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libero_10_2B_mee1e-2/starvla_qwen_dual/config.json

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+{
+  "run_id": "starvla_qwen_dual",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_3/libero_10_2B_mee1e-2",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.01,
+  "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
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+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
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+    "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": {
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+      "betas": [
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+        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_3/libero_10_2B_mee1e-2/starvla_qwen_dual"
+}

libero_10_2B_mee1e-2/starvla_qwen_dual/dataset_statistics.json

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libero_10_2B_mee1e-2/starvla_qwen_dual/final_model/pytorch_model.pt

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+oid sha256:6757666f0b2627c96fdb255cd91a3b5153e966abe415a2b27c711f172e7807da
+size 5233814193

libero_10_2B_mee1e-2/starvla_qwen_dual/libero_10.log

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+Step 7900, Loss: {'mse_loss': 0.04959511011838913, 'mee_loss': 0.7197848558425903, 'totoal_loss': 0.04959511011838913, 'data_time': 0.02547444705851376, 'model_time': 0.7907362130936235, 'learning_rate': 9.679853594475985e-06, 'epoch': 10.03})
+Step 8000, Loss: {'mse_loss': 0.036334991455078125, 'mee_loss': 0.6224943399429321, 'totoal_loss': 0.036334991455078125, 'data_time': 0.022788019850850105, 'model_time': 0.7130723700392991, 'learning_rate': 9.657660368705225e-06, 'epoch': 10.15})
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+Step 8200, Loss: {'mse_loss': 0.044500965625047684, 'mee_loss': 0.6517370343208313, 'totoal_loss': 0.044500965625047684, 'data_time': 0.026088889921084046, 'model_time': 0.6885461201891303, 'learning_rate': 9.611130255908619e-06, 'epoch': 10.41})
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+Step 8400, Loss: {'mse_loss': 0.040291715413331985, 'mee_loss': 0.5931963324546814, 'totoal_loss': 0.040291715413331985, 'data_time': 0.01926956488750875, 'model_time': 0.7864861760754138, 'learning_rate': 9.561766607089355e-06, 'epoch': 10.66})
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+Step 8600, Loss: {'mse_loss': 0.030773313716053963, 'mee_loss': 0.5820069909095764, 'totoal_loss': 0.030773313716053963, 'data_time': 0.020520681980997324, 'model_time': 0.7443980588577688, 'learning_rate': 9.50960060138606e-06, 'epoch': 10.91})
+Step 8700, Loss: {'mse_loss': 0.04380548372864723, 'mee_loss': 0.638401985168457, 'totoal_loss': 0.04380548372864723, 'data_time': 0.009127348894253373, 'model_time': 0.7361581739969552, 'learning_rate': 9.482476942737411e-06, 'epoch': 11.04})
+Step 8800, Loss: {'mse_loss': 0.03420498967170715, 'mee_loss': 0.5840638875961304, 'totoal_loss': 0.03420498967170715, 'data_time': 0.010116377845406532, 'model_time': 0.8162794618401676, 'learning_rate': 9.45466518796603e-06, 'epoch': 11.17})
+Step 8900, Loss: {'mse_loss': 0.024125363677740097, 'mee_loss': 0.43760430812835693, 'totoal_loss': 0.024125363677740097, 'data_time': 0.008957066107541323, 'model_time': 0.738076978828758, 'learning_rate': 9.426169728870399e-06, 'epoch': 11.29})
+Step 9000, Loss: {'mse_loss': 0.053510881960392, 'mee_loss': 0.5825237035751343, 'totoal_loss': 0.053510881960392, 'data_time': 0.009403144009411335, 'model_time': 0.749271514127031, 'learning_rate': 9.396995065213835e-06, 'epoch': 11.42})
+Step 9100, Loss: {'mse_loss': 0.028650781139731407, 'mee_loss': 0.5122376084327698, 'totoal_loss': 0.028650781139731407, 'data_time': 0.007623783079907298, 'model_time': 0.7376635449472815, 'learning_rate': 9.367145804013938e-06, 'epoch': 11.55})
+Step 9200, Loss: {'mse_loss': 0.027451813220977783, 'mee_loss': 0.5029807686805725, 'totoal_loss': 0.027451813220977783, 'data_time': 0.009276475990191102, 'model_time': 0.7322612809948623, 'learning_rate': 9.336626658815071e-06, 'epoch': 11.68})
+Step 9300, Loss: {'mse_loss': 0.04284296929836273, 'mee_loss': 0.6118656396865845, 'totoal_loss': 0.04284296929836273, 'data_time': 0.009406130062416196, 'model_time': 0.7204271799419075, 'learning_rate': 9.305442448944056e-06, 'epoch': 11.8})
+Step 9400, Loss: {'mse_loss': 0.030840270221233368, 'mee_loss': 0.5493136644363403, 'totoal_loss': 0.030840270221233368, 'data_time': 0.009415704058483243, 'model_time': 0.7374726959969848, 'learning_rate': 9.273598098749124e-06, 'epoch': 11.93})
+Step 9500, Loss: {'mse_loss': 0.024828465655446053, 'mee_loss': 0.47880083322525024, 'totoal_loss': 0.024828465655446053, 'data_time': 0.024379221023991704, 'model_time': 0.708003886975348, 'learning_rate': 9.241098636822324e-06, 'epoch': 12.06})
+Step 9600, Loss: {'mse_loss': 0.03162641450762749, 'mee_loss': 0.5365383625030518, 'totoal_loss': 0.03162641450762749, 'data_time': 0.022653374820947647, 'model_time': 0.7387998329941183, 'learning_rate': 9.207949195205442e-06, 'epoch': 12.18})
+Step 9700, Loss: {'mse_loss': 0.03255855292081833, 'mee_loss': 0.5089928507804871, 'totoal_loss': 0.03255855292081833, 'data_time': 0.023772096959874034, 'model_time': 0.709689203184098, 'learning_rate': 9.174155008579588e-06, 'epoch': 12.31})
+Step 9800, Loss: {'mse_loss': 0.03738574683666229, 'mee_loss': 0.492351770401001, 'totoal_loss': 0.03738574683666229, 'data_time': 0.02298049908131361, 'model_time': 0.7211148389615119, 'learning_rate': 9.139721413438583e-06, 'epoch': 12.44})
+Step 9900, Loss: {'mse_loss': 0.04151101037859917, 'mee_loss': 0.6032481789588928, 'totoal_loss': 0.04151101037859917, 'data_time': 0.022294094087556005, 'model_time': 0.7123926270287484, 'learning_rate': 9.104653847246273e-06, 'epoch': 12.56})
+Step 10000, Loss: {'mse_loss': 0.026714416220784187, 'mee_loss': 0.5243533849716187, 'totoal_loss': 0.031957950443029404, 'data_time': 0.023178935050964355, 'model_time': 0.6994498579297215, 'learning_rate': 9.068957847577869e-06, 'epoch': 12.69})
+Step 10100, Loss: {'mse_loss': 0.03744198754429817, 'mee_loss': 0.6500216722488403, 'totoal_loss': 0.04394220560789108, 'data_time': 0.021670527989044785, 'model_time': 0.7775163080077618, 'learning_rate': 9.032639051245524e-06, 'epoch': 12.82})
+Step 10200, Loss: {'mse_loss': 0.024417104199528694, 'mee_loss': 0.44821739196777344, 'totoal_loss': 0.02889927849173546, 'data_time': 0.02300109784118831, 'model_time': 0.7343596168793738, 'learning_rate': 8.995703193408199e-06, 'epoch': 12.94})
+Step 10300, Loss: {'mse_loss': 0.04208363965153694, 'mee_loss': 0.5932990312576294, 'totoal_loss': 0.04801663011312485, 'data_time': 0.01709947711788118, 'model_time': 0.7347968998365104, 'learning_rate': 8.958156106666017e-06, 'epoch': 13.07})
+Step 10400, Loss: {'mse_loss': 0.02360091544687748, 'mee_loss': 0.4436902403831482, 'totoal_loss': 0.028037818148732185, 'data_time': 0.016245862934738398, 'model_time': 0.7147198440507054, 'learning_rate': 8.92000372013924e-06, 'epoch': 13.2})
+Step 10500, Loss: {'mse_loss': 0.031225061044096947, 'mee_loss': 0.4287182688713074, 'totoal_loss': 0.03551224246621132, 'data_time': 0.015360819874331355, 'model_time': 0.7247743660118431, 'learning_rate': 8.881252058531973e-06, 'epoch': 13.32})
+Step 10600, Loss: {'mse_loss': 0.04093967378139496, 'mee_loss': 0.6183455586433411, 'totoal_loss': 0.04712313041090965, 'data_time': 0.015643459046259522, 'model_time': 0.7262775739654899, 'learning_rate': 8.841907241180809e-06, 'epoch': 13.45})
+Step 10700, Loss: {'mse_loss': 0.03151634335517883, 'mee_loss': 0.4812515377998352, 'totoal_loss': 0.03632885962724686, 'data_time': 0.01891246298328042, 'model_time': 0.7879785418044776, 'learning_rate': 8.801975481088507e-06, 'epoch': 13.58})
+Step 10800, Loss: {'mse_loss': 0.0236403476446867, 'mee_loss': 0.4114052653312683, 'totoal_loss': 0.027754399925470352, 'data_time': 0.016718904953449965, 'model_time': 0.7163144201040268, 'learning_rate': 8.761463083942889e-06, 'epoch': 13.71})
+Step 10900, Loss: {'mse_loss': 0.03187020868062973, 'mee_loss': 0.40936124324798584, 'totoal_loss': 0.03596382215619087, 'data_time': 0.0163404350169003, 'model_time': 0.9645887180231512, 'learning_rate': 8.720376447121098e-06, 'epoch': 13.83})
+Step 11000, Loss: {'mse_loss': 0.03980433568358421, 'mee_loss': 0.6483407020568848, 'totoal_loss': 0.046287741512060165, 'data_time': 0.0003826289903372526, 'model_time': 0.8208250461611897, 'learning_rate': 8.678722058679382e-06, 'epoch': 13.96})
+Step 11100, Loss: {'mse_loss': 0.02973071299493313, 'mee_loss': 0.48416420817375183, 'totoal_loss': 0.034572355449199677, 'data_time': 0.007613642141222954, 'model_time': 0.7296034540049732, 'learning_rate': 8.636506496328546e-06, 'epoch': 14.09})
+Step 11200, Loss: {'mse_loss': 0.02743816003203392, 'mee_loss': 0.4602712094783783, 'totoal_loss': 0.03204087167978287, 'data_time': 0.008430871181190014, 'model_time': 0.7468461592216045, 'learning_rate': 8.593736426395268e-06, 'epoch': 14.21})
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+Step 15700, Loss: {'mse_loss': 0.020322322845458984, 'mee_loss': 0.33958712220191956, 'totoal_loss': 0.02371819317340851, 'data_time': 0.016528444830328226, 'model_time': 0.6947476321365684, 'learning_rate': 6.218319959628234e-06, 'epoch': 19.92})
+Step 15800, Loss: {'mse_loss': 0.02217855677008629, 'mee_loss': 0.3943953216075897, 'totoal_loss': 0.02612251043319702, 'data_time': 0.015388687839731574, 'model_time': 0.7302905730903149, 'learning_rate': 6.158534660870018e-06, 'epoch': 20.05})
+Step 15900, Loss: {'mse_loss': 0.03596024960279465, 'mee_loss': 0.39491263031959534, 'totoal_loss': 0.039909377694129944, 'data_time': 0.016393754165619612, 'model_time': 0.7271898710168898, 'learning_rate': 6.0985861550077345e-06, 'epoch': 20.18})
+Step 16000, Loss: {'mse_loss': 0.02730751410126686, 'mee_loss': 0.3634665906429291, 'totoal_loss': 0.030942179262638092, 'data_time': 0.023781508905813098, 'model_time': 0.7659968910738826, 'learning_rate': 6.0384839086054095e-06, 'epoch': 20.3})
+Step 16100, Loss: {'mse_loss': 0.0145414425060153, 'mee_loss': 0.28684622049331665, 'totoal_loss': 0.017409903928637505, 'data_time': 0.02143361885100603, 'model_time': 0.706557341851294, 'learning_rate': 5.978237412504472e-06, 'epoch': 20.43})
+Step 16200, Loss: {'mse_loss': 0.0194079652428627, 'mee_loss': 0.3162076771259308, 'totoal_loss': 0.022570041939616203, 'data_time': 0.017578972037881613, 'model_time': 0.7290586589369923, 'learning_rate': 5.917856180325059e-06, 'epoch': 20.56})
+Step 16300, Loss: {'mse_loss': 0.013140711933374405, 'mee_loss': 0.29451924562454224, 'totoal_loss': 0.016085904091596603, 'data_time': 0.016232383204624057, 'model_time': 0.7643656888976693, 'learning_rate': 5.857349746963692e-06, 'epoch': 20.69})
+Step 16400, Loss: {'mse_loss': 0.03818085417151451, 'mee_loss': 0.41942206025123596, 'totoal_loss': 0.042375072836875916, 'data_time': 0.015610420145094395, 'model_time': 0.7117391359061003, 'learning_rate': 5.796727667087611e-06, 'epoch': 20.81})
+Step 16500, Loss: {'mse_loss': 0.01872960291802883, 'mee_loss': 0.34374794363975525, 'totoal_loss': 0.022167082875967026, 'data_time': 0.017603800864890218, 'model_time': 0.7499140710569918, 'learning_rate': 5.735999513625984e-06, 'epoch': 20.94})
+Step 16600, Loss: {'mse_loss': 0.012391037307679653, 'mee_loss': 0.2593928873538971, 'totoal_loss': 0.01498496625572443, 'data_time': 0.009851571870967746, 'model_time': 0.72495719906874, 'learning_rate': 5.675174876258223e-06, 'epoch': 21.07})
+Step 16700, Loss: {'mse_loss': 0.028782015666365623, 'mee_loss': 0.32505175471305847, 'totoal_loss': 0.03203253448009491, 'data_time': 0.00785605888813734, 'model_time': 0.7553285900503397, 'learning_rate': 5.614263359899673e-06, 'epoch': 21.19})
+Step 16800, Loss: {'mse_loss': 0.026144521310925484, 'mee_loss': 0.40870749950408936, 'totoal_loss': 0.030231596902012825, 'data_time': 0.009868826949968934, 'model_time': 0.7231346759945154, 'learning_rate': 5.553274583184875e-06, 'epoch': 21.32})
+Step 16900, Loss: {'mse_loss': 0.03529469296336174, 'mee_loss': 0.35512015223503113, 'totoal_loss': 0.03884589299559593, 'data_time': 0.009529371978715062, 'model_time': 0.757646509911865, 'learning_rate': 5.492218176948673e-06, 'epoch': 21.45})
+Step 17000, Loss: {'mse_loss': 0.02470368891954422, 'mee_loss': 0.40160301327705383, 'totoal_loss': 0.028719719499349594, 'data_time': 0.008630147902294993, 'model_time': 0.762950865086168, 'learning_rate': 5.431103782705404e-06, 'epoch': 21.57})
+Step 17100, Loss: {'mse_loss': 0.017817281186580658, 'mee_loss': 0.36223506927490234, 'totoal_loss': 0.021439632400870323, 'data_time': 0.008542811032384634, 'model_time': 0.7322949578519911, 'learning_rate': 5.369941051126377e-06, 'epoch': 21.7})
+Step 17200, Loss: {'mse_loss': 0.011524122208356857, 'mee_loss': 0.26881659030914307, 'totoal_loss': 0.014212287962436676, 'data_time': 0.008847082033753395, 'model_time': 0.7350894268602133, 'learning_rate': 5.308739640515932e-06, 'epoch': 21.83})
+Step 17300, Loss: {'mse_loss': 0.010953369550406933, 'mee_loss': 0.24897237122058868, 'totoal_loss': 0.013443093746900558, 'data_time': 0.008671537041664124, 'model_time': 0.7224308480508626, 'learning_rate': 5.24750921528627e-06, 'epoch': 21.95})
+Step 17400, Loss: {'mse_loss': 0.023602474480867386, 'mee_loss': 0.2899458110332489, 'totoal_loss': 0.026501933112740517, 'data_time': 0.022518932120874524, 'model_time': 0.8050381501670927, 'learning_rate': 5.186259444431344e-06, 'epoch': 22.08})
+Step 17500, Loss: {'mse_loss': 0.02200045809149742, 'mee_loss': 0.3325497508049011, 'totoal_loss': 0.02532595582306385, 'data_time': 0.022988256998360157, 'model_time': 0.7125007871072739, 'learning_rate': 5.125e-06, 'epoch': 22.21})
+Step 17600, Loss: {'mse_loss': 0.015404137782752514, 'mee_loss': 0.3040976822376251, 'totoal_loss': 0.01844511553645134, 'data_time': 0.022089384961873293, 'model_time': 0.7487646720837802, 'learning_rate': 5.063740555568656e-06, 'epoch': 22.34})
+Step 17700, Loss: {'mse_loss': 0.009297548793256283, 'mee_loss': 0.2218281775712967, 'totoal_loss': 0.011515830643475056, 'data_time': 0.015223722904920578, 'model_time': 0.7182371439412236, 'learning_rate': 5.002490784713731e-06, 'epoch': 22.46})
+Step 17800, Loss: {'mse_loss': 0.015362630598247051, 'mee_loss': 0.2746749818325043, 'totoal_loss': 0.018109381198883057, 'data_time': 0.01510168006643653, 'model_time': 0.772141887806356, 'learning_rate': 4.9412603594840695e-06, 'epoch': 22.59})
+Step 17900, Loss: {'mse_loss': 0.01686045154929161, 'mee_loss': 0.2767018973827362, 'totoal_loss': 0.019627470523118973, 'data_time': 0.010404711123555899, 'model_time': 0.7495799090247601, 'learning_rate': 4.8800589488736245e-06, 'epoch': 22.72})
+Step 18000, Loss: {'mse_loss': 0.02293498069047928, 'mee_loss': 0.29379165172576904, 'totoal_loss': 0.02587289735674858, 'data_time': 0.009926322847604752, 'model_time': 0.7243042748887092, 'learning_rate': 4.818896217294598e-06, 'epoch': 22.84})
+Step 18100, Loss: {'mse_loss': 0.014944253489375114, 'mee_loss': 0.2547990083694458, 'totoal_loss': 0.017492244020104408, 'data_time': 0.009329994907602668, 'model_time': 0.7457915099803358, 'learning_rate': 4.757781823051329e-06, 'epoch': 22.97})
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+Step 22200, Loss: {'mse_loss': 0.020039154216647148, 'mee_loss': 0.31147053837776184, 'totoal_loss': 0.02315386012196541, 'data_time': 0.014354258077219129, 'model_time': 0.754078343976289, 'learning_rate': 2.4102313696200853e-06, 'epoch': 28.17})
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+Step 22700, Loss: {'mse_loss': 0.011182266287505627, 'mee_loss': 0.2029055505990982, 'totoal_loss': 0.013211322017014027, 'data_time': 0.019608492963016033, 'model_time': 0.7659352971240878, 'learning_rate': 2.1613397987388e-06, 'epoch': 28.81})
+Step 22800, Loss: {'mse_loss': 0.013001863844692707, 'mee_loss': 0.19828109443187714, 'totoal_loss': 0.014984674751758575, 'data_time': 0.016820270102471113, 'model_time': 0.7093036561273038, 'learning_rate': 2.1129343861846207e-06, 'epoch': 28.93})
+Step 22900, Loss: {'mse_loss': 0.007316038012504578, 'mee_loss': 0.1725822538137436, 'totoal_loss': 0.009041860699653625, 'data_time': 0.009886021027341485, 'model_time': 0.7065190819557756, 'learning_rate': 2.065004613707836e-06, 'epoch': 29.06})
+Step 23000, Loss: {'mse_loss': 0.006221118848770857, 'mee_loss': 0.15315571427345276, 'totoal_loss': 0.007752676028758287, 'data_time': 0.009538035839796066, 'model_time': 0.7306820030789822, 'learning_rate': 2.0175580499751375e-06, 'epoch': 29.19})
+Step 23100, Loss: {'mse_loss': 0.02390120178461075, 'mee_loss': 0.30403515696525574, 'totoal_loss': 0.026941552758216858, 'data_time': 0.01035755593329668, 'model_time': 0.742824143031612, 'learning_rate': 1.9706021873489604e-06, 'epoch': 29.31})
+Step 23200, Loss: {'mse_loss': 0.0076690660789608955, 'mee_loss': 0.17804549634456635, 'totoal_loss': 0.009449521079659462, 'data_time': 0.009172436082735658, 'model_time': 0.7421287519391626, 'learning_rate': 1.924144440704338e-06, 'epoch': 29.44})
+Step 23300, Loss: {'mse_loss': 0.013217626139521599, 'mee_loss': 0.23354142904281616, 'totoal_loss': 0.01555304042994976, 'data_time': 0.007983206072822213, 'model_time': 0.7954988179262727, 'learning_rate': 1.8781921462580238e-06, 'epoch': 29.57})
+Step 23400, Loss: {'mse_loss': 0.010539766401052475, 'mee_loss': 0.211368128657341, 'totoal_loss': 0.012653447687625885, 'data_time': 0.009090546052902937, 'model_time': 0.7555367639288306, 'learning_rate': 1.8327525604100058e-06, 'epoch': 29.7})
+Step 23500, Loss: {'mse_loss': 0.008227506652474403, 'mee_loss': 0.17692255973815918, 'totoal_loss': 0.009996732696890831, 'data_time': 0.008361060870811343, 'model_time': 0.7269716169685125, 'learning_rate': 1.7878328585976426e-06, 'epoch': 29.82})
+Step 23600, Loss: {'mse_loss': 0.014080743305385113, 'mee_loss': 0.2514128088951111, 'totoal_loss': 0.016594871878623962, 'data_time': 0.009630857035517693, 'model_time': 0.7461239630356431, 'learning_rate': 1.7434401341625765e-06, 'epoch': 29.95})
+Step 23700, Loss: {'mse_loss': 0.01225151028484106, 'mee_loss': 0.21631912887096405, 'totoal_loss': 0.014414701610803604, 'data_time': 0.009070700965821743, 'model_time': 0.7193103861063719, 'learning_rate': 1.6995813972306108e-06, 'epoch': 30.08})
+Step 23800, Loss: {'mse_loss': 0.010888662189245224, 'mee_loss': 0.23197416961193085, 'totoal_loss': 0.013208404183387756, 'data_time': 0.011692221974954009, 'model_time': 0.7155846119858325, 'learning_rate': 1.656263573604734e-06, 'epoch': 30.2})
+Step 23900, Loss: {'mse_loss': 0.013787636533379555, 'mee_loss': 0.2800622284412384, 'totoal_loss': 0.016588259488344193, 'data_time': 0.010179174831137061, 'model_time': 0.7528894250281155, 'learning_rate': 1.613493503671454e-06, 'epoch': 30.33})
+Step 24000, Loss: {'mse_loss': 0.021550200879573822, 'mee_loss': 0.23110772669315338, 'totoal_loss': 0.023861277848482132, 'data_time': 0.009189492790028453, 'model_time': 0.728866714052856, 'learning_rate': 1.5712779413206198e-06, 'epoch': 30.46})
+Step 24100, Loss: {'mse_loss': 0.016463257372379303, 'mee_loss': 0.2158975601196289, 'totoal_loss': 0.018622232601046562, 'data_time': 0.00851692515425384, 'model_time': 0.7235481778625399, 'learning_rate': 1.5296235528789028e-06, 'epoch': 30.58})
+Step 24200, Loss: {'mse_loss': 0.008150486275553703, 'mee_loss': 0.19835318624973297, 'totoal_loss': 0.010134018026292324, 'data_time': 0.009201700799167156, 'model_time': 0.7330848190467805, 'learning_rate': 1.4885369160571124e-06, 'epoch': 30.71})
+Step 24300, Loss: {'mse_loss': 0.014864549972116947, 'mee_loss': 0.21586738526821136, 'totoal_loss': 0.017023224383592606, 'data_time': 0.009157680906355381, 'model_time': 0.7474987329915166, 'learning_rate': 1.4480245189114938e-06, 'epoch': 30.84})
+Step 24400, Loss: {'mse_loss': 0.015788283199071884, 'mee_loss': 0.19307462871074677, 'totoal_loss': 0.017719030380249023, 'data_time': 0.007944780169054866, 'model_time': 0.7326979758217931, 'learning_rate': 1.408092758819191e-06, 'epoch': 30.96})
+Step 24500, Loss: {'mse_loss': 0.00742654874920845, 'mee_loss': 0.16892817616462708, 'totoal_loss': 0.009115830063819885, 'data_time': 0.009136812994256616, 'model_time': 0.7104998810682446, 'learning_rate': 1.368747941468028e-06, 'epoch': 31.09})
+Step 24600, Loss: {'mse_loss': 0.009859058074653149, 'mee_loss': 0.19093628227710724, 'totoal_loss': 0.011768421158194542, 'data_time': 0.01380864903330803, 'model_time': 0.7143654399551451, 'learning_rate': 1.3299962798607614e-06, 'epoch': 31.22})
+Step 24700, Loss: {'mse_loss': 0.01356882881373167, 'mee_loss': 0.23333117365837097, 'totoal_loss': 0.015902141109108925, 'data_time': 0.008544333977624774, 'model_time': 0.7011291899252683, 'learning_rate': 1.2918438933339827e-06, 'epoch': 31.35})
+Step 24800, Loss: {'mse_loss': 0.011995776556432247, 'mee_loss': 0.2137502133846283, 'totoal_loss': 0.014133278280496597, 'data_time': 0.009727722965180874, 'model_time': 0.7147287700790912, 'learning_rate': 1.2542968065918027e-06, 'epoch': 31.47})
+Step 24900, Loss: {'mse_loss': 0.009870437905192375, 'mee_loss': 0.2087138593196869, 'totoal_loss': 0.011957576498389244, 'data_time': 0.009640695992857218, 'model_time': 0.7256610589101911, 'learning_rate': 1.217360948754476e-06, 'epoch': 31.6})
+Step 25000, Loss: {'mse_loss': 0.006283218506723642, 'mee_loss': 0.15717774629592896, 'totoal_loss': 0.007854996249079704, 'data_time': 0.009137545945122838, 'model_time': 0.7702125399373472, 'learning_rate': 1.1810421524221318e-06, 'epoch': 31.73})
+Step 25100, Loss: {'mse_loss': 0.01775383949279785, 'mee_loss': 0.23159119486808777, 'totoal_loss': 0.020069751888513565, 'data_time': 0.00826693489216268, 'model_time': 0.7334135991986841, 'learning_rate': 1.1453461527537284e-06, 'epoch': 31.85})
+Step 25200, Loss: {'mse_loss': 0.01794380508363247, 'mee_loss': 0.21150583028793335, 'totoal_loss': 0.02005886286497116, 'data_time': 0.009265139000490308, 'model_time': 0.7651894590817392, 'learning_rate': 1.1102785865614162e-06, 'epoch': 31.98})
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+Step 28800, Loss: {'mse_loss': 0.016795936971902847, 'mee_loss': 0.2377392053604126, 'totoal_loss': 0.019173329696059227, 'data_time': 0.024368415120989084, 'model_time': 0.7122258991003036, 'learning_rate': 3.053227444026695e-07, 'epoch': 36.55})
+Step 28900, Loss: {'mse_loss': 0.019103994593024254, 'mee_loss': 0.26138460636138916, 'totoal_loss': 0.021717840805649757, 'data_time': 0.02308650896884501, 'model_time': 0.7019014100078493, 'learning_rate': 2.9650054972882544e-07, 'epoch': 36.68})
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+Step 29300, Loss: {'mse_loss': 0.023627324029803276, 'mee_loss': 0.20982125401496887, 'totoal_loss': 0.025725536048412323, 'data_time': 0.008855488151311874, 'model_time': 0.7503572651185095, 'learning_rate': 2.68848655427034e-07, 'epoch': 37.18})
+Step 29400, Loss: {'mse_loss': 0.006495789159089327, 'mee_loss': 0.15949647128582, 'totoal_loss': 0.00809075403958559, 'data_time': 0.009203420020639896, 'model_time': 0.7283015628345311, 'learning_rate': 2.638503612295071e-07, 'epoch': 37.31})
+Step 29500, Loss: {'mse_loss': 0.02045048214495182, 'mee_loss': 0.3104364275932312, 'totoal_loss': 0.02355484664440155, 'data_time': 0.008785615907981992, 'model_time': 0.7398995808325708, 'learning_rate': 2.5961969891217614e-07, 'epoch': 37.44})
+Step 29600, Loss: {'mse_loss': 0.010453871451318264, 'mee_loss': 0.184792622923851, 'totoal_loss': 0.012301797978579998, 'data_time': 0.00871561816893518, 'model_time': 0.772098584799096, 'learning_rate': 2.5615733654566483e-07, 'epoch': 37.56})
+Step 29700, Loss: {'mse_loss': 0.007338578812777996, 'mee_loss': 0.1754940152168274, 'totoal_loss': 0.009093519300222397, 'data_time': 0.010543657932430506, 'model_time': 0.7327781869098544, 'learning_rate': 2.5346382087712764e-07, 'epoch': 37.69})
+Step 29800, Loss: {'mse_loss': 0.007929403334856033, 'mee_loss': 0.17452700436115265, 'totoal_loss': 0.009674672968685627, 'data_time': 0.008422303013503551, 'model_time': 0.7349856430664659, 'learning_rate': 2.515395772439128e-07, 'epoch': 37.82})
+Step 29900, Loss: {'mse_loss': 0.005638070870190859, 'mee_loss': 0.13869412243366241, 'totoal_loss': 0.007025011815130711, 'data_time': 0.009125340962782502, 'model_time': 0.7565722609870136, 'learning_rate': 2.5038490950639644e-07, 'epoch': 37.94})
+Step 30000, Loss: {'mse_loss': 0.010629335418343544, 'mee_loss': 0.17316564917564392, 'totoal_loss': 0.012360991910099983, 'data_time': 0.014604398980736732, 'model_time': 0.7048210860230029, 'learning_rate': 2.5e-07, 'epoch': 38.07})

