.47665929794311523, 'totoal_loss': 0.06280814856290817, 'data_time': 0.009257010999135673, 'model_time': 0.7768239179931697, 'learning_rate': 9.536031880771846e-06, 'epoch': 20.58})
+Step 8600, Loss: {'mse_loss': 0.028719749301671982, 'mee_loss': 0.4152010977268219, 'totoal_loss': 0.028719749301671982, 'data_time': 0.007968445002916269, 'model_time': 0.7214918679965194, 'learning_rate': 9.50960060138606e-06, 'epoch': 20.82})
+Step 8700, Loss: {'mse_loss': 0.02331063337624073, 'mee_loss': 0.3684016168117523, 'totoal_loss': 0.02331063337624073, 'data_time': 0.007307699001103174, 'model_time': 0.7769665180021548, 'learning_rate': 9.482476942737411e-06, 'epoch': 21.07})
+Step 8800, Loss: {'mse_loss': 0.033132631331682205, 'mee_loss': 0.43690720200538635, 'totoal_loss': 0.033132631331682205, 'data_time': 0.007274827003129758, 'model_time': 0.7308060730065336, 'learning_rate': 9.45466518796603e-06, 'epoch': 21.31})
+Step 8900, Loss: {'mse_loss': 0.06889503449201584, 'mee_loss': 0.4385755956172943, 'totoal_loss': 0.06889503449201584, 'data_time': 0.008149068002239801, 'model_time': 0.7340812820038991, 'learning_rate': 9.426169728870399e-06, 'epoch': 21.55})
+Step 9000, Loss: {'mse_loss': 0.042426612228155136, 'mee_loss': 0.39924758672714233, 'totoal_loss': 0.042426612228155136, 'data_time': 0.012174428004072979, 'model_time': 0.738546538996161, 'learning_rate': 9.396995065213835e-06, 'epoch': 21.79})
+Step 9100, Loss: {'mse_loss': 0.027022913098335266, 'mee_loss': 0.34407246112823486, 'totoal_loss': 0.027022913098335266, 'data_time': 0.007682743002078496, 'model_time': 0.7446673409940558, 'learning_rate': 9.367145804013938e-06, 'epoch': 22.03})
+Step 9200, Loss: {'mse_loss': 0.040931977331638336, 'mee_loss': 0.4359145760536194, 'totoal_loss': 0.040931977331638336, 'data_time': 0.008118033001665026, 'model_time': 0.7060465960021247, 'learning_rate': 9.336626658815071e-06, 'epoch': 22.28})
+Step 9300, Loss: {'mse_loss': 0.03606873005628586, 'mee_loss': 0.4175397753715515, 'totoal_loss': 0.03606873005628586, 'data_time': 0.006553125000209548, 'model_time': 0.7291642889977084, 'learning_rate': 9.305442448944056e-06, 'epoch': 22.52})
+Step 9400, Loss: {'mse_loss': 0.04383048787713051, 'mee_loss': 0.3981729745864868, 'totoal_loss': 0.04383048787713051, 'data_time': 0.012524942998425104, 'model_time': 0.801018133002799, 'learning_rate': 9.273598098749124e-06, 'epoch': 22.76})
+Step 9500, Loss: {'mse_loss': 0.0412527471780777, 'mee_loss': 0.3929227590560913, 'totoal_loss': 0.0412527471780777, 'data_time': 1.9987362210013089, 'model_time': 0.8758167030027835, 'learning_rate': 9.241098636822324e-06, 'epoch': 23.0})
+Step 9600, Loss: {'mse_loss': 0.029115956276655197, 'mee_loss': 0.3845597803592682, 'totoal_loss': 0.029115956276655197, 'data_time': 0.024110646001645364, 'model_time': 0.728900177993637, 'learning_rate': 9.207949195205442e-06, 'epoch': 23.24})
+Step 9700, Loss: {'mse_loss': 0.03200843185186386, 'mee_loss': 0.34855419397354126, 'totoal_loss': 0.03200843185186386, 'data_time': 0.021956447999400552, 'model_time': 0.7185397799985367, 'learning_rate': 9.174155008579588e-06, 'epoch': 23.49})