libero_10_2B_mee1e-2/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: False
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 14
+# successes: 13 (92.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 15
+# successes: 13 (86.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 16
+# successes: 14 (87.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 17
+# successes: 15 (88.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 18
+# successes: 16 (88.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 19
+# successes: 16 (84.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 20
+# successes: 17 (85.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 21
+# successes: 18 (85.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 22
+# successes: 19 (86.4%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 23
+# successes: 20 (87.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 24
+# successes: 21 (87.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 25
+# successes: 22 (88.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 26
+# successes: 23 (88.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 27
+# successes: 24 (88.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# 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: False
+# episodes completed so far: 36
+# successes: 32 (88.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 37
+# successes: 33 (89.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 38
+# successes: 34 (89.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 39
+# successes: 35 (89.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 40
+# successes: 36 (90.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 41
+# successes: 36 (87.8%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 42
+# successes: 36 (85.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 43
+# successes: 37 (86.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 44
+# successes: 38 (86.4%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 45
+# successes: 39 (86.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 46
+# successes: 40 (87.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 47
+# successes: 41 (87.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 48
+# successes: 42 (87.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 49
+# successes: 43 (87.8%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 50
+# successes: 43 (86.0%)
+Current task success rate: 0.86
+Current total success rate: 0.86
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 51
+# successes: 44 (86.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 52
+# successes: 45 (86.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 53
+# successes: 46 (86.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 54
+# successes: 47 (87.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 55
+# successes: 48 (87.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 56
+# successes: 49 (87.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 57
+# successes: 50 (87.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 58
+# successes: 51 (87.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 59
+# successes: 52 (88.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 60
+# successes: 53 (88.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 61
+# successes: 54 (88.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 62
+# successes: 55 (88.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 63
+# successes: 56 (88.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 64
+# successes: 57 (89.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 65
+# successes: 58 (89.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 66
+# successes: 59 (89.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 67
+# successes: 60 (89.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 68
+# successes: 61 (89.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 69
+# successes: 62 (89.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 70
+# successes: 63 (90.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 71
+# successes: 64 (90.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 72
+# successes: 65 (90.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 73
+# successes: 66 (90.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 74
+# successes: 67 (90.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 75
+# successes: 68 (90.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 76
+# successes: 69 (90.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 77
+# successes: 70 (90.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 78
+# successes: 71 (91.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 79
+# successes: 72 (91.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 80
+# successes: 73 (91.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 81
+# successes: 74 (91.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 82
+# successes: 75 (91.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 83
+# successes: 76 (91.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 84
+# successes: 77 (91.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 85
+# successes: 78 (91.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 86
+# successes: 79 (91.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 87
+# successes: 80 (92.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 88
+# successes: 81 (92.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 89
+# successes: 82 (92.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 90
+# successes: 83 (92.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 91
+# successes: 84 (92.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 92
+# successes: 85 (92.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 93
+# successes: 86 (92.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 94
+# successes: 87 (92.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 95
+# successes: 88 (92.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 96
+# successes: 89 (92.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 97
+# successes: 90 (92.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 98
+# successes: 91 (92.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 99
+# successes: 92 (92.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 100
+# successes: 93 (93.0%)
+Current task success rate: 1.0
+Current total success rate: 0.93
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 101
+# successes: 94 (93.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 102
+# successes: 95 (93.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 103
+# successes: 96 (93.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 104
+# successes: 97 (93.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 105
+# successes: 98 (93.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 106
+# successes: 99 (93.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 107
+# successes: 100 (93.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 108
+# successes: 101 (93.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 109
+# successes: 102 (93.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 110
+# successes: 103 (93.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 111
+# successes: 104 (93.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 112
+# successes: 105 (93.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 113
+# successes: 106 (93.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 114
+# successes: 107 (93.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 115
+# successes: 108 (93.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 116
+# successes: 109 (94.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 117
+# successes: 110 (94.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 118
+# successes: 111 (94.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 119
+# successes: 112 (94.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 120
+# successes: 113 (94.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 121
+# successes: 114 (94.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 122
+# successes: 115 (94.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 123
+# successes: 116 (94.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 124
+# successes: 117 (94.4%)
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+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 125
+# successes: 118 (94.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 126
+# successes: 119 (94.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: False
+# episodes completed so far: 127
+# successes: 119 (93.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 128
+# successes: 120 (93.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 129
+# successes: 121 (93.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 130
+# successes: 122 (93.8%)
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+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 131
+# successes: 123 (93.9%)
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+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 132
+# successes: 124 (93.9%)
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+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 133
+# successes: 125 (94.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 134
+# successes: 126 (94.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 135
+# successes: 127 (94.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 136
+# successes: 128 (94.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 137
+# successes: 129 (94.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 138
+# successes: 130 (94.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 139
+# successes: 131 (94.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 140
+# successes: 132 (94.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 141
+# successes: 133 (94.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 142
+# successes: 134 (94.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 143
+# successes: 135 (94.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 144
+# successes: 136 (94.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 145
+# successes: 137 (94.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 146
+# successes: 138 (94.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 147
+# successes: 139 (94.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 148
+# successes: 140 (94.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 149
+# successes: 141 (94.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 150
+# successes: 142 (94.7%)
+Current task success rate: 0.98
+Current total success rate: 0.9466666666666667
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 151
+# successes: 143 (94.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 152
+# successes: 144 (94.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 153
+# successes: 145 (94.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
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+# episodes completed so far: 154
+# successes: 146 (94.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 155
+# successes: 147 (94.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 156
+# successes: 148 (94.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 157
+# successes: 149 (94.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 158
+# successes: 150 (94.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 159
+# successes: 151 (95.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 160
+# successes: 152 (95.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 161
+# successes: 153 (95.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 162
+# successes: 154 (95.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 163
+# successes: 155 (95.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 164
+# successes: 156 (95.1%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 165
+# successes: 157 (95.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 166
+# successes: 158 (95.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 167
+# successes: 159 (95.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 168
+# successes: 160 (95.2%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
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+# episodes completed so far: 169
+# successes: 161 (95.3%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 170
+# successes: 162 (95.3%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 171
+# successes: 163 (95.3%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 172
+# successes: 164 (95.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
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+# episodes completed so far: 173
+# successes: 165 (95.4%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 174
+# successes: 166 (95.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 175
+# successes: 167 (95.4%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 176
+# successes: 168 (95.5%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 177
+# successes: 169 (95.5%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 178
+# successes: 170 (95.5%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
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+# episodes completed so far: 179
+# successes: 171 (95.5%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 180
+# successes: 172 (95.6%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 181
+# successes: 173 (95.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 182
+# successes: 174 (95.6%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 183
+# successes: 175 (95.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 184
+# successes: 176 (95.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 185
+# successes: 177 (95.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 186
+# successes: 178 (95.7%)
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+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 187
+# successes: 179 (95.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 188
+# successes: 180 (95.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 189
+# successes: 181 (95.8%)
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+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: 1.0
+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: True
+# episodes completed so far: 206
+# successes: 198 (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: 207
+# successes: 199 (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: 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: False
+# episodes completed so far: 210
+# successes: 200 (95.2%)
+
+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: 201 (95.3%)
+
+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: 202 (95.3%)
+
+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: 203 (95.3%)
+
+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: 204 (95.3%)
+
+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: 215
+# successes: 205 (95.3%)
+
+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: 216
+# successes: 206 (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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+# successes: 207 (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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+# successes: 208 (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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+# successes: 209 (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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+# successes: 210 (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: 211 (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: 212 (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: 213 (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: 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
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+# successes: 220 (95.7%)
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+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: 221 (95.7%)
+
+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: 222 (95.7%)
+
+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: 223 (95.7%)
+
+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: 224 (95.7%)
+
+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: 225 (95.7%)
+
+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: 226 (95.8%)
+
+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: 227 (95.8%)
+
+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: 228 (95.8%)
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+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: 229 (95.8%)
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+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: 230 (95.8%)
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+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: 231 (95.9%)
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+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 (95.9%)
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+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: 233 (95.9%)
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+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: 234 (95.9%)
+
+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: 235 (95.9%)
+
+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: 236 (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: 237 (96.0%)
+
+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: 238 (96.0%)
+
+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: 249
+# successes: 239 (96.0%)
+
+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: 250
+# successes: 239 (95.6%)
+Current task success rate: 0.94
+Current total success rate: 0.956
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 251
+# successes: 240 (95.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 252
+# successes: 241 (95.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 253
+# successes: 242 (95.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 243 (95.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 244 (95.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 245 (95.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 246 (95.7%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 247 (95.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 248 (95.8%)
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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: 260
+# successes: 249 (95.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 250 (95.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 251 (95.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 252 (95.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 253 (95.8%)
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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 (95.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 255 (95.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 256 (95.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 257 (95.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 259 (95.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 260 (95.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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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 (96.0%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 263 (96.0%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 264 (96.0%)
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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 (96.0%)
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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 (96.0%)
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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 (96.0%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 269 (96.1%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 270 (96.1%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 271 (96.1%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 273 (96.1%)
+
+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: 274 (96.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 275 (96.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 276 (96.2%)
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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: 277 (96.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 278 (96.2%)
+
+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: 279 (96.2%)
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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: 280 (96.2%)
+
+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: 281 (96.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 282 (96.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 294
+# successes: 283 (96.3%)
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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: 284 (96.3%)
+
+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: 285 (96.3%)
+
+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: 286 (96.3%)
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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: 298
+# successes: 287 (96.3%)
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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: 288 (96.3%)
+
+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: 289 (96.3%)
+Current task success rate: 1.0
+Current total success rate: 0.9633333333333334
+
+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: 290 (96.3%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 291 (96.4%)
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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: 292 (96.4%)
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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: 293 (96.4%)
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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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+# episodes completed so far: 305
+# successes: 294 (96.4%)
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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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+# episodes completed so far: 306
+# successes: 295 (96.4%)
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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: 296 (96.4%)
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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: 297 (96.4%)
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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: 298 (96.4%)
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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: 299 (96.5%)
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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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+# successes: 300 (96.5%)
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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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+# successes: 301 (96.5%)
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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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+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: 305 (96.5%)
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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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+# successes: 306 (96.5%)
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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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+# successes: 307 (96.5%)
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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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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 310 (96.6%)
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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: 310 (96.3%)
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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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+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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+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: 321 (96.4%)
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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: 328 (96.5%)
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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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+# successes: 329 (96.5%)
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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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+# successes: 330 (96.5%)
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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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+# successes: 331 (96.5%)
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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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+# successes: 332 (96.5%)
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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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+# successes: 333 (96.5%)
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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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+# episodes completed so far: 346
+# successes: 334 (96.5%)
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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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+# episodes completed so far: 347
+# successes: 335 (96.5%)
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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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+# episodes completed so far: 348
+# successes: 336 (96.6%)
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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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+# episodes completed so far: 349
+# successes: 337 (96.6%)
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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: 338 (96.6%)
+Current task success rate: 0.98
+Current total success rate: 0.9657142857142857
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 351
+# successes: 339 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 352
+# successes: 340 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 353
+# successes: 341 (96.6%)
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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: 354
+# successes: 342 (96.6%)
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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: 343 (96.6%)
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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: 356
+# successes: 344 (96.6%)
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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: 357
+# successes: 345 (96.6%)
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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: 358
+# successes: 346 (96.6%)
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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: 359
+# successes: 347 (96.7%)
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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: 360
+# successes: 348 (96.7%)
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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: 361
+# successes: 349 (96.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 362
+# successes: 349 (96.4%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 363
+# successes: 350 (96.4%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 364
+# successes: 351 (96.4%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 365
+# successes: 352 (96.4%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 366
+# successes: 353 (96.4%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 367
+# successes: 354 (96.5%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 368
+# successes: 355 (96.5%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 369
+# successes: 356 (96.5%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 370
+# successes: 357 (96.5%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 371
+# successes: 358 (96.5%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 372
+# successes: 359 (96.5%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 373
+# successes: 360 (96.5%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 374
+# successes: 361 (96.5%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 375
+# successes: 362 (96.5%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 376
+# successes: 363 (96.5%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 377
+# successes: 364 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 378
+# successes: 365 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 379
+# successes: 366 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 380
+# successes: 367 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 381
+# successes: 368 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 382
+# successes: 369 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 383
+# successes: 370 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 384
+# successes: 371 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 385
+# successes: 372 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 386
+# successes: 373 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 387
+# successes: 374 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 388
+# successes: 375 (96.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 389
+# successes: 376 (96.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 390
+# successes: 377 (96.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 391
+# successes: 378 (96.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 392
+# successes: 379 (96.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 393
+# successes: 380 (96.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 394
+# successes: 381 (96.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 395
+# successes: 382 (96.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 396
+# successes: 383 (96.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 397
+# successes: 384 (96.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 398
+# successes: 385 (96.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 399
+# successes: 386 (96.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 400
+# successes: 387 (96.8%)
+Current task success rate: 0.98
+Current total success rate: 0.9675
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 401
+# successes: 388 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 402
+# successes: 389 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 403
+# successes: 390 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 404
+# successes: 391 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 405
+# successes: 392 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 406
+# successes: 393 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 407
+# successes: 394 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 408
+# successes: 395 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 409
+# successes: 396 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 410
+# successes: 397 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 411
+# successes: 398 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 412
+# successes: 399 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 413
+# successes: 400 (96.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 414
+# successes: 401 (96.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 415
+# successes: 402 (96.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 416
+# successes: 403 (96.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 417
+# successes: 404 (96.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 418
+# successes: 405 (96.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 419
+# successes: 406 (96.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 420
+# successes: 407 (96.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 421
+# successes: 408 (96.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 422
+# successes: 409 (96.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 423
+# successes: 410 (96.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 424
+# successes: 411 (96.9%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 425
+# successes: 411 (96.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 426
+# successes: 412 (96.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 427
+# successes: 413 (96.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 428
+# successes: 414 (96.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 429
+# successes: 415 (96.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 430
+# successes: 416 (96.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 431
+# successes: 417 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 432
+# successes: 418 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 433
+# successes: 419 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 434
+# successes: 420 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 435
+# successes: 421 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 436
+# successes: 422 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 437
+# successes: 423 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 438
+# successes: 424 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 439
+# successes: 425 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 440
+# successes: 426 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 441
+# successes: 427 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 442
+# successes: 428 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 443
+# successes: 429 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 444
+# successes: 430 (96.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 445
+# successes: 431 (96.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 446
+# successes: 432 (96.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 447
+# successes: 433 (96.9%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 448
+# successes: 433 (96.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 449
+# successes: 434 (96.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 450
+# successes: 435 (96.7%)
+Current task success rate: 0.96
+Current total success rate: 0.9666666666666667
+
+Task: put the yellow and white mug in the microwave and close it
+Success: False
+# episodes completed so far: 451
+# successes: 435 (96.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 452
+# successes: 436 (96.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 453
+# successes: 437 (96.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 454
+# successes: 438 (96.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 455
+# successes: 439 (96.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 456
+# successes: 440 (96.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 457
+# successes: 441 (96.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 458
+# successes: 442 (96.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 459
+# successes: 443 (96.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 460
+# successes: 444 (96.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 461
+# successes: 445 (96.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 462
+# successes: 446 (96.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 463
+# successes: 447 (96.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 464
+# successes: 448 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 465
+# successes: 449 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 466
+# successes: 450 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 467
+# successes: 451 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 468
+# successes: 452 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 469
+# successes: 453 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 470
+# successes: 454 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 471
+# successes: 455 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 472
+# successes: 456 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 473
+# successes: 457 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 474
+# successes: 458 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 475
+# successes: 459 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 476
+# successes: 460 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 477
+# successes: 461 (96.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 478
+# successes: 462 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 479
+# successes: 463 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 480
+# successes: 464 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 481
+# successes: 465 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 482
+# successes: 466 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 483
+# successes: 467 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 484
+# successes: 468 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 485
+# successes: 469 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 486
+# successes: 470 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 487
+# successes: 471 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 488
+# successes: 472 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 489
+# successes: 473 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 490
+# successes: 474 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 491
+# successes: 475 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 492
+# successes: 476 (96.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 493
+# successes: 477 (96.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 494
+# successes: 478 (96.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 495
+# successes: 479 (96.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 496
+# successes: 480 (96.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 497
+# successes: 481 (96.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 498
+# successes: 482 (96.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 499
+# successes: 483 (96.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 500
+# successes: 484 (96.8%)
+Current task success rate: 0.98
+Current total success rate: 0.968

libero_goal_2B_mee1e1/starvla_qwen_dual/config.json

@@ -0,0 +1,129 @@
+{
+  "run_id": "starvla_qwen_dual",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_3/libero_goal_2B_mee1e1",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 10.0,
+  "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-L",
+      "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
+    },
+    "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,
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+}

libero_goal_2B_mee1e1/starvla_qwen_dual/dataset_statistics.json

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libero_goal_2B_mee1e1/starvla_qwen_dual/final_model/pytorch_model.pt

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+# episodes completed so far: 144
+# successes: 142 (98.6%)
+
+Task: put the wine bottle on top of the cabinet
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+# successes: 143 (98.6%)
+
+Task: put the wine bottle on top of the cabinet
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+# episodes completed so far: 146
+# successes: 144 (98.6%)
+
+Task: put the wine bottle on top of the cabinet
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+# episodes completed so far: 147
+# successes: 145 (98.6%)
+
+Task: put the wine bottle on top of the cabinet
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+# successes: 145 (98.0%)
+
+Task: put the wine bottle on top of the cabinet
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+# successes: 146 (98.0%)
+
+Task: put the wine bottle on top of the cabinet
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+# episodes completed so far: 150
+# successes: 147 (98.0%)
+Current task success rate: 0.94
+Current total success rate: 0.98
+
+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 151
+# successes: 148 (98.0%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 149 (98.0%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 150 (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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+# successes: 156 (98.1%)
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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: 180 (97.3%)
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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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+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 (96.8%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 184 (96.8%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 184 (96.3%)
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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 (96.4%)
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+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 194
+# successes: 187 (96.4%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 188 (96.4%)
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+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 196
+# successes: 189 (96.4%)
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+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 197
+# successes: 190 (96.4%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 191 (96.5%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 191 (96.0%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 192 (96.0%)
+Current task success rate: 0.9
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+Task: put the bowl on top of the cabinet
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+# successes: 193 (96.0%)
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+Task: put the bowl on top of the cabinet
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+# successes: 194 (96.0%)
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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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+# successes: 196 (96.1%)
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+Task: put the bowl on top of the cabinet
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+# successes: 197 (96.1%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 206
+# successes: 198 (96.1%)
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+Task: put the bowl on top of the cabinet
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+# successes: 199 (96.1%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 208
+# successes: 200 (96.2%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 209
+# successes: 201 (96.2%)
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+Task: put the bowl on top of the cabinet
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+# successes: 202 (96.2%)
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+Task: put the bowl on top of the cabinet
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+# successes: 203 (96.2%)
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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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+# successes: 236 (96.7%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 245
+# successes: 237 (96.7%)
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+Task: put the bowl on top of the cabinet
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+# successes: 238 (96.7%)
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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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+# successes: 240 (96.8%)
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+Task: put the bowl on top of the cabinet
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+# successes: 241 (96.8%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 250
+# successes: 242 (96.8%)
+Current task success rate: 1.0
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+Task: push the plate to the front of the stove
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+# successes: 243 (96.8%)
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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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+# successes: 251 (96.9%)
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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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+# successes: 277 (97.2%)
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+Task: push the plate to the front of the stove
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+# successes: 278 (97.2%)
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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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+# successes: 280 (97.2%)
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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: 290
+# successes: 282 (97.2%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 291
+# successes: 283 (97.3%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 292
+# successes: 284 (97.3%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 293
+# successes: 285 (97.3%)
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+Task: push the plate to the front of the stove
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+# successes: 286 (97.3%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 295
+# successes: 287 (97.3%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 296
+# successes: 288 (97.3%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 297
+# successes: 289 (97.3%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 298
+# successes: 290 (97.3%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 299
+# successes: 291 (97.3%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 300
+# successes: 292 (97.3%)
+Current task success rate: 1.0
+Current total success rate: 0.9733333333333334
+
+Task: put the cream cheese in the bowl
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+# episodes completed so far: 301
+# successes: 292 (97.0%)
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+Task: put the cream cheese in the bowl
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+# successes: 293 (97.0%)
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+Task: put the cream cheese in the bowl
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+# successes: 294 (97.0%)
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+Task: put the cream cheese in the bowl
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+# successes: 295 (97.0%)
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+Task: put the cream cheese in the bowl
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+# successes: 296 (97.0%)
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+Task: put the cream cheese in the bowl
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+# successes: 297 (97.1%)
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+Task: put the cream cheese in the bowl
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+# successes: 298 (97.1%)
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+Task: put the cream cheese in the bowl
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+# successes: 299 (97.1%)
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+Task: put the cream cheese in the bowl
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+# episodes completed so far: 309
+# successes: 300 (97.1%)
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+Task: put the cream cheese in the bowl
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+# episodes completed so far: 310
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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: 309 (97.2%)
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+Task: put the cream cheese in the bowl
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+# successes: 310 (97.2%)
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+Task: put the cream cheese in the bowl
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+# successes: 311 (97.2%)
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+Task: put the cream cheese in the bowl
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+# successes: 312 (97.2%)
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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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+# episodes completed so far: 323
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+Task: put the cream cheese in the bowl
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+# successes: 315 (97.2%)
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+Task: put the cream cheese in the bowl
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+# episodes completed so far: 325
+# successes: 316 (97.2%)
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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: 472 (97.7%)
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+# successes: 473 (97.7%)
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+# successes: 474 (97.7%)
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+Task: put the wine bottle on the rack
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+Task: put the wine bottle on the rack
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+# successes: 477 (97.7%)
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+Task: put the wine bottle on the rack
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+# successes: 477 (97.5%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 490
+# successes: 478 (97.6%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 491
+# successes: 479 (97.6%)
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+Task: put the wine bottle on the rack
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+# successes: 480 (97.6%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 493
+# successes: 481 (97.6%)
+
+Task: put the wine bottle on the rack
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+# episodes completed so far: 494
+# successes: 482 (97.6%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 495
+# successes: 483 (97.6%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 496
+# successes: 484 (97.6%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 497
+# successes: 485 (97.6%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 498
+# successes: 486 (97.6%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 499
+# successes: 487 (97.6%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 500
+# successes: 488 (97.6%)
+Current task success rate: 0.96
+Current total success rate: 0.976