+Step 9800, Loss: {'mse_loss': 0.07129837572574615, 'mee_loss': 0.4121614098548889, 'totoal_loss': 0.07129837572574615, 'data_time': 0.020254117996955756, 'model_time': 0.6972808160062414, 'learning_rate': 9.139721413438583e-06, 'epoch': 23.73})
+Step 9900, Loss: {'mse_loss': 0.037022318691015244, 'mee_loss': 0.3932206928730011, 'totoal_loss': 0.037022318691015244, 'data_time': 0.022106715994596016, 'model_time': 0.7620203440019395, 'learning_rate': 9.104653847246273e-06, 'epoch': 23.97})
+Step 10000, Loss: {'mse_loss': 0.025918347761034966, 'mee_loss': 0.3331761658191681, 'totoal_loss': 0.02925010956823826, 'data_time': 0.015553205994365271, 'model_time': 0.7074545229988871, 'learning_rate': 9.068957847577869e-06, 'epoch': 24.21})
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+Step 15400, Loss: {'mse_loss': 0.021070625633001328, 'mee_loss': 0.24518027901649475, 'totoal_loss': 0.023522429168224335, 'data_time': 0.000343947991495952, 'model_time': 0.7292761889984831, 'learning_rate': 6.396602343163248e-06, 'epoch': 37.29})
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+Step 15600, Loss: {'mse_loss': 0.014571118168532848, 'mee_loss': 0.23283633589744568, 'totoal_loss': 0.016899481415748596, 'data_time': 0.00037828300264663994, 'model_time': 0.7143940670066513, 'learning_rate': 6.277932610490659e-06, 'epoch': 37.77})
+Step 15700, Loss: {'mse_loss': 0.02124284766614437, 'mee_loss': 0.26721400022506714, 'totoal_loss': 0.023914987221360207, 'data_time': 0.00034554699959699064, 'model_time': 0.7012668440002017, 'learning_rate': 6.218319959628234e-06, 'epoch': 38.01})
+Step 15800, Loss: {'mse_loss': 0.02446001023054123, 'mee_loss': 0.2230425924062729, 'totoal_loss': 0.026690436527132988, 'data_time': 0.000550748998648487, 'model_time': 0.8153449200035539, 'learning_rate': 6.158534660870018e-06, 'epoch': 38.26})
+Step 15900, Loss: {'mse_loss': 0.034343719482421875, 'mee_loss': 0.24582439661026, 'totoal_loss': 0.03680196404457092, 'data_time': 0.0004422750062076375, 'model_time': 0.7283261999982642, 'learning_rate': 6.0985861550077345e-06, 'epoch': 38.5})
+Step 16000, Loss: {'mse_loss': 0.033471062779426575, 'mee_loss': 0.21004875004291534, 'totoal_loss': 0.03557154908776283, 'data_time': 0.0003736509970622137, 'model_time': 0.7309925809968263, 'learning_rate': 6.0384839086054095e-06, 'epoch': 38.74})
+Step 16100, Loss: {'mse_loss': 0.023610660806298256, 'mee_loss': 0.24312104284763336, 'totoal_loss': 0.026041870936751366, 'data_time': 0.00028351899527478963, 'model_time': 0.6752650209964486, 'learning_rate': 5.978237412504472e-06, 'epoch': 38.98})
+Step 16200, Loss: {'mse_loss': 0.019943490624427795, 'mee_loss': 0.2552656829357147, 'totoal_loss': 0.022496147081255913, 'data_time': 0.007303863007109612, 'model_time': 0.734486144996481, 'learning_rate': 5.917856180325059e-06, 'epoch': 39.23})
+Step 16300, Loss: {'mse_loss': 0.012947875075042248, 'mee_loss': 0.23012804985046387, 'totoal_loss': 0.015249155461788177, 'data_time': 0.00722171799861826, 'model_time': 0.7285743469983572, 'learning_rate': 5.857349746963692e-06, 'epoch': 39.47})