libero_goal_2B_mee1e1/starvla_qwen_dual/libero_goal.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.1074929237365723, 'mee_loss': 6.073934078216553, 'totoal_loss': 1.1074929237365723, 'data_time': 0.016925030970014632, 'model_time': 0.9790153909707442, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.25})
+Step 200, Loss: {'mse_loss': 0.7642120718955994, 'mee_loss': 5.599535942077637, 'totoal_loss': 0.7642120718955994, 'data_time': 0.016202362021431327, 'model_time': 0.9844741099514067, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.49})
+Step 300, Loss: {'mse_loss': 0.5568580031394958, 'mee_loss': 4.771164417266846, 'totoal_loss': 0.5568580031394958, 'data_time': 0.014446796965785325, 'model_time': 0.9956448340089992, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.74})
+Step 400, Loss: {'mse_loss': 0.42077210545539856, 'mee_loss': 4.219897270202637, 'totoal_loss': 0.42077210545539856, 'data_time': 0.014907025964930654, 'model_time': 0.9531437429832295, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.99})
+Step 500, Loss: {'mse_loss': 0.3149944841861725, 'mee_loss': 3.4648687839508057, 'totoal_loss': 0.3149944841861725, 'data_time': 0.008436233038082719, 'model_time': 0.9795471089892089, 'learning_rate': 1.0000000000000002e-06, 'epoch': 1.23})
+Step 600, Loss: {'mse_loss': 0.23316113650798798, 'mee_loss': 2.7196195125579834, 'totoal_loss': 0.23316113650798798, 'data_time': 0.008190038031898439, 'model_time': 1.012686118017882, 'learning_rate': 1.2000000000000002e-06, 'epoch': 1.48})
+Step 700, Loss: {'mse_loss': 0.24553027749061584, 'mee_loss': 2.5186514854431152, 'totoal_loss': 0.24553027749061584, 'data_time': 0.008878248976543546, 'model_time': 0.9846632889239118, 'learning_rate': 1.4000000000000001e-06, 'epoch': 1.72})
+Step 800, Loss: {'mse_loss': 0.24836911261081696, 'mee_loss': 2.4562387466430664, 'totoal_loss': 0.24836911261081696, 'data_time': 0.010423772968351841, 'model_time': 1.0113333360059187, 'learning_rate': 1.6000000000000001e-06, 'epoch': 1.97})
+Step 900, Loss: {'mse_loss': 0.10514334589242935, 'mee_loss': 1.587968111038208, 'totoal_loss': 0.10514334589242935, 'data_time': 0.02154707198496908, 'model_time': 0.9530444139381871, 'learning_rate': 1.8000000000000001e-06, 'epoch': 2.22})
+Step 1000, Loss: {'mse_loss': 0.10718918591737747, 'mee_loss': 1.5037059783935547, 'totoal_loss': 0.10718918591737747, 'data_time': 0.0209393649129197, 'model_time': 0.9641091950470582, 'learning_rate': 2.0000000000000003e-06, 'epoch': 2.46})
+Step 1100, Loss: {'mse_loss': 0.07904238998889923, 'mee_loss': 1.3222784996032715, 'totoal_loss': 0.07904238998889923, 'data_time': 0.02082347695250064, 'model_time': 0.9639410800300539, 'learning_rate': 2.2e-06, 'epoch': 2.71})
+Step 1200, Loss: {'mse_loss': 0.1296556293964386, 'mee_loss': 1.6495676040649414, 'totoal_loss': 0.1296556293964386, 'data_time': 0.02162583393510431, 'model_time': 0.9542949569877237, 'learning_rate': 2.4000000000000003e-06, 'epoch': 2.96})
+Step 1300, Loss: {'mse_loss': 0.14395712316036224, 'mee_loss': 1.7545380592346191, 'totoal_loss': 0.14395712316036224, 'data_time': 0.00827778794337064, 'model_time': 1.0575146480696276, 'learning_rate': 2.6e-06, 'epoch': 3.2})
+Step 1400, Loss: {'mse_loss': 0.12128293514251709, 'mee_loss': 1.6394277811050415, 'totoal_loss': 0.12128293514251709, 'data_time': 0.009507829090580344, 'model_time': 0.9837496500695124, 'learning_rate': 2.8000000000000003e-06, 'epoch': 3.45})
+Step 1500, Loss: {'mse_loss': 0.15316817164421082, 'mee_loss': 1.7969155311584473, 'totoal_loss': 0.15316817164421082, 'data_time': 0.008361343992874026, 'model_time': 0.9634736690204591, 'learning_rate': 3e-06, 'epoch': 3.69})
+Step 1600, Loss: {'mse_loss': 0.09326928108930588, 'mee_loss': 1.4402996301651, 'totoal_loss': 0.09326928108930588, 'data_time': 0.00869648705702275, 'model_time': 0.9713541169185191, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.94})
+Step 1700, Loss: {'mse_loss': 0.1167401447892189, 'mee_loss': 1.44608736038208, 'totoal_loss': 0.1167401447892189, 'data_time': 0.008346020011231303, 'model_time': 0.9960735869826749, 'learning_rate': 3.4000000000000005e-06, 'epoch': 4.19})
+Step 1800, Loss: {'mse_loss': 0.07709845900535583, 'mee_loss': 1.093320369720459, 'totoal_loss': 0.07709845900535583, 'data_time': 0.008387077949009836, 'model_time': 0.9800381270470098, 'learning_rate': 3.6000000000000003e-06, 'epoch': 4.43})
+Step 1900, Loss: {'mse_loss': 0.10935693979263306, 'mee_loss': 1.5110092163085938, 'totoal_loss': 0.10935693979263306, 'data_time': 0.0074512079590931535, 'model_time': 0.9884530719136819, 'learning_rate': 3.8000000000000005e-06, 'epoch': 4.68})
+Step 2000, Loss: {'mse_loss': 0.08853830397129059, 'mee_loss': 1.3376963138580322, 'totoal_loss': 0.08853830397129059, 'data_time': 0.009295294061303139, 'model_time': 1.0088623999617994, 'learning_rate': 4.000000000000001e-06, 'epoch': 4.93})
+Step 2100, Loss: {'mse_loss': 0.09085970371961594, 'mee_loss': 1.330214023590088, 'totoal_loss': 0.09085970371961594, 'data_time': 0.0002861620159819722, 'model_time': 0.9868908539647236, 'learning_rate': 4.2000000000000004e-06, 'epoch': 5.17})
+Step 2200, Loss: {'mse_loss': 0.11622298508882523, 'mee_loss': 1.3625195026397705, 'totoal_loss': 0.11622298508882523, 'data_time': 0.0002785800024867058, 'model_time': 0.9739880790002644, 'learning_rate': 4.4e-06, 'epoch': 5.42})
+Step 2300, Loss: {'mse_loss': 0.12997733056545258, 'mee_loss': 1.3568756580352783, 'totoal_loss': 0.12997733056545258, 'data_time': 0.0003210189752280712, 'model_time': 1.0377863829489797, 'learning_rate': 4.600000000000001e-06, 'epoch': 5.67})
+Step 2400, Loss: {'mse_loss': 0.08672276884317398, 'mee_loss': 1.1969667673110962, 'totoal_loss': 0.08672276884317398, 'data_time': 0.00032263004686683416, 'model_time': 0.9730801400728524, 'learning_rate': 4.800000000000001e-06, 'epoch': 5.91})
+Step 2500, Loss: {'mse_loss': 0.07194733619689941, 'mee_loss': 1.115365743637085, 'totoal_loss': 0.07194733619689941, 'data_time': 0.024440223001874983, 'model_time': 1.0010147410212085, 'learning_rate': 5e-06, 'epoch': 6.16})
+Step 2600, Loss: {'mse_loss': 0.12349895387887955, 'mee_loss': 1.3000291585922241, 'totoal_loss': 0.12349895387887955, 'data_time': 0.022862158017233014, 'model_time': 1.0624110649805516, 'learning_rate': 5.2e-06, 'epoch': 6.4})
+Step 2700, Loss: {'mse_loss': 0.09092138707637787, 'mee_loss': 1.0653722286224365, 'totoal_loss': 0.09092138707637787, 'data_time': 0.021946605062112212, 'model_time': 0.9673402290791273, 'learning_rate': 5.400000000000001e-06, 'epoch': 6.65})
+Step 2800, Loss: {'mse_loss': 0.07509179413318634, 'mee_loss': 1.0312455892562866, 'totoal_loss': 0.07509179413318634, 'data_time': 0.02088963706046343, 'model_time': 1.0012772269546986, 'learning_rate': 5.600000000000001e-06, 'epoch': 6.9})
+Step 2900, Loss: {'mse_loss': 0.07186203449964523, 'mee_loss': 1.0431751012802124, 'totoal_loss': 0.07186203449964523, 'data_time': 0.00029514601919800043, 'model_time': 1.006429031956941, 'learning_rate': 5.8e-06, 'epoch': 7.14})
+Step 3000, Loss: {'mse_loss': 0.0660700723528862, 'mee_loss': 1.0697312355041504, 'totoal_loss': 0.0660700723528862, 'data_time': 0.0002772769657894969, 'model_time': 1.0158267739461735, 'learning_rate': 6e-06, 'epoch': 7.39})
+Step 3100, Loss: {'mse_loss': 0.04938992112874985, 'mee_loss': 0.7829785943031311, 'totoal_loss': 0.04938992112874985, 'data_time': 0.0003735451027750969, 'model_time': 0.9811320500448346, 'learning_rate': 6.200000000000001e-06, 'epoch': 7.64})
+Step 3200, Loss: {'mse_loss': 0.0672190710902214, 'mee_loss': 0.9243298768997192, 'totoal_loss': 0.0672190710902214, 'data_time': 0.00031211692839860916, 'model_time': 0.9825145109789446, 'learning_rate': 6.4000000000000006e-06, 'epoch': 7.88})
+Step 3300, Loss: {'mse_loss': 0.0427091009914875, 'mee_loss': 0.7132357954978943, 'totoal_loss': 0.0427091009914875, 'data_time': 0.015968564082868397, 'model_time': 0.9736289110733196, 'learning_rate': 6.600000000000001e-06, 'epoch': 8.13})
+Step 3400, Loss: {'mse_loss': 0.07515506446361542, 'mee_loss': 0.9683436751365662, 'totoal_loss': 0.07515506446361542, 'data_time': 0.017986665945500135, 'model_time': 0.9856240410590544, 'learning_rate': 6.800000000000001e-06, 'epoch': 8.37})
+Step 3500, Loss: {'mse_loss': 0.09096355736255646, 'mee_loss': 1.1444095373153687, 'totoal_loss': 0.09096355736255646, 'data_time': 0.01692189008463174, 'model_time': 1.083639579010196, 'learning_rate': 7e-06, 'epoch': 8.62})
+Step 3600, Loss: {'mse_loss': 0.06723359227180481, 'mee_loss': 0.9661694765090942, 'totoal_loss': 0.06723359227180481, 'data_time': 0.016200133017264307, 'model_time': 1.023223634925671, 'learning_rate': 7.2000000000000005e-06, 'epoch': 8.87})
+Step 3700, Loss: {'mse_loss': 0.048761796206235886, 'mee_loss': 0.7849138975143433, 'totoal_loss': 0.048761796206235886, 'data_time': 0.007688640966080129, 'model_time': 0.9708595219999552, 'learning_rate': 7.4e-06, 'epoch': 9.11})
+Step 3800, Loss: {'mse_loss': 0.049519170075654984, 'mee_loss': 0.7883972525596619, 'totoal_loss': 0.049519170075654984, 'data_time': 0.008508565020747483, 'model_time': 1.0179208930348977, 'learning_rate': 7.600000000000001e-06, 'epoch': 9.36})
+Step 3900, Loss: {'mse_loss': 0.05991487205028534, 'mee_loss': 0.8882505297660828, 'totoal_loss': 0.05991487205028534, 'data_time': 0.008174804970622063, 'model_time': 0.979689753963612, 'learning_rate': 7.800000000000002e-06, 'epoch': 9.61})
+Step 4000, Loss: {'mse_loss': 0.04980406537652016, 'mee_loss': 0.7824143171310425, 'totoal_loss': 0.04980406537652016, 'data_time': 0.007955768029205501, 'model_time': 0.965625761076808, 'learning_rate': 8.000000000000001e-06, 'epoch': 9.85})
+Step 4100, Loss: {'mse_loss': 0.07255224138498306, 'mee_loss': 0.9443912506103516, 'totoal_loss': 0.07255224138498306, 'data_time': 0.014715477009303868, 'model_time': 1.008010201039724, 'learning_rate': 8.2e-06, 'epoch': 10.1})
+Step 4200, Loss: {'mse_loss': 0.033534955233335495, 'mee_loss': 0.5644902586936951, 'totoal_loss': 0.033534955233335495, 'data_time': 0.014678138075396419, 'model_time': 1.0010307399788871, 'learning_rate': 8.400000000000001e-06, 'epoch': 10.34})
+Step 4300, Loss: {'mse_loss': 0.056414976716041565, 'mee_loss': 0.9160414934158325, 'totoal_loss': 0.056414976716041565, 'data_time': 0.013450533035211265, 'model_time': 0.9940971300238743, 'learning_rate': 8.6e-06, 'epoch': 10.59})
+Step 4400, Loss: {'mse_loss': 0.06634103506803513, 'mee_loss': 0.8523572683334351, 'totoal_loss': 0.06634103506803513, 'data_time': 0.013322676066309214, 'model_time': 0.9775462290272117, 'learning_rate': 8.8e-06, 'epoch': 10.84})
+Step 4500, Loss: {'mse_loss': 0.060213908553123474, 'mee_loss': 0.7690557241439819, 'totoal_loss': 0.060213908553123474, 'data_time': 0.007940770010463893, 'model_time': 1.0526877640513703, 'learning_rate': 9e-06, 'epoch': 11.08})
+Step 4600, Loss: {'mse_loss': 0.04914668947458267, 'mee_loss': 0.7795600891113281, 'totoal_loss': 0.04914668947458267, 'data_time': 0.007120552007108927, 'model_time': 0.9680012840544805, 'learning_rate': 9.200000000000002e-06, 'epoch': 11.33})
+Step 4700, Loss: {'mse_loss': 0.03944867476820946, 'mee_loss': 0.6987102627754211, 'totoal_loss': 0.03944867476820946, 'data_time': 0.007641051081009209, 'model_time': 1.2789870150154456, 'learning_rate': 9.4e-06, 'epoch': 11.58})
+Step 4800, Loss: {'mse_loss': 0.06488826870918274, 'mee_loss': 0.8307468295097351, 'totoal_loss': 0.06488826870918274, 'data_time': 0.008343517896719277, 'model_time': 1.0853576159570366, 'learning_rate': 9.600000000000001e-06, 'epoch': 11.82})
+Step 4900, Loss: {'mse_loss': 0.04892081394791603, 'mee_loss': 0.7356992363929749, 'totoal_loss': 0.04892081394791603, 'data_time': 0.016761042992584407, 'model_time': 0.9942310740007088, 'learning_rate': 9.800000000000001e-06, 'epoch': 12.07})
+Step 5000, Loss: {'mse_loss': 0.06636565178632736, 'mee_loss': 0.736092746257782, 'totoal_loss': 7.427293300628662, 'data_time': 0.015973271103575826, 'model_time': 1.0826656109420583, 'learning_rate': 1e-05, 'epoch': 12.32})
+Step 5100, Loss: {'mse_loss': 0.041824933141469955, 'mee_loss': 0.6524479389190674, 'totoal_loss': 6.5663042068481445, 'data_time': 0.017105423961766064, 'model_time': 0.9835313680814579, 'learning_rate': 9.999615090493604e-06, 'epoch': 12.56})
+Step 5200, Loss: {'mse_loss': 0.04398767277598381, 'mee_loss': 0.6946954727172852, 'totoal_loss': 6.990942478179932, 'data_time': 0.017954968963749707, 'model_time': 0.9759130169404671, 'learning_rate': 9.998460422756089e-06, 'epoch': 12.81})
+Step 5300, Loss: {'mse_loss': 0.04089238867163658, 'mee_loss': 0.6940955519676208, 'totoal_loss': 6.981848239898682, 'data_time': 0.01074905600398779, 'model_time': 0.9564077679533511, 'learning_rate': 9.996536179122874e-06, 'epoch': 13.05})
+Step 5400, Loss: {'mse_loss': 0.037934329360723495, 'mee_loss': 0.6263721585273743, 'totoal_loss': 6.3016557693481445, 'data_time': 0.0069060970563441515, 'model_time': 0.9783004630589858, 'learning_rate': 9.993842663454337e-06, 'epoch': 13.3})
+Step 5500, Loss: {'mse_loss': 0.04936278238892555, 'mee_loss': 0.6563258171081543, 'totoal_loss': 6.612620830535889, 'data_time': 0.010277837980538607, 'model_time': 1.0066014629555866, 'learning_rate': 9.990380301087824e-06, 'epoch': 13.55})
+Step 5600, Loss: {'mse_loss': 0.045487694442272186, 'mee_loss': 0.6361663937568665, 'totoal_loss': 6.407151699066162, 'data_time': 0.007303766091354191, 'model_time': 0.9701021960936487, 'learning_rate': 9.986149638770493e-06, 'epoch': 13.79})
+Step 5700, Loss: {'mse_loss': 0.07528744637966156, 'mee_loss': 0.8051215410232544, 'totoal_loss': 8.126502990722656, 'data_time': 0.016802781028673053, 'model_time': 0.9908458060817793, 'learning_rate': 9.981151344572967e-06, 'epoch': 14.04})
+Step 5800, Loss: {'mse_loss': 0.039241690188646317, 'mee_loss': 0.6312232613563538, 'totoal_loss': 6.351474285125732, 'data_time': 0.01639837003313005, 'model_time': 1.0677361770067364, 'learning_rate': 9.975386207783839e-06, 'epoch': 14.29})
+Step 5900, Loss: {'mse_loss': 0.03375159204006195, 'mee_loss': 0.5467233657836914, 'totoal_loss': 5.500985145568848, 'data_time': 0.01294086896814406, 'model_time': 1.0080307609168813, 'learning_rate': 9.968855138785041e-06, 'epoch': 14.53})
+Step 6000, Loss: {'mse_loss': 0.030773084610700607, 'mee_loss': 0.5099565386772156, 'totoal_loss': 5.130338668823242, 'data_time': 0.018619511043652892, 'model_time': 0.9817945860559121, 'learning_rate': 9.961559168908081e-06, 'epoch': 14.78})
+Step 6100, Loss: {'mse_loss': 0.04712832346558571, 'mee_loss': 0.6945223808288574, 'totoal_loss': 6.99235200881958, 'data_time': 0.000361741054803133, 'model_time': 1.01030153199099, 'learning_rate': 9.953499450271174e-06, 'epoch': 15.02})
+Step 6200, Loss: {'mse_loss': 0.052193090319633484, 'mee_loss': 0.6668814420700073, 'totoal_loss': 6.721007823944092, 'data_time': 0.00030005001462996006, 'model_time': 0.9792459219461307, 'learning_rate': 9.944677255597332e-06, 'epoch': 15.27})
+Step 6300, Loss: {'mse_loss': 0.05420035496354103, 'mee_loss': 0.6801278591156006, 'totoal_loss': 6.855478763580322, 'data_time': 0.0002718560863286257, 'model_time': 1.0158919859677553, 'learning_rate': 9.935093978013357e-06, 'epoch': 15.52})
+Step 6400, Loss: {'mse_loss': 0.04883180558681488, 'mee_loss': 0.6190254092216492, 'totoal_loss': 6.239086151123047, 'data_time': 0.00033716403413563967, 'model_time': 0.9903872290160507, 'learning_rate': 9.924751130829878e-06, 'epoch': 15.76})
+Step 6500, Loss: {'mse_loss': 0.043254729360342026, 'mee_loss': 0.6623309254646301, 'totoal_loss': 6.666563987731934, 'data_time': 0.008900588029064238, 'model_time': 0.9898252750281245, 'learning_rate': 9.91365034730236e-06, 'epoch': 16.01})
+Step 6600, Loss: {'mse_loss': 0.05008680745959282, 'mee_loss': 0.6099239587783813, 'totoal_loss': 6.149326324462891, 'data_time': 0.00935996905900538, 'model_time': 1.0047314580297098, 'learning_rate': 9.901793380373204e-06, 'epoch': 16.26})
+Step 6700, Loss: {'mse_loss': 0.04796334728598595, 'mee_loss': 0.5147104263305664, 'totoal_loss': 5.195067405700684, 'data_time': 0.00748055602889508, 'model_time': 0.9696188839152455, 'learning_rate': 9.889182102394944e-06, 'epoch': 16.5})
+Step 6800, Loss: {'mse_loss': 0.05398384481668472, 'mee_loss': 0.6116641759872437, 'totoal_loss': 6.170625686645508, 'data_time': 0.007628016057424247, 'model_time': 0.9819681530352682, 'learning_rate': 9.875818504834564e-06, 'epoch': 16.75})
+Step 6900, Loss: {'mse_loss': 0.04661818966269493, 'mee_loss': 0.5432274341583252, 'totoal_loss': 5.4788923263549805, 'data_time': 0.007674293941818178, 'model_time': 0.9599528870312497, 'learning_rate': 9.861704697959036e-06, 'epoch': 17.0})
+Step 7000, Loss: {'mse_loss': 0.02828446589410305, 'mee_loss': 0.4716634452342987, 'totoal_loss': 4.7449188232421875, 'data_time': 0.0003085189964622259, 'model_time': 1.0016426499933004, 'learning_rate': 9.846842910502077e-06, 'epoch': 17.24})
+Step 7100, Loss: {'mse_loss': 0.04304084926843643, 'mee_loss': 0.5490319132804871, 'totoal_loss': 5.533360004425049, 'data_time': 0.0002870860043913126, 'model_time': 0.9888066559797153, 'learning_rate': 9.831235489312212e-06, 'epoch': 17.49})
+Step 7200, Loss: {'mse_loss': 0.03842129930853844, 'mee_loss': 0.494046688079834, 'totoal_loss': 4.978888034820557, 'data_time': 0.00030444201547652483, 'model_time': 1.0097219530725852, 'learning_rate': 9.814884898982168e-06, 'epoch': 17.73})
+Step 7300, Loss: {'mse_loss': 0.045764703303575516, 'mee_loss': 0.6699144244194031, 'totoal_loss': 6.744909286499023, 'data_time': 0.0002496880479156971, 'model_time': 0.9338406739989296, 'learning_rate': 9.797793721459709e-06, 'epoch': 17.98})
+Step 7400, Loss: {'mse_loss': 0.046129826456308365, 'mee_loss': 0.5058209896087646, 'totoal_loss': 5.104339599609375, 'data_time': 0.028114798944443464, 'model_time': 1.015468310099095, 'learning_rate': 9.779964655639886e-06, 'epoch': 18.23})
+Step 7500, Loss: {'mse_loss': 0.044629357755184174, 'mee_loss': 0.5296835899353027, 'totoal_loss': 5.341465473175049, 'data_time': 0.029042099020443857, 'model_time': 0.9890403299359605, 'learning_rate': 9.761400516938874e-06, 'epoch': 18.47})
+Step 7600, Loss: {'mse_loss': 0.03978486731648445, 'mee_loss': 0.5958148241043091, 'totoal_loss': 5.9979329109191895, 'data_time': 0.030763203976675868, 'model_time': 0.9607054610969499, 'learning_rate': 9.74210423684938e-06, 'epoch': 18.72})
+Step 7700, Loss: {'mse_loss': 0.048326525837183, 'mee_loss': 0.5083247423171997, 'totoal_loss': 5.131573677062988, 'data_time': 0.027966783964075148, 'model_time': 0.9732155259698629, 'learning_rate': 9.722078862477715e-06, 'epoch': 18.97})
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+Step 12800, Loss: {'mse_loss': 0.03504500910639763, 'mee_loss': 0.5244846343994141, 'totoal_loss': 5.279891490936279, 'data_time': 0.000366477994248271, 'model_time': 0.9657399989664555, 'learning_rate': 7.839768630379917e-06, 'epoch': 31.53})
+Step 12900, Loss: {'mse_loss': 0.03819998726248741, 'mee_loss': 0.4398142099380493, 'totoal_loss': 4.436341762542725, 'data_time': 0.00039002299308776855, 'model_time': 0.9797734969761223, 'learning_rate': 7.788672440329562e-06, 'epoch': 31.77})
+Step 13000, Loss: {'mse_loss': 0.05592925474047661, 'mee_loss': 0.48642706871032715, 'totoal_loss': 4.920199871063232, 'data_time': 0.008893930003978312, 'model_time': 0.9796634740196168, 'learning_rate': 7.737155625522608e-06, 'epoch': 32.02})
+Step 13100, Loss: {'mse_loss': 0.05041234940290451, 'mee_loss': 0.439080148935318, 'totoal_loss': 4.441213607788086, 'data_time': 0.008520686998963356, 'model_time': 0.9792132549919188, 'learning_rate': 7.685226321061318e-06, 'epoch': 32.27})
+Step 13200, Loss: {'mse_loss': 0.021286631003022194, 'mee_loss': 0.3015797734260559, 'totoal_loss': 3.0370843410491943, 'data_time': 0.007491115015000105, 'model_time': 1.0030729270074517, 'learning_rate': 7.632892727184844e-06, 'epoch': 32.51})
+Step 13300, Loss: {'mse_loss': 0.03874262049794197, 'mee_loss': 0.3740560710430145, 'totoal_loss': 3.7793033123016357, 'data_time': 0.007541441940702498, 'model_time': 1.0694101570406929, 'learning_rate': 7.580163107974335e-06, 'epoch': 32.76})
+Step 13400, Loss: {'mse_loss': 0.031639110296964645, 'mee_loss': 0.43112698197364807, 'totoal_loss': 4.34290885925293, 'data_time': 0.00037871801760047674, 'model_time': 1.0937734050676227, 'learning_rate': 7.527045790047922e-06, 'epoch': 33.0})
+Step 13500, Loss: {'mse_loss': 0.042645856738090515, 'mee_loss': 0.3449360132217407, 'totoal_loss': 3.4920060634613037, 'data_time': 0.0002965099411085248, 'model_time': 0.9720922580454499, 'learning_rate': 7.473549161245862e-06, 'epoch': 33.25})
+Step 13600, Loss: {'mse_loss': 0.021877506747841835, 'mee_loss': 0.33843570947647095, 'totoal_loss': 3.4062345027923584, 'data_time': 0.0002861010143533349, 'model_time': 0.9578002060297877, 'learning_rate': 7.419681669305998e-06, 'epoch': 33.5})
+Step 13700, Loss: {'mse_loss': 0.0342295877635479, 'mee_loss': 0.37674838304519653, 'totoal_loss': 3.801713228225708, 'data_time': 0.0003175280289724469, 'model_time': 0.995334982057102, 'learning_rate': 7.365451820529756e-06, 'epoch': 33.74})
+Step 13800, Loss: {'mse_loss': 0.023296033963561058, 'mee_loss': 0.2914038598537445, 'totoal_loss': 2.9373347759246826, 'data_time': 0.00024604599457234144, 'model_time': 0.9457175360294059, 'learning_rate': 7.310868178438909e-06, 'epoch': 33.99})
+Step 13900, Loss: {'mse_loss': 0.03924326226115227, 'mee_loss': 0.42787864804267883, 'totoal_loss': 4.318029880523682, 'data_time': 0.02376007300335914, 'model_time': 0.9853037280263379, 'learning_rate': 7.2559393624232985e-06, 'epoch': 34.24})
+Step 14000, Loss: {'mse_loss': 0.02036793902516365, 'mee_loss': 0.3192051947116852, 'totoal_loss': 3.2124197483062744, 'data_time': 0.02206023596227169, 'model_time': 0.9995901350630447, 'learning_rate': 7.2006740463797296e-06, 'epoch': 34.48})
+Step 14100, Loss: {'mse_loss': 0.040257349610328674, 'mee_loss': 0.446632981300354, 'totoal_loss': 4.506587028503418, 'data_time': 0.020759462960995734, 'model_time': 1.0319748570909724, 'learning_rate': 7.145080957342262e-06, 'epoch': 34.73})
+Step 14200, Loss: {'mse_loss': 0.035553835332393646, 'mee_loss': 0.3325996398925781, 'totoal_loss': 3.3615503311157227, 'data_time': 0.021711446926929057, 'model_time': 0.9763377010822296, 'learning_rate': 7.0891688741041065e-06, 'epoch': 34.98})
+Step 14300, Loss: {'mse_loss': 0.028675027191638947, 'mee_loss': 0.29034224152565, 'totoal_loss': 2.9320974349975586, 'data_time': 0.01413013506680727, 'model_time': 0.9727667549159378, 'learning_rate': 7.032946625831363e-06, 'epoch': 35.22})
+Step 14400, Loss: {'mse_loss': 0.02385956421494484, 'mee_loss': 0.3000235855579376, 'totoal_loss': 3.024095296859741, 'data_time': 0.013429122976958752, 'model_time': 0.9862071279203519, 'learning_rate': 6.976423090668781e-06, 'epoch': 35.47})
+Step 14500, Loss: {'mse_loss': 0.028661856427788734, 'mee_loss': 0.3824222683906555, 'totoal_loss': 3.852884531021118, 'data_time': 0.014824672020040452, 'model_time': 0.9797256130259484, 'learning_rate': 6.919607194337806e-06, 'epoch': 35.71})
+Step 14600, Loss: {'mse_loss': 0.025300992652773857, 'mee_loss': 0.31596288084983826, 'totoal_loss': 3.184929847717285, 'data_time': 0.013557097990997136, 'model_time': 1.0067672219593078, 'learning_rate': 6.8625079087270976e-06, 'epoch': 35.96})
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+Step 14900, Loss: {'mse_loss': 0.03961774334311485, 'mee_loss': 0.47545382380485535, 'totoal_loss': 4.794155597686768, 'data_time': 0.007995381020009518, 'model_time': 1.0263061280129477, 'learning_rate': 6.6896000978101465e-06, 'epoch': 36.7})
+Step 15000, Loss: {'mse_loss': 0.015327262692153454, 'mee_loss': 0.3129906952381134, 'totoal_loss': 3.1452341079711914, 'data_time': 0.008819523034617305, 'model_time': 1.010007580043748, 'learning_rate': 6.631457847577869e-06, 'epoch': 36.95})
+Step 15100, Loss: {'mse_loss': 0.025455109775066376, 'mee_loss': 0.41932669281959534, 'totoal_loss': 4.218721866607666, 'data_time': 0.00030347099527716637, 'model_time': 1.0688353879377246, 'learning_rate': 6.573077710188046e-06, 'epoch': 37.19})
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+Step 16400, Loss: {'mse_loss': 0.021305788308382034, 'mee_loss': 0.3010924458503723, 'totoal_loss': 3.0322301387786865, 'data_time': 0.021526209078729153, 'model_time': 0.9708441409748048, 'learning_rate': 5.796727667087611e-06, 'epoch': 40.39})
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+Step 16800, Loss: {'mse_loss': 0.027016902342438698, 'mee_loss': 0.28510770201683044, 'totoal_loss': 2.878093957901001, 'data_time': 0.00027609197422862053, 'model_time': 0.9925222860183567, 'learning_rate': 5.553274583184875e-06, 'epoch': 41.38})
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+Step 17100, Loss: {'mse_loss': 0.01947900280356407, 'mee_loss': 0.2724214196205139, 'totoal_loss': 2.7436931133270264, 'data_time': 0.007465873030014336, 'model_time': 1.0945085759740323, 'learning_rate': 5.369941051126377e-06, 'epoch': 42.12})
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+Step 17300, Loss: {'mse_loss': 0.008100437931716442, 'mee_loss': 0.18908993899822235, 'totoal_loss': 1.898999810218811, 'data_time': 0.009250459959730506, 'model_time': 1.0006297500804067, 'learning_rate': 5.24750921528627e-06, 'epoch': 42.61})
+Step 17400, Loss: {'mse_loss': 0.027324128895998, 'mee_loss': 0.27712297439575195, 'totoal_loss': 2.798553943634033, 'data_time': 0.007628927938640118, 'model_time': 0.9748734750319272, 'learning_rate': 5.186259444431344e-06, 'epoch': 42.86})
+Step 17500, Loss: {'mse_loss': 0.011619514785706997, 'mee_loss': 0.22182795405387878, 'totoal_loss': 2.2298991680145264, 'data_time': 0.0002755579771474004, 'model_time': 0.9973613569745794, 'learning_rate': 5.125e-06, 'epoch': 43.1})
+Step 17600, Loss: {'mse_loss': 0.015103601850569248, 'mee_loss': 0.26038822531700134, 'totoal_loss': 2.618985891342163, 'data_time': 0.0003293990157544613, 'model_time': 0.9898510149214417, 'learning_rate': 5.063740555568656e-06, 'epoch': 43.35})
+Step 17700, Loss: {'mse_loss': 0.023532114923000336, 'mee_loss': 0.28223881125450134, 'totoal_loss': 2.8459203243255615, 'data_time': 0.00028171995654702187, 'model_time': 1.0005100260023028, 'learning_rate': 5.002490784713731e-06, 'epoch': 43.6})
+Step 17800, Loss: {'mse_loss': 0.021122314035892487, 'mee_loss': 0.2851622402667999, 'totoal_loss': 2.872744560241699, 'data_time': 0.0002785740653052926, 'model_time': 0.980532533954829, 'learning_rate': 4.9412603594840695e-06, 'epoch': 43.84})
+Step 17900, Loss: {'mse_loss': 0.017226912081241608, 'mee_loss': 0.29009300470352173, 'totoal_loss': 2.918156862258911, 'data_time': 0.015778370085172355, 'model_time': 1.0202700849622488, 'learning_rate': 4.8800589488736245e-06, 'epoch': 44.09})
+Step 18000, Loss: {'mse_loss': 0.04895753785967827, 'mee_loss': 0.3591882288455963, 'totoal_loss': 3.6408398151397705, 'data_time': 0.015664880978874862, 'model_time': 0.9932489349739626, 'learning_rate': 4.818896217294598e-06, 'epoch': 44.33})
+Step 18100, Loss: {'mse_loss': 0.01629621535539627, 'mee_loss': 0.20114484429359436, 'totoal_loss': 2.0277445316314697, 'data_time': 0.01893541298341006, 'model_time': 0.9665193650871515, 'learning_rate': 4.757781823051329e-06, 'epoch': 44.58})
+Step 18200, Loss: {'mse_loss': 0.027918698266148567, 'mee_loss': 0.2845354378223419, 'totoal_loss': 2.8732731342315674, 'data_time': 0.01556735800113529, 'model_time': 0.9739663240034133, 'learning_rate': 4.696725416815128e-06, 'epoch': 44.83})