+Step 16400, Loss: {'mse_loss': 0.02903924323618412, 'mee_loss': 0.2523261308670044, 'totoal_loss': 0.031562503427267075, 'data_time': 0.008302146001369692, 'model_time': 0.7218483829929028, 'learning_rate': 5.796727667087611e-06, 'epoch': 39.71})
+Step 16500, Loss: {'mse_loss': 0.020000286400318146, 'mee_loss': 0.2538260519504547, 'totoal_loss': 0.022538546472787857, 'data_time': 0.010308961005648598, 'model_time': 0.7394245069881435, 'learning_rate': 5.735999513625984e-06, 'epoch': 39.95})
+Step 16600, Loss: {'mse_loss': 0.013332308270037174, 'mee_loss': 0.24470755457878113, 'totoal_loss': 0.01577938348054886, 'data_time': 0.007811355011654086, 'model_time': 0.7533337369968649, 'learning_rate': 5.675174876258223e-06, 'epoch': 40.19})
+Step 16700, Loss: {'mse_loss': 0.021885354071855545, 'mee_loss': 0.210576593875885, 'totoal_loss': 0.023991119116544724, 'data_time': 0.00879444599559065, 'model_time': 1.0862702680024086, 'learning_rate': 5.614263359899673e-06, 'epoch': 40.44})
+Step 16800, Loss: {'mse_loss': 0.02087039314210415, 'mee_loss': 0.22508816421031952, 'totoal_loss': 0.023121275007724762, 'data_time': 0.007901361997937784, 'model_time': 0.972412823990453, 'learning_rate': 5.553274583184875e-06, 'epoch': 40.68})
+Step 16900, Loss: {'mse_loss': 0.039991043508052826, 'mee_loss': 0.25221481919288635, 'totoal_loss': 0.04251319169998169, 'data_time': 0.006477268994785845, 'model_time': 0.7246156129986048, 'learning_rate': 5.492218176948673e-06, 'epoch': 40.92})
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+Step 22200, Loss: {'mse_loss': 0.02158784121274948, 'mee_loss': 0.2441129982471466, 'totoal_loss': 0.024028971791267395, 'data_time': 0.008640840009320527, 'model_time': 0.7326485539961141, 'learning_rate': 2.4102313696200853e-06, 'epoch': 53.75})
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+Step 22400, Loss: {'mse_loss': 0.016967548057436943, 'mee_loss': 0.1704133003950119, 'totoal_loss': 0.018671680241823196, 'data_time': 0.009775854006875306, 'model_time': 0.7020663389994297, 'learning_rate': 2.3093330708164465e-06, 'epoch': 54.24})
+Step 22500, Loss: {'mse_loss': 0.024831019341945648, 'mee_loss': 0.18529309332370758, 'totoal_loss': 0.026683950796723366, 'data_time': 0.008201265998650342, 'model_time': 0.7079092769999988, 'learning_rate': 2.2595468950741943e-06, 'epoch': 54.48})
+Step 22600, Loss: {'mse_loss': 0.01424355898052454, 'mee_loss': 0.18318477272987366, 'totoal_loss': 0.016075406223535538, 'data_time': 0.007826836008462124, 'model_time': 0.7127523110102629, 'learning_rate': 2.2102132075945974e-06, 'epoch': 54.72})
+Step 22700, Loss: {'mse_loss': 0.013587058521807194, 'mee_loss': 0.17677538096904755, 'totoal_loss': 0.015354812145233154, 'data_time': 0.00859897599730175, 'model_time': 0.8052445920038735, 'learning_rate': 2.1613397987388e-06, 'epoch': 54.96})
+Step 22800, Loss: {'mse_loss': 0.014389090240001678, 'mee_loss': 0.1527012139558792, 'totoal_loss': 0.01591610163450241, 'data_time': 0.0003791740018641576, 'model_time': 0.742521153006237, 'learning_rate': 2.1129343861846207e-06, 'epoch': 55.21})