+Step 18300, Loss: {'mse_loss': 0.0073617808520793915, 'mee_loss': 0.1680084466934204, 'totoal_loss': 1.6874462366104126, 'data_time': 0.007365239085629582, 'model_time': 0.99062330997549, 'learning_rate': 4.635736640100327e-06, 'epoch': 45.07})
+Step 18400, Loss: {'mse_loss': 0.02939809113740921, 'mee_loss': 0.3442087769508362, 'totoal_loss': 3.4714858531951904, 'data_time': 0.008553120074793696, 'model_time': 0.9732444040710106, 'learning_rate': 4.574825123741778e-06, 'epoch': 45.32})
+Step 18500, Loss: {'mse_loss': 0.0175156369805336, 'mee_loss': 0.22004911303520203, 'totoal_loss': 2.2180068492889404, 'data_time': 0.010266566998325288, 'model_time': 0.9968098159879446, 'learning_rate': 4.5140004863740165e-06, 'epoch': 45.57})
+Step 18600, Loss: {'mse_loss': 0.017531637102365494, 'mee_loss': 0.2565322518348694, 'totoal_loss': 2.5828540325164795, 'data_time': 0.00851182104088366, 'model_time': 1.0643241190118715, 'learning_rate': 4.45327233291239e-06, 'epoch': 45.81})
+Step 18700, Loss: {'mse_loss': 0.017282020300626755, 'mee_loss': 0.24214859306812286, 'totoal_loss': 2.438767910003662, 'data_time': 0.020896821981295943, 'model_time': 0.9867146699689329, 'learning_rate': 4.39265025303631e-06, 'epoch': 46.06})
+Step 18800, Loss: {'mse_loss': 0.023237254470586777, 'mee_loss': 0.279966801404953, 'totoal_loss': 2.8229053020477295, 'data_time': 0.02265052101574838, 'model_time': 0.9960600980557501, 'learning_rate': 4.332143819674943e-06, 'epoch': 46.31})
+Step 18900, Loss: {'mse_loss': 0.0078408969566226, 'mee_loss': 0.17984935641288757, 'totoal_loss': 1.8063344955444336, 'data_time': 0.02151004900224507, 'model_time': 0.9638753770850599, 'learning_rate': 4.271762587495529e-06, 'epoch': 46.55})
+Step 19000, Loss: {'mse_loss': 0.01906283013522625, 'mee_loss': 0.22351382672786713, 'totoal_loss': 2.2542009353637695, 'data_time': 0.022805253975093365, 'model_time': 0.968309895019047, 'learning_rate': 4.2115160913945914e-06, 'epoch': 46.8})
+Step 19100, Loss: {'mse_loss': 0.02551189996302128, 'mee_loss': 0.26365599036216736, 'totoal_loss': 2.662071943283081, 'data_time': 0.009046880062669516, 'model_time': 1.0454988399287686, 'learning_rate': 4.151413844992267e-06, 'epoch': 47.04})
+Step 19200, Loss: {'mse_loss': 0.009585203602910042, 'mee_loss': 0.19404976069927216, 'totoal_loss': 1.9500828981399536, 'data_time': 0.008296301937662065, 'model_time': 0.969777231104672, 'learning_rate': 4.091465339129985e-06, 'epoch': 47.29})
+Step 19300, Loss: {'mse_loss': 0.012734922580420971, 'mee_loss': 0.2210850566625595, 'totoal_loss': 2.223585367202759, 'data_time': 0.007863168022595346, 'model_time': 1.039992998004891, 'learning_rate': 4.031680040371768e-06, 'epoch': 47.54})
+Step 19400, Loss: {'mse_loss': 0.018204927444458008, 'mee_loss': 0.21544025838375092, 'totoal_loss': 2.172607421875, 'data_time': 0.008092583972029388, 'model_time': 0.9612181449774653, 'learning_rate': 3.972067389509344e-06, 'epoch': 47.78})
+Step 19500, Loss: {'mse_loss': 0.010355040431022644, 'mee_loss': 0.1929258406162262, 'totoal_loss': 1.9396133422851562, 'data_time': 0.009044048958458006, 'model_time': 0.9911982769845054, 'learning_rate': 3.912636800071335e-06, 'epoch': 48.03})
+Step 19600, Loss: {'mse_loss': 0.0203880425542593, 'mee_loss': 0.33965617418289185, 'totoal_loss': 3.41694974899292, 'data_time': 0.00757307605817914, 'model_time': 0.9714295809390023, 'learning_rate': 3.853397656836754e-06, 'epoch': 48.28})
+Step 19700, Loss: {'mse_loss': 0.013689596205949783, 'mee_loss': 0.22643479704856873, 'totoal_loss': 2.2780375480651855, 'data_time': 0.008611095952801406, 'model_time': 0.9542943639680743, 'learning_rate': 3.7943593143530404e-06, 'epoch': 48.52})
+Step 19800, Loss: {'mse_loss': 0.015811795368790627, 'mee_loss': 0.266859769821167, 'totoal_loss': 2.6844093799591064, 'data_time': 0.008514384040609002, 'model_time': 1.0050788449589163, 'learning_rate': 3.735531095458867e-06, 'epoch': 48.77})
+Step 19900, Loss: {'mse_loss': 0.020644821226596832, 'mee_loss': 0.27817192673683167, 'totoal_loss': 2.8023641109466553, 'data_time': 0.007230313029140234, 'model_time': 0.995816116919741, 'learning_rate': 3.6769222898119562e-06, 'epoch': 49.01})
+Step 20000, Loss: {'mse_loss': 0.020490247756242752, 'mee_loss': 0.2154049128293991, 'totoal_loss': 2.17453932762146, 'data_time': 0.007276493939571083, 'model_time': 1.0131299229105935, 'learning_rate': 3.618542152422132e-06, 'epoch': 49.26})
+Step 20100, Loss: {'mse_loss': 0.04151136800646782, 'mee_loss': 0.3935408294200897, 'totoal_loss': 3.976919651031494, 'data_time': 0.010025772964581847, 'model_time': 0.9618668180191889, 'learning_rate': 3.560399902189855e-06, 'epoch': 49.51})
+Step 20200, Loss: {'mse_loss': 0.01696772314608097, 'mee_loss': 0.2322770655155182, 'totoal_loss': 2.339738368988037, 'data_time': 0.0073521260637789965, 'model_time': 0.967778168967925, 'learning_rate': 3.502504720450441e-06, 'epoch': 49.75})
+Step 20300, Loss: {'mse_loss': 0.0073406812734901905, 'mee_loss': 0.1423518806695938, 'totoal_loss': 1.4308594465255737, 'data_time': 0.8705601310357451, 'model_time': 1.0531397960148752, 'learning_rate': 3.4448657495242304e-06, 'epoch': 50.0})
+Step 20400, Loss: {'mse_loss': 0.027884021401405334, 'mee_loss': 0.27055925130844116, 'totoal_loss': 2.7334766387939453, 'data_time': 0.007158189080655575, 'model_time': 1.0051646439824253, 'learning_rate': 3.387492091272904e-06, 'epoch': 50.25})
+Step 20500, Loss: {'mse_loss': 0.012779278680682182, 'mee_loss': 0.19827178120613098, 'totoal_loss': 1.9954969882965088, 'data_time': 0.007431268924847245, 'model_time': 1.0069551679771394, 'learning_rate': 3.3303928056621955e-06, 'epoch': 50.49})
+Step 20600, Loss: {'mse_loss': 0.01592171937227249, 'mee_loss': 0.20194551348686218, 'totoal_loss': 2.035377025604248, 'data_time': 0.007317196927033365, 'model_time': 0.9890704669523984, 'learning_rate': 3.2735769093312202e-06, 'epoch': 50.74})
+Step 20700, Loss: {'mse_loss': 0.022318551316857338, 'mee_loss': 0.17942441999912262, 'totoal_loss': 1.8165627717971802, 'data_time': 0.008442378020845354, 'model_time': 0.9405108189675957, 'learning_rate': 3.217053374168639e-06, 'epoch': 50.99})
+Step 20800, Loss: {'mse_loss': 0.006650144699960947, 'mee_loss': 0.15224789083003998, 'totoal_loss': 1.5291290283203125, 'data_time': 0.00029559899121522903, 'model_time': 0.9832600599620491, 'learning_rate': 3.1608311258958953e-06, 'epoch': 51.23})
+Step 20900, Loss: {'mse_loss': 0.01832835003733635, 'mee_loss': 0.2680544853210449, 'totoal_loss': 2.698873281478882, 'data_time': 0.0002869779709726572, 'model_time': 0.9792114680167288, 'learning_rate': 3.10491904265774e-06, 'epoch': 51.48})
+Step 21000, Loss: {'mse_loss': 0.008942095562815666, 'mee_loss': 0.178031325340271, 'totoal_loss': 1.7892553806304932, 'data_time': 0.00030964205507189035, 'model_time': 1.0103607960045338, 'learning_rate': 3.0493259536202714e-06, 'epoch': 51.72})
+Step 21100, Loss: {'mse_loss': 0.02150532975792885, 'mee_loss': 0.2391815036535263, 'totoal_loss': 2.413320302963257, 'data_time': 0.0003382139839231968, 'model_time': 1.0132093649590388, 'learning_rate': 2.9940606375767038e-06, 'epoch': 51.97})
+Step 21200, Loss: {'mse_loss': 0.01159078348428011, 'mee_loss': 0.23274515569210052, 'totoal_loss': 2.3390421867370605, 'data_time': 0.007767647970467806, 'model_time': 0.977354318019934, 'learning_rate': 2.939131821561094e-06, 'epoch': 52.22})
+Step 21300, Loss: {'mse_loss': 0.019540200009942055, 'mee_loss': 0.16852746903896332, 'totoal_loss': 1.7048149108886719, 'data_time': 0.0074995169416069984, 'model_time': 0.9761017800774425, 'learning_rate': 2.8845481794702473e-06, 'epoch': 52.46})
+Step 21400, Loss: {'mse_loss': 0.02220888063311577, 'mee_loss': 0.22939124703407288, 'totoal_loss': 2.3161213397979736, 'data_time': 0.007273399969562888, 'model_time': 0.966435078997165, 'learning_rate': 2.830318330694004e-06, 'epoch': 52.71})
+Step 21500, Loss: {'mse_loss': 0.014152832329273224, 'mee_loss': 0.1962357461452484, 'totoal_loss': 1.9765104055404663, 'data_time': 0.007692422019317746, 'model_time': 0.9913052750052884, 'learning_rate': 2.7764508387541378e-06, 'epoch': 52.96})
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+Step 27400, Loss: {'mse_loss': 0.026255134493112564, 'mee_loss': 0.23060137033462524, 'totoal_loss': 2.332268714904785, 'data_time': 0.00034989602863788605, 'model_time': 0.9626435099635273, 'learning_rate': 5.07895763150622e-07, 'epoch': 67.49})
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+Step 27900, Loss: {'mse_loss': 0.007760190404951572, 'mee_loss': 0.14129561185836792, 'totoal_loss': 1.4207162857055664, 'data_time': 0.01427225407678634, 'model_time': 0.9932966330088675, 'learning_rate': 4.1876451068778983e-07, 'epoch': 68.72})
+Step 28000, Loss: {'mse_loss': 0.024795806035399437, 'mee_loss': 0.23540766537189484, 'totoal_loss': 2.3788723945617676, 'data_time': 0.013196074985899031, 'model_time': 0.9640158000402153, 'learning_rate': 4.031570894979235e-07, 'epoch': 68.97})
+Step 28100, Loss: {'mse_loss': 0.019691599532961845, 'mee_loss': 0.18678204715251923, 'totoal_loss': 1.8875120878219604, 'data_time': 0.00027484307065606117, 'model_time': 0.957636188948527, 'learning_rate': 3.882953020409644e-07, 'epoch': 69.21})
+Step 28200, Loss: {'mse_loss': 0.013536361977458, 'mee_loss': 0.14973588287830353, 'totoal_loss': 1.5108951330184937, 'data_time': 0.0002782460069283843, 'model_time': 0.9944079760462046, 'learning_rate': 3.74181495165436e-07, 'epoch': 69.46})
+Step 28300, Loss: {'mse_loss': 0.013728819787502289, 'mee_loss': 0.12163922190666199, 'totoal_loss': 1.23012113571167, 'data_time': 0.0002937520621344447, 'model_time': 0.9570780460489914, 'learning_rate': 3.608178976050568e-07, 'epoch': 69.7})
+Step 28400, Loss: {'mse_loss': 0.016852527856826782, 'mee_loss': 0.20215167105197906, 'totoal_loss': 2.0383694171905518, 'data_time': 0.0002909620525315404, 'model_time': 1.0333881649421528, 'learning_rate': 3.482066196267966e-07, 'epoch': 69.95})
+Step 28500, Loss: {'mse_loss': 0.013871955685317516, 'mee_loss': 0.19500701129436493, 'totoal_loss': 1.963942050933838, 'data_time': 0.02005205093882978, 'model_time': 0.9567630920791999, 'learning_rate': 3.36349652697643e-07, 'epoch': 70.2})
+Step 28600, Loss: {'mse_loss': 0.010128110647201538, 'mee_loss': 0.17179228365421295, 'totoal_loss': 1.728050947189331, 'data_time': 0.021555479965172708, 'model_time': 0.9829510379349813, 'learning_rate': 3.2524886917012403e-07, 'epoch': 70.44})
+Step 28700, Loss: {'mse_loss': 0.010389227420091629, 'mee_loss': 0.19549594819545746, 'totoal_loss': 1.965348720550537, 'data_time': 0.021115171955898404, 'model_time': 0.9939420470036566, 'learning_rate': 3.149060219866433e-07, 'epoch': 70.69})
+Step 28800, Loss: {'mse_loss': 0.007598652504384518, 'mee_loss': 0.12468551844358444, 'totoal_loss': 1.2544537782669067, 'data_time': 0.021865924005396664, 'model_time': 0.987106928951107, 'learning_rate': 3.053227444026695e-07, 'epoch': 70.94})
+Step 28900, Loss: {'mse_loss': 0.02027772180736065, 'mee_loss': 0.15436966717243195, 'totoal_loss': 1.563974380493164, 'data_time': 0.007632774068042636, 'model_time': 0.9639287579338998, 'learning_rate': 2.9650054972882544e-07, 'epoch': 71.18})
+Step 29000, Loss: {'mse_loss': 0.004667719826102257, 'mee_loss': 0.11448787152767181, 'totoal_loss': 1.149546504020691, 'data_time': 0.00827207905240357, 'model_time': 0.991222714073956, 'learning_rate': 2.884408310919209e-07, 'epoch': 71.43})
+Step 29100, Loss: {'mse_loss': 0.003918075002729893, 'mee_loss': 0.10041197389364243, 'totoal_loss': 1.008037805557251, 'data_time': 0.008404237916693091, 'model_time': 0.9978680709609762, 'learning_rate': 2.8114486121495906e-07, 'epoch': 71.67})
+Step 29200, Loss: {'mse_loss': 0.010496927425265312, 'mee_loss': 0.17559318244457245, 'totoal_loss': 1.766428828239441, 'data_time': 0.008718861965462565, 'model_time': 0.9751801630482078, 'learning_rate': 2.746137922161617e-07, 'epoch': 71.92})
+Step 29300, Loss: {'mse_loss': 0.028945792466402054, 'mee_loss': 0.21052156388759613, 'totoal_loss': 2.1341612339019775, 'data_time': 0.019648469984531403, 'model_time': 0.9868422340368852, 'learning_rate': 2.68848655427034e-07, 'epoch': 72.17})
+Step 29400, Loss: {'mse_loss': 0.010595696046948433, 'mee_loss': 0.1954713761806488, 'totoal_loss': 1.965309500694275, 'data_time': 0.021135568036697805, 'model_time': 0.9796924729598686, 'learning_rate': 2.638503612295071e-07, 'epoch': 72.41})
+Step 29500, Loss: {'mse_loss': 0.01682727038860321, 'mee_loss': 0.24384140968322754, 'totoal_loss': 2.4552414417266846, 'data_time': 0.0210906540742144, 'model_time': 0.992720540962182, 'learning_rate': 2.5961969891217614e-07, 'epoch': 72.66})
+Step 29600, Loss: {'mse_loss': 0.010702097788453102, 'mee_loss': 0.17993676662445068, 'totoal_loss': 1.8100697994232178, 'data_time': 0.022894268040545285, 'model_time': 0.9620948800584301, 'learning_rate': 2.5615733654566483e-07, 'epoch': 72.91})
+Step 29700, Loss: {'mse_loss': 0.02117110975086689, 'mee_loss': 0.21377117931842804, 'totoal_loss': 2.1588828563690186, 'data_time': 0.00033799593802541494, 'model_time': 0.9857129330048338, 'learning_rate': 2.5346382087712764e-07, 'epoch': 73.15})
+Step 29800, Loss: {'mse_loss': 0.023161418735980988, 'mee_loss': 0.2233327329158783, 'totoal_loss': 2.256488800048828, 'data_time': 0.0002972519723698497, 'model_time': 0.9880021209828556, 'learning_rate': 2.515395772439128e-07, 'epoch': 73.4})
+Step 29900, Loss: {'mse_loss': 0.013139414601027966, 'mee_loss': 0.15046842396259308, 'totoal_loss': 1.517823576927185, 'data_time': 0.00030595401767641306, 'model_time': 1.025548010948114, 'learning_rate': 2.5038490950639644e-07, 'epoch': 73.65})
+Step 30000, Loss: {'mse_loss': 0.009387175552546978, 'mee_loss': 0.1795373260974884, 'totoal_loss': 1.8047603368759155, 'data_time': 0.0003071869723498821, 'model_time': 0.9881894739810377, 'learning_rate': 2.5e-07, 'epoch': 73.89})

libero_object_2B_mee1e-2/starvla_qwen_dual/config.json

@@ -0,0 +1,129 @@
+{
+  "run_id": "starvla_qwen_dual",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_3/libero_object_2B_mee1e-2",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.01,
+  "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_3/libero_object_2B_mee1e-2/starvla_qwen_dual"
+}

libero_object_2B_mee1e-2/starvla_qwen_dual/dataset_statistics.json

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

libero_object_2B_mee1e-2/starvla_qwen_dual/final_model/pytorch_model.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:73d98dc4246b884722d8fc21c004fb5510c54cdce4b5b06f1398e965b2a07d27
+size 5233814193

libero_object_2B_mee1e-2/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%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 19
+# 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%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 21
+# successes: 21 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 22
+# successes: 22 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: False
+# episodes completed so far: 23
+# successes: 22 (95.7%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 24
+# successes: 23 (95.8%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 25
+# successes: 24 (96.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 26
+# successes: 25 (96.2%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 27
+# successes: 26 (96.3%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 28
+# successes: 27 (96.4%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 29
+# successes: 28 (96.6%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 30
+# successes: 29 (96.7%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 31
+# successes: 30 (96.8%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 32
+# successes: 31 (96.9%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 33
+# successes: 32 (97.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 34
+# successes: 33 (97.1%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 35
+# successes: 34 (97.1%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 36
+# successes: 35 (97.2%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 37
+# successes: 36 (97.3%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 38
+# successes: 37 (97.4%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 39
+# successes: 38 (97.4%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 40
+# successes: 39 (97.5%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 41
+# successes: 40 (97.6%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 42
+# successes: 41 (97.6%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 43
+# successes: 42 (97.7%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 44
+# successes: 43 (97.7%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 45
+# successes: 44 (97.8%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 46
+# successes: 45 (97.8%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 47
+# successes: 46 (97.9%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 48
+# successes: 47 (97.9%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 49
+# successes: 48 (98.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 50
+# successes: 49 (98.0%)
+Current task success rate: 0.98
+Current total success rate: 0.98
+
+Task: pick up the cream cheese and place it in the basket
+Success: True
+# episodes completed so far: 51
+# successes: 50 (98.0%)
+
+Task: pick up the cream cheese and place it in the basket
+Success: True
+# episodes completed so far: 52
+# successes: 51 (98.1%)
+
+Task: pick up the cream cheese and place it in the basket
+Success: True
+# episodes completed so far: 53
+# successes: 52 (98.1%)
+
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+# episodes completed so far: 398
+# successes: 397 (99.7%)
+
+Task: pick up the milk and place it in the basket
+Success: True
+# episodes completed so far: 399
+# successes: 398 (99.7%)
+
+Task: pick up the milk and place it in the basket
+Success: True
+# episodes completed so far: 400
+# successes: 399 (99.8%)
+Current task success rate: 1.0
+Current total success rate: 0.9975
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 401
+# successes: 400 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 402
+# successes: 401 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 403
+# successes: 402 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 404
+# successes: 403 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 404 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
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+# successes: 405 (99.8%)
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+Success: True
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+# successes: 406 (99.8%)
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+Success: True
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+Success: True
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+# successes: 410 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 411 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 412 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 413 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 415
+# successes: 414 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 416
+# successes: 415 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 417
+# successes: 416 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 418
+# successes: 417 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 419
+# successes: 418 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 420
+# successes: 419 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 421
+# successes: 420 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 421 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 423
+# successes: 422 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 423 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 425
+# successes: 424 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 426
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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
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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
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 436
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 436 (99.8%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 438
+# successes: 437 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 439
+# successes: 438 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 440
+# successes: 439 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 441
+# successes: 440 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 442
+# successes: 441 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 443
+# successes: 442 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 444
+# successes: 443 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 445
+# successes: 444 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 446
+# successes: 445 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 447
+# successes: 446 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 448
+# successes: 447 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 449
+# successes: 448 (99.8%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 450
+# successes: 449 (99.8%)
+Current task success rate: 1.0
+Current total success rate: 0.9977777777777778
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 451
+# successes: 450 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 452
+# successes: 451 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+# successes: 452 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 454
+# successes: 453 (99.8%)
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+Task: pick up the orange juice and place it in the basket
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+# successes: 454 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 456
+# successes: 455 (99.8%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 457
+# successes: 456 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 458
+# successes: 457 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 459
+# successes: 458 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 460
+# successes: 459 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 461
+# successes: 460 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 462
+# successes: 461 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+# successes: 462 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 464
+# successes: 463 (99.8%)
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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: 467
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 468
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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: 472
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 473
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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: 475
+# successes: 474 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 476
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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: 479
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 480
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 481
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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: 483
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 484
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 485
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 486
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 487
+# successes: 486 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 488
+# successes: 487 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 489
+# successes: 488 (99.8%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 490
+# successes: 489 (99.8%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 491
+# successes: 490 (99.8%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 492
+# successes: 491 (99.8%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 493
+# successes: 492 (99.8%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 494
+# successes: 493 (99.8%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 495
+# successes: 494 (99.8%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 496
+# successes: 495 (99.8%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 497
+# successes: 496 (99.8%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 498
+# successes: 497 (99.8%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 499
+# successes: 498 (99.8%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 500
+# successes: 499 (99.8%)
+Current task success rate: 1.0
+Current total success rate: 0.998