+Step 22900, Loss: {'mse_loss': 0.008236060850322247, 'mee_loss': 0.15508389472961426, 'totoal_loss': 0.009786900132894516, 'data_time': 0.00040449100197292864, 'model_time': 0.7565223470010096, 'learning_rate': 2.065004613707836e-06, 'epoch': 55.45})
+Step 23000, Loss: {'mse_loss': 0.0155074717476964, 'mee_loss': 0.20192603766918182, 'totoal_loss': 0.01752673275768757, 'data_time': 0.000371841000742279, 'model_time': 0.748343131999718, 'learning_rate': 2.0175580499751375e-06, 'epoch': 55.69})
+Step 23100, Loss: {'mse_loss': 0.026415590196847916, 'mee_loss': 0.15243598818778992, 'totoal_loss': 0.027939949184656143, 'data_time': 0.0003284090053057298, 'model_time': 0.7299221909925109, 'learning_rate': 1.9706021873489604e-06, 'epoch': 55.93})
+Step 23200, Loss: {'mse_loss': 0.010459878481924534, 'mee_loss': 0.1855936497449875, 'totoal_loss': 0.012315815314650536, 'data_time': 0.0147546730004251, 'model_time': 0.7282290949951857, 'learning_rate': 1.924144440704338e-06, 'epoch': 56.17})
+Step 23300, Loss: {'mse_loss': 0.012108217924833298, 'mee_loss': 0.1718880534172058, 'totoal_loss': 0.013827098533511162, 'data_time': 0.015082346988492645, 'model_time': 0.7505538359982893, 'learning_rate': 1.8781921462580238e-06, 'epoch': 56.42})
+Step 23400, Loss: {'mse_loss': 0.01576361618936062, 'mee_loss': 0.20484986901283264, 'totoal_loss': 0.01781211420893669, 'data_time': 0.01816662099736277, 'model_time': 0.7022903259930899, 'learning_rate': 1.8327525604100058e-06, 'epoch': 56.66})
+Step 23500, Loss: {'mse_loss': 0.007341173943132162, 'mee_loss': 0.13480590283870697, 'totoal_loss': 0.008689233101904392, 'data_time': 0.01506090399925597, 'model_time': 0.7060872199945152, 'learning_rate': 1.7878328585976426e-06, 'epoch': 56.9})
+Step 23600, Loss: {'mse_loss': 0.013886461034417152, 'mee_loss': 0.18493768572807312, 'totoal_loss': 0.015735838562250137, 'data_time': 0.00035345899232197553, 'model_time': 0.7474772800051142, 'learning_rate': 1.7434401341625765e-06, 'epoch': 57.14})
+Step 23700, Loss: {'mse_loss': 0.012850877828896046, 'mee_loss': 0.18803566694259644, 'totoal_loss': 0.014731233939528465, 'data_time': 0.0003668710123747587, 'model_time': 0.7370275190041866, 'learning_rate': 1.6995813972306108e-06, 'epoch': 57.38})
+Step 23800, Loss: {'mse_loss': 0.014082150533795357, 'mee_loss': 0.18595702946186066, 'totoal_loss': 0.015941720455884933, 'data_time': 0.0003739259991561994, 'model_time': 0.7227217970066704, 'learning_rate': 1.656263573604734e-06, 'epoch': 57.63})
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+Step 28600, Loss: {'mse_loss': 0.015451356768608093, 'mee_loss': 0.16250698268413544, 'totoal_loss': 0.01707642711699009, 'data_time': 0.0003241950034862384, 'model_time': 0.7262627570016775, 'learning_rate': 3.2524886917012403e-07, 'epoch': 69.25})
+Step 28700, Loss: {'mse_loss': 0.00941966287791729, 'mee_loss': 0.14498130977153778, 'totoal_loss': 0.01086947601288557, 'data_time': 0.0003431009972700849, 'model_time': 0.7366823129996192, 'learning_rate': 3.149060219866433e-07, 'epoch': 69.49})
+Step 28800, Loss: {'mse_loss': 0.01771276630461216, 'mee_loss': 0.1767289936542511, 'totoal_loss': 0.019480057060718536, 'data_time': 0.00036730199644807726, 'model_time': 0.7189265100023476, 'learning_rate': 3.053227444026695e-07, 'epoch': 69.73})
+Step 28900, Loss: {'mse_loss': 0.007837883196771145, 'mee_loss': 0.12562300264835358, 'totoal_loss': 0.009094113484025002, 'data_time': 0.00041246401087846607, 'model_time': 0.7142820269946242, 'learning_rate': 2.9650054972882544e-07, 'epoch': 69.98})
+Step 29000, Loss: {'mse_loss': 0.012264116667211056, 'mee_loss': 0.16337554156780243, 'totoal_loss': 0.013897871598601341, 'data_time': 0.00036134099354967475, 'model_time': 0.7414739330124576, 'learning_rate': 2.884408310919209e-07, 'epoch': 70.22})
+Step 29100, Loss: {'mse_loss': 0.01102405320852995, 'mee_loss': 0.15568941831588745, 'totoal_loss': 0.012580947019159794, 'data_time': 0.0004027359973406419, 'model_time': 0.9741738290031208, 'learning_rate': 2.8114486121495906e-07, 'epoch': 70.46})
+Step 29200, Loss: {'mse_loss': 0.014696819707751274, 'mee_loss': 0.1572977900505066, 'totoal_loss': 0.016269797459244728, 'data_time': 0.00032397398899775, 'model_time': 0.7316817809914937, 'learning_rate': 2.746137922161617e-07, 'epoch': 70.7})
+Step 29300, Loss: {'mse_loss': 0.02525336667895317, 'mee_loss': 0.1524893045425415, 'totoal_loss': 0.026778260245919228, 'data_time': 0.0003391149948583916, 'model_time': 0.7342779660102678, 'learning_rate': 2.68848655427034e-07, 'epoch': 70.94})
+Step 29400, Loss: {'mse_loss': 0.010426965542137623, 'mee_loss': 0.14425787329673767, 'totoal_loss': 0.01186954416334629, 'data_time': 0.01357502098835539, 'model_time': 0.7388327460066648, 'learning_rate': 2.638503612295071e-07, 'epoch': 71.19})
+Step 29500, Loss: {'mse_loss': 0.014286727644503117, 'mee_loss': 0.1628974974155426, 'totoal_loss': 0.015915703028440475, 'data_time': 0.015300928003853187, 'model_time': 0.7674099520081654, 'learning_rate': 2.5961969891217614e-07, 'epoch': 71.43})
+Step 29600, Loss: {'mse_loss': 0.01796775870025158, 'mee_loss': 0.18101365864276886, 'totoal_loss': 0.019777895882725716, 'data_time': 0.01579562498955056, 'model_time': 0.6965282750024926, 'learning_rate': 2.5615733654566483e-07, 'epoch': 71.67})
+Step 29700, Loss: {'mse_loss': 0.012175586074590683, 'mee_loss': 0.1440856158733368, 'totoal_loss': 0.013616442680358887, 'data_time': 0.01718233599967789, 'model_time': 0.7931843560072593, 'learning_rate': 2.5346382087712764e-07, 'epoch': 71.91})
+Step 29800, Loss: {'mse_loss': 0.013499703258275986, 'mee_loss': 0.16251778602600098, 'totoal_loss': 0.015124880708754063, 'data_time': 0.022177281003678218, 'model_time': 0.7301109609979903, 'learning_rate': 2.515395772439128e-07, 'epoch': 72.15})
+Step 29900, Loss: {'mse_loss': 0.007389566861093044, 'mee_loss': 0.14731651544570923, 'totoal_loss': 0.008862731978297234, 'data_time': 0.02122890399186872, 'model_time': 0.7283818099967903, 'learning_rate': 2.5038490950639644e-07, 'epoch': 72.4})
+Step 30000, Loss: {'mse_loss': 0.0114537188783288, 'mee_loss': 0.1569906324148178, 'totoal_loss': 0.013023625127971172, 'data_time': 0.02548322700022254, 'model_time': 0.809660992003046, 'learning_rate': 2.5e-07, 'epoch': 72.64})