libero_object_2B_mee1e-2/starvla_qwen_dual/libero_object.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.094791293144226, 'mee_loss': 6.065609931945801, 'totoal_loss': 1.094791293144226, 'data_time': 0.01729870296549052, 'model_time': 0.810525577981025, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.19})
+Step 200, Loss: {'mse_loss': 0.9774175882339478, 'mee_loss': 6.005727767944336, 'totoal_loss': 0.9774175882339478, 'data_time': 0.015421266027260572, 'model_time': 0.7528241469990462, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.38})
+Step 300, Loss: {'mse_loss': 0.7433440089225769, 'mee_loss': 5.530846118927002, 'totoal_loss': 0.7433440089225769, 'data_time': 0.018000804004259408, 'model_time': 0.7382489829906262, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.58})
+Step 400, Loss: {'mse_loss': 0.501982569694519, 'mee_loss': 4.649203777313232, 'totoal_loss': 0.501982569694519, 'data_time': 0.019179390976205468, 'model_time': 0.7238504430279136, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.77})
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+Step 1500, Loss: {'mse_loss': 0.10561136901378632, 'mee_loss': 1.3614050149917603, 'totoal_loss': 0.10561136901378632, 'data_time': 0.00032942299731075764, 'model_time': 0.752972727001179, 'learning_rate': 3e-06, 'epoch': 2.88})
+Step 1600, Loss: {'mse_loss': 0.12008681148290634, 'mee_loss': 1.5562474727630615, 'totoal_loss': 0.12008681148290634, 'data_time': 0.017664926999714226, 'model_time': 0.7032438869937323, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.07})
+Step 1700, Loss: {'mse_loss': 0.11941234767436981, 'mee_loss': 1.5473839044570923, 'totoal_loss': 0.11941234767436981, 'data_time': 0.018603781005367637, 'model_time': 0.7082265639910474, 'learning_rate': 3.4000000000000005e-06, 'epoch': 3.26})
+Step 1800, Loss: {'mse_loss': 0.08333107084035873, 'mee_loss': 1.3078352212905884, 'totoal_loss': 0.08333107084035873, 'data_time': 0.016369807010050863, 'model_time': 0.7285386780276895, 'learning_rate': 3.6000000000000003e-06, 'epoch': 3.45})
+Step 1900, Loss: {'mse_loss': 0.10531185567378998, 'mee_loss': 1.3502147197723389, 'totoal_loss': 0.10531185567378998, 'data_time': 0.023183849989436567, 'model_time': 0.7463425460155122, 'learning_rate': 3.8000000000000005e-06, 'epoch': 3.65})
+Step 2000, Loss: {'mse_loss': 0.09103427827358246, 'mee_loss': 1.1771926879882812, 'totoal_loss': 0.09103427827358246, 'data_time': 0.013830730982590467, 'model_time': 0.7063776149880141, 'learning_rate': 4.000000000000001e-06, 'epoch': 3.84})
+Step 2100, Loss: {'mse_loss': 0.08109629154205322, 'mee_loss': 1.323830485343933, 'totoal_loss': 0.08109629154205322, 'data_time': 0.025811803992837667, 'model_time': 0.7742094719433226, 'learning_rate': 4.2000000000000004e-06, 'epoch': 4.03})
+Step 2200, Loss: {'mse_loss': 0.1254953145980835, 'mee_loss': 1.3410470485687256, 'totoal_loss': 0.1254953145980835, 'data_time': 0.018747002992313355, 'model_time': 0.7383157520089298, 'learning_rate': 4.4e-06, 'epoch': 4.22})
+Step 2300, Loss: {'mse_loss': 0.11695100367069244, 'mee_loss': 1.3736923933029175, 'totoal_loss': 0.11695100367069244, 'data_time': 0.019487137033138424, 'model_time': 0.7197045370121486, 'learning_rate': 4.600000000000001e-06, 'epoch': 4.41})
+Step 2400, Loss: {'mse_loss': 0.08759037405252457, 'mee_loss': 1.180371880531311, 'totoal_loss': 0.08759037405252457, 'data_time': 0.01662346097873524, 'model_time': 0.7350739489775151, 'learning_rate': 4.800000000000001e-06, 'epoch': 4.61})
+Step 2500, Loss: {'mse_loss': 0.10985568910837173, 'mee_loss': 1.1865142583847046, 'totoal_loss': 0.10985568910837173, 'data_time': 0.019706854014657438, 'model_time': 0.7196204799693078, 'learning_rate': 5e-06, 'epoch': 4.8})
+Step 2600, Loss: {'mse_loss': 0.08456195145845413, 'mee_loss': 1.1563827991485596, 'totoal_loss': 0.08456195145845413, 'data_time': 0.014289945014752448, 'model_time': 0.6669184950296767, 'learning_rate': 5.2e-06, 'epoch': 4.99})
+Step 2700, Loss: {'mse_loss': 0.06721554696559906, 'mee_loss': 1.0340583324432373, 'totoal_loss': 0.06721554696559906, 'data_time': 0.008641897002235055, 'model_time': 0.7671841380069964, 'learning_rate': 5.400000000000001e-06, 'epoch': 5.18})
+Step 2800, Loss: {'mse_loss': 0.07761521637439728, 'mee_loss': 1.0907118320465088, 'totoal_loss': 0.07761521637439728, 'data_time': 0.009288494009524584, 'model_time': 0.7287473899777979, 'learning_rate': 5.600000000000001e-06, 'epoch': 5.37})
+Step 2900, Loss: {'mse_loss': 0.053823716938495636, 'mee_loss': 0.8803578615188599, 'totoal_loss': 0.053823716938495636, 'data_time': 0.009448438009712845, 'model_time': 0.7308935549808666, 'learning_rate': 5.8e-06, 'epoch': 5.57})
+Step 3000, Loss: {'mse_loss': 0.07586612552404404, 'mee_loss': 1.2015267610549927, 'totoal_loss': 0.07586612552404404, 'data_time': 0.012097672966774553, 'model_time': 0.7229179260320961, 'learning_rate': 6e-06, 'epoch': 5.76})
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+Step 5700, Loss: {'mse_loss': 0.06683497130870819, 'mee_loss': 0.893397867679596, 'totoal_loss': 0.06683497130870819, 'data_time': 0.00032516999635845423, 'model_time': 0.746131990046706, 'learning_rate': 9.981151344572967e-06, 'epoch': 10.94})
+Step 5800, Loss: {'mse_loss': 0.04209282621741295, 'mee_loss': 0.6815060973167419, 'totoal_loss': 0.04209282621741295, 'data_time': 0.020682556030806154, 'model_time': 0.8241773850168101, 'learning_rate': 9.975386207783839e-06, 'epoch': 11.13})
+Step 5900, Loss: {'mse_loss': 0.03147004544734955, 'mee_loss': 0.5635243654251099, 'totoal_loss': 0.03147004544734955, 'data_time': 0.016582868993282318, 'model_time': 0.7150925410096534, 'learning_rate': 9.968855138785041e-06, 'epoch': 11.32})
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+Step 6600, Loss: {'mse_loss': 0.03628742694854736, 'mee_loss': 0.5597850680351257, 'totoal_loss': 0.03628742694854736, 'data_time': 0.008972908020950854, 'model_time': 0.7566298179444857, 'learning_rate': 9.901793380373204e-06, 'epoch': 12.67})
+Step 6700, Loss: {'mse_loss': 0.03929005190730095, 'mee_loss': 0.6237363219261169, 'totoal_loss': 0.03929005190730095, 'data_time': 0.010370664997026324, 'model_time': 0.7377946570049971, 'learning_rate': 9.889182102394944e-06, 'epoch': 12.86})
+Step 6800, Loss: {'mse_loss': 0.03419966250658035, 'mee_loss': 0.5490683317184448, 'totoal_loss': 0.03419966250658035, 'data_time': 0.010191693028900772, 'model_time': 0.843147350999061, 'learning_rate': 9.875818504834564e-06, 'epoch': 13.05})
+Step 6900, Loss: {'mse_loss': 0.061938028782606125, 'mee_loss': 0.6836903691291809, 'totoal_loss': 0.061938028782606125, 'data_time': 0.009761692956089973, 'model_time': 0.8204316810006276, 'learning_rate': 9.861704697959036e-06, 'epoch': 13.24})
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+Step 7100, Loss: {'mse_loss': 0.0351586788892746, 'mee_loss': 0.5843088030815125, 'totoal_loss': 0.0351586788892746, 'data_time': 0.008914650999940932, 'model_time': 0.7149725789786316, 'learning_rate': 9.831235489312212e-06, 'epoch': 13.63})
+Step 7200, Loss: {'mse_loss': 0.03131497651338577, 'mee_loss': 0.5043516755104065, 'totoal_loss': 0.03131497651338577, 'data_time': 0.010514637979213148, 'model_time': 0.6990492609911598, 'learning_rate': 9.814884898982168e-06, 'epoch': 13.82})
+Step 7300, Loss: {'mse_loss': 0.028316881507635117, 'mee_loss': 0.4852401912212372, 'totoal_loss': 0.028316881507635117, 'data_time': 0.0005615570116788149, 'model_time': 0.7245272619766183, 'learning_rate': 9.797793721459709e-06, 'epoch': 14.01})
+Step 7400, Loss: {'mse_loss': 0.0322037898004055, 'mee_loss': 0.5707516074180603, 'totoal_loss': 0.0322037898004055, 'data_time': 0.009033622976858169, 'model_time': 0.7127758720307611, 'learning_rate': 9.779964655639886e-06, 'epoch': 14.2})
+Step 7500, Loss: {'mse_loss': 0.04003413766622543, 'mee_loss': 0.6583290696144104, 'totoal_loss': 0.04003413766622543, 'data_time': 0.008287978998851031, 'model_time': 0.7355205540079623, 'learning_rate': 9.761400516938874e-06, 'epoch': 14.4})
+Step 7600, Loss: {'mse_loss': 0.03939036652445793, 'mee_loss': 0.5923488140106201, 'totoal_loss': 0.03939036652445793, 'data_time': 0.010560383962001652, 'model_time': 0.7686948239570484, 'learning_rate': 9.74210423684938e-06, 'epoch': 14.59})
+Step 7700, Loss: {'mse_loss': 0.0529012493789196, 'mee_loss': 0.6035361289978027, 'totoal_loss': 0.0529012493789196, 'data_time': 0.007890748034697026, 'model_time': 0.7141724259709008, 'learning_rate': 9.722078862477715e-06, 'epoch': 14.78})
+Step 7800, Loss: {'mse_loss': 0.036618877202272415, 'mee_loss': 0.5869792699813843, 'totoal_loss': 0.036618877202272415, 'data_time': 0.007717293978203088, 'model_time': 0.7465074610081501, 'learning_rate': 9.701327556062637e-06, 'epoch': 14.97})
+Step 7900, Loss: {'mse_loss': 0.044316086918115616, 'mee_loss': 0.6726351976394653, 'totoal_loss': 0.044316086918115616, 'data_time': 0.01053955004317686, 'model_time': 0.6977065739920363, 'learning_rate': 9.679853594475985e-06, 'epoch': 15.16})
+Step 8000, Loss: {'mse_loss': 0.022015942260622978, 'mee_loss': 0.46827325224876404, 'totoal_loss': 0.022015942260622978, 'data_time': 0.008060532971285284, 'model_time': 0.7241204470046796, 'learning_rate': 9.657660368705225e-06, 'epoch': 15.36})
+Step 8100, Loss: {'mse_loss': 0.05341307073831558, 'mee_loss': 0.7225800156593323, 'totoal_loss': 0.05341307073831558, 'data_time': 0.010003285948187113, 'model_time': 0.9681769130402245, 'learning_rate': 9.634751383317983e-06, 'epoch': 15.55})
+Step 8200, Loss: {'mse_loss': 0.03679507225751877, 'mee_loss': 0.5529758930206299, 'totoal_loss': 0.03679507225751877, 'data_time': 0.009628400031942874, 'model_time': 0.7728061709785834, 'learning_rate': 9.611130255908619e-06, 'epoch': 15.74})
+Step 8300, Loss: {'mse_loss': 0.02376006916165352, 'mee_loss': 0.46771037578582764, 'totoal_loss': 0.02376006916165352, 'data_time': 0.010975630022585392, 'model_time': 0.738244170031976, 'learning_rate': 9.586800716526974e-06, 'epoch': 15.93})
+Step 8400, Loss: {'mse_loss': 0.04022829979658127, 'mee_loss': 0.5551863312721252, 'totoal_loss': 0.04022829979658127, 'data_time': 0.023849092016462237, 'model_time': 0.743598386994563, 'learning_rate': 9.561766607089355e-06, 'epoch': 16.12})
+Step 8500, Loss: {'mse_loss': 0.04336314648389816, 'mee_loss': 0.5056699514389038, 'totoal_loss': 0.04336314648389816, 'data_time': 0.027347647002898157, 'model_time': 0.7945665550068952, 'learning_rate': 9.536031880771846e-06, 'epoch': 16.31})
+Step 8600, Loss: {'mse_loss': 0.05715799704194069, 'mee_loss': 0.6277834177017212, 'totoal_loss': 0.05715799704194069, 'data_time': 0.02295517100719735, 'model_time': 0.7875449900166132, 'learning_rate': 9.50960060138606e-06, 'epoch': 16.51})
+Step 8700, Loss: {'mse_loss': 0.034286241978406906, 'mee_loss': 0.4887744188308716, 'totoal_loss': 0.034286241978406906, 'data_time': 0.024062565993517637, 'model_time': 0.716564359026961, 'learning_rate': 9.482476942737411e-06, 'epoch': 16.7})
+Step 8800, Loss: {'mse_loss': 0.03665897250175476, 'mee_loss': 0.6024240255355835, 'totoal_loss': 0.03665897250175476, 'data_time': 0.025857890024781227, 'model_time': 0.7582763819955289, 'learning_rate': 9.45466518796603e-06, 'epoch': 16.89})
+Step 8900, Loss: {'mse_loss': 0.028476353734731674, 'mee_loss': 0.43451446294784546, 'totoal_loss': 0.028476353734731674, 'data_time': 0.008463159028906375, 'model_time': 0.7240056419977918, 'learning_rate': 9.426169728870399e-06, 'epoch': 17.08})
+Step 9000, Loss: {'mse_loss': 0.04356827586889267, 'mee_loss': 0.5096806287765503, 'totoal_loss': 0.04356827586889267, 'data_time': 0.00842804997228086, 'model_time': 0.7233295809710398, 'learning_rate': 9.396995065213835e-06, 'epoch': 17.27})
+Step 9100, Loss: {'mse_loss': 0.023457098752260208, 'mee_loss': 0.4699895977973938, 'totoal_loss': 0.023457098752260208, 'data_time': 0.009357406990602612, 'model_time': 0.7595910090021789, 'learning_rate': 9.367145804013938e-06, 'epoch': 17.47})
+Step 9200, Loss: {'mse_loss': 0.03455306589603424, 'mee_loss': 0.3798111081123352, 'totoal_loss': 0.03455306589603424, 'data_time': 0.009196424973197281, 'model_time': 0.7522692080237903, 'learning_rate': 9.336626658815071e-06, 'epoch': 17.66})
+Step 9300, Loss: {'mse_loss': 0.04297405853867531, 'mee_loss': 0.49751269817352295, 'totoal_loss': 0.04297405853867531, 'data_time': 0.009746298950631171, 'model_time': 0.7423595159780234, 'learning_rate': 9.305442448944056e-06, 'epoch': 17.85})
+Step 9400, Loss: {'mse_loss': 0.04492848739027977, 'mee_loss': 0.5760713815689087, 'totoal_loss': 0.04492848739027977, 'data_time': 0.0003446080372668803, 'model_time': 0.8183684459654614, 'learning_rate': 9.273598098749124e-06, 'epoch': 18.04})
+Step 9500, Loss: {'mse_loss': 0.024261482059955597, 'mee_loss': 0.4193650484085083, 'totoal_loss': 0.024261482059955597, 'data_time': 0.00042384996777400374, 'model_time': 0.706742356007453, 'learning_rate': 9.241098636822324e-06, 'epoch': 18.23})
+Step 9600, Loss: {'mse_loss': 0.03454546630382538, 'mee_loss': 0.5029000639915466, 'totoal_loss': 0.03454546630382538, 'data_time': 0.00046807999024167657, 'model_time': 0.8106612790143117, 'learning_rate': 9.207949195205442e-06, 'epoch': 18.43})
+Step 9700, Loss: {'mse_loss': 0.020000819116830826, 'mee_loss': 0.3840126097202301, 'totoal_loss': 0.020000819116830826, 'data_time': 0.0003756049554795027, 'model_time': 0.7604048349894583, 'learning_rate': 9.174155008579588e-06, 'epoch': 18.62})
+Step 9800, Loss: {'mse_loss': 0.031652677804231644, 'mee_loss': 0.4638597071170807, 'totoal_loss': 0.031652677804231644, 'data_time': 0.00035334599670022726, 'model_time': 0.7524784360430203, 'learning_rate': 9.139721413438583e-06, 'epoch': 18.81})
+Step 9900, Loss: {'mse_loss': 0.01829647645354271, 'mee_loss': 0.38355740904808044, 'totoal_loss': 0.01829647645354271, 'data_time': 1.735857011983171, 'model_time': 1.074098069977481, 'learning_rate': 9.104653847246273e-06, 'epoch': 19.0})
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+Step 14700, Loss: {'mse_loss': 0.01608576998114586, 'mee_loss': 0.2832489013671875, 'totoal_loss': 0.01891825906932354, 'data_time': 0.010955668985843658, 'model_time': 0.7425342380302027, 'learning_rate': 6.8051342504757714e-06, 'epoch': 28.21})
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+Step 15000, Loss: {'mse_loss': 0.023499388247728348, 'mee_loss': 0.3658267855644226, 'totoal_loss': 0.027157656848430634, 'data_time': 0.0100374820176512, 'model_time': 0.74045548500726, 'learning_rate': 6.631457847577869e-06, 'epoch': 28.79})
+Step 15100, Loss: {'mse_loss': 0.015319330617785454, 'mee_loss': 0.2937462329864502, 'totoal_loss': 0.018256792798638344, 'data_time': 0.008484629972372204, 'model_time': 0.7519062299979851, 'learning_rate': 6.573077710188046e-06, 'epoch': 28.98})
+Step 15200, Loss: {'mse_loss': 0.008686698973178864, 'mee_loss': 0.2159169465303421, 'totoal_loss': 0.010845867916941643, 'data_time': 0.010365030029788613, 'model_time': 0.7245064760209061, 'learning_rate': 6.5144689045411345e-06, 'epoch': 29.17})
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+Step 15500, Loss: {'mse_loss': 0.021549396216869354, 'mee_loss': 0.28992509841918945, 'totoal_loss': 0.02444864809513092, 'data_time': 0.016014824039302766, 'model_time': 0.7290460570366122, 'learning_rate': 6.337363199928669e-06, 'epoch': 29.75})
+Step 15600, Loss: {'mse_loss': 0.016485482454299927, 'mee_loss': 0.3095918893814087, 'totoal_loss': 0.019581401720643044, 'data_time': 0.01698074897285551, 'model_time': 0.7295727729797363, 'learning_rate': 6.277932610490659e-06, 'epoch': 29.94})
+Step 15700, Loss: {'mse_loss': 0.011640708893537521, 'mee_loss': 0.25208917260169983, 'totoal_loss': 0.014161600731313229, 'data_time': 0.012426811968907714, 'model_time': 0.7308940989896655, 'learning_rate': 6.218319959628234e-06, 'epoch': 30.13})
+Step 15800, Loss: {'mse_loss': 0.019194860011339188, 'mee_loss': 0.30888110399246216, 'totoal_loss': 0.02228367142379284, 'data_time': 0.007571218011435121, 'model_time': 0.7086778859957121, 'learning_rate': 6.158534660870018e-06, 'epoch': 30.33})
+Step 15900, Loss: {'mse_loss': 0.03474534675478935, 'mee_loss': 0.3497280478477478, 'totoal_loss': 0.03824262693524361, 'data_time': 0.009278997022192925, 'model_time': 0.7961518429801799, 'learning_rate': 6.0985861550077345e-06, 'epoch': 30.52})
+Step 16000, Loss: {'mse_loss': 0.016209539026021957, 'mee_loss': 0.2655965983867645, 'totoal_loss': 0.01886550523340702, 'data_time': 0.007721359026618302, 'model_time': 0.7059262419934385, 'learning_rate': 6.0384839086054095e-06, 'epoch': 30.71})
+Step 16100, Loss: {'mse_loss': 0.011555678211152554, 'mee_loss': 0.23908104002475739, 'totoal_loss': 0.013946488499641418, 'data_time': 0.007972143008373678, 'model_time': 0.7317941189976409, 'learning_rate': 5.978237412504472e-06, 'epoch': 30.9})
+Step 16200, Loss: {'mse_loss': 0.011833976954221725, 'mee_loss': 0.2630384564399719, 'totoal_loss': 0.01446436159312725, 'data_time': 0.0006590340053662658, 'model_time': 0.8129894030280411, 'learning_rate': 5.917856180325059e-06, 'epoch': 31.09})
+Step 16300, Loss: {'mse_loss': 0.017854101955890656, 'mee_loss': 0.31404909491539, 'totoal_loss': 0.02099459245800972, 'data_time': 0.00036108901258558035, 'model_time': 0.7543570889974944, 'learning_rate': 5.857349746963692e-06, 'epoch': 31.29})
+Step 16400, Loss: {'mse_loss': 0.015545297414064407, 'mee_loss': 0.26597362756729126, 'totoal_loss': 0.018205033615231514, 'data_time': 0.0003635860048234463, 'model_time': 0.7903354150475934, 'learning_rate': 5.796727667087611e-06, 'epoch': 31.48})
+Step 16500, Loss: {'mse_loss': 0.017413612455129623, 'mee_loss': 0.312203049659729, 'totoal_loss': 0.02053564228117466, 'data_time': 0.00035887904232367873, 'model_time': 0.74864319403423, 'learning_rate': 5.735999513625984e-06, 'epoch': 31.67})
+Step 16600, Loss: {'mse_loss': 0.015312623232603073, 'mee_loss': 0.23321639001369476, 'totoal_loss': 0.017644787207245827, 'data_time': 0.0003577059833332896, 'model_time': 0.7443923000246286, 'learning_rate': 5.675174876258223e-06, 'epoch': 31.86})
+Step 16700, Loss: {'mse_loss': 0.013480786234140396, 'mee_loss': 0.24436068534851074, 'totoal_loss': 0.015924392268061638, 'data_time': 0.008212649961933494, 'model_time': 0.7458470480050892, 'learning_rate': 5.614263359899673e-06, 'epoch': 32.05})
+Step 16800, Loss: {'mse_loss': 0.022093014791607857, 'mee_loss': 0.2939074635505676, 'totoal_loss': 0.02503209002315998, 'data_time': 0.007994141022209078, 'model_time': 0.8153748059994541, 'learning_rate': 5.553274583184875e-06, 'epoch': 32.25})
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+Step 20900, Loss: {'mse_loss': 0.015241647139191628, 'mee_loss': 0.2713514268398285, 'totoal_loss': 0.01795516163110733, 'data_time': 0.008241387957241386, 'model_time': 0.7451100000180304, 'learning_rate': 3.10491904265774e-06, 'epoch': 40.12})
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+Step 21200, Loss: {'mse_loss': 0.010722054168581963, 'mee_loss': 0.22753897309303284, 'totoal_loss': 0.012997443787753582, 'data_time': 0.008634158002678305, 'model_time': 0.781454885029234, 'learning_rate': 2.939131821561094e-06, 'epoch': 40.69})
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+Step 21400, Loss: {'mse_loss': 0.02237146906554699, 'mee_loss': 0.3061475157737732, 'totoal_loss': 0.025432944297790527, 'data_time': 0.000325902015902102, 'model_time': 0.7390478680026717, 'learning_rate': 2.830318330694004e-06, 'epoch': 41.07})
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+Step 21600, Loss: {'mse_loss': 0.01276381965726614, 'mee_loss': 0.2184353619813919, 'totoal_loss': 0.014948173426091671, 'data_time': 0.008229685015976429, 'model_time': 0.7541672079823911, 'learning_rate': 2.7229542099520797e-06, 'epoch': 41.46})
+Step 21700, Loss: {'mse_loss': 0.01523622963577509, 'mee_loss': 0.27062371373176575, 'totoal_loss': 0.017942465841770172, 'data_time': 0.008623856992926449, 'model_time': 0.8336626339587383, 'learning_rate': 2.669836892025666e-06, 'epoch': 41.65})
+Step 21800, Loss: {'mse_loss': 0.006482790689915419, 'mee_loss': 0.1589762568473816, 'totoal_loss': 0.00807255320250988, 'data_time': 0.008033140969928354, 'model_time': 0.7187555990531109, 'learning_rate': 2.6171072728151557e-06, 'epoch': 41.84})
+Step 21900, Loss: {'mse_loss': 0.01320674829185009, 'mee_loss': 0.17348846793174744, 'totoal_loss': 0.014941632747650146, 'data_time': 0.0003458579885773361, 'model_time': 0.8295592679642141, 'learning_rate': 2.5647736789386828e-06, 'epoch': 42.03})
+Step 22000, Loss: {'mse_loss': 0.01972498930990696, 'mee_loss': 0.28717342019081116, 'totoal_loss': 0.022596724331378937, 'data_time': 0.0003437320119701326, 'model_time': 0.7257812729803845, 'learning_rate': 2.5128443744773904e-06, 'epoch': 42.23})
+Step 22100, Loss: {'mse_loss': 0.011863172985613346, 'mee_loss': 0.20660538971424103, 'totoal_loss': 0.013929227367043495, 'data_time': 0.0003529840032570064, 'model_time': 0.7466487479978241, 'learning_rate': 2.4613275596704386e-06, 'epoch': 42.42})
+Step 22200, Loss: {'mse_loss': 0.014897609129548073, 'mee_loss': 0.2819817066192627, 'totoal_loss': 0.017717426642775536, 'data_time': 0.000365140032954514, 'model_time': 0.8331974020111375, 'learning_rate': 2.4102313696200853e-06, 'epoch': 42.61})
+Step 22300, Loss: {'mse_loss': 0.018649857491254807, 'mee_loss': 0.2629754841327667, 'totoal_loss': 0.02127961255609989, 'data_time': 0.0006101260078139603, 'model_time': 0.7353243860416114, 'learning_rate': 2.359563873007063e-06, 'epoch': 42.8})
+Step 22400, Loss: {'mse_loss': 0.010214258916676044, 'mee_loss': 0.20519596338272095, 'totoal_loss': 0.012266218662261963, 'data_time': 0.00025955098681151867, 'model_time': 0.6800540480180643, 'learning_rate': 2.3093330708164465e-06, 'epoch': 42.99})
+Step 22500, Loss: {'mse_loss': 0.019638914614915848, 'mee_loss': 0.24422577023506165, 'totoal_loss': 0.022081172093749046, 'data_time': 0.00035907496931031346, 'model_time': 0.7583288179594092, 'learning_rate': 2.2595468950741943e-06, 'epoch': 43.19})
+Step 22600, Loss: {'mse_loss': 0.008310670033097267, 'mee_loss': 0.16854749619960785, 'totoal_loss': 0.009996145032346249, 'data_time': 0.00037943205097690225, 'model_time': 0.7123052050010301, 'learning_rate': 2.2102132075945974e-06, 'epoch': 43.38})
+Step 22700, Loss: {'mse_loss': 0.011352689005434513, 'mee_loss': 0.199066162109375, 'totoal_loss': 0.01334335096180439, 'data_time': 0.000365616986528039, 'model_time': 0.7395624109776691, 'learning_rate': 2.1613397987388e-06, 'epoch': 43.57})
+Step 22800, Loss: {'mse_loss': 0.016570355743169785, 'mee_loss': 0.20887094736099243, 'totoal_loss': 0.018659064546227455, 'data_time': 0.0004717030096799135, 'model_time': 0.7180929110036232, 'learning_rate': 2.1129343861846207e-06, 'epoch': 43.76})
+Step 22900, Loss: {'mse_loss': 0.007982499897480011, 'mee_loss': 0.1856900155544281, 'totoal_loss': 0.009839399717748165, 'data_time': 0.00040287297451868653, 'model_time': 0.7278371019638143, 'learning_rate': 2.065004613707836e-06, 'epoch': 43.95})
+Step 23000, Loss: {'mse_loss': 0.013337653130292892, 'mee_loss': 0.2358609139919281, 'totoal_loss': 0.015696262940764427, 'data_time': 0.008271977014373988, 'model_time': 0.8429410319658928, 'learning_rate': 2.0175580499751375e-06, 'epoch': 44.15})
+Step 23100, Loss: {'mse_loss': 0.013264243490993977, 'mee_loss': 0.2059849351644516, 'totoal_loss': 0.015324092470109463, 'data_time': 0.007538100995589048, 'model_time': 0.7805568480398506, 'learning_rate': 1.9706021873489604e-06, 'epoch': 44.34})
+Step 23200, Loss: {'mse_loss': 0.007540868129581213, 'mee_loss': 0.17928864061832428, 'totoal_loss': 0.009333754889667034, 'data_time': 0.008653526019770652, 'model_time': 0.7333427679841407, 'learning_rate': 1.924144440704338e-06, 'epoch': 44.53})
+Step 23300, Loss: {'mse_loss': 0.011317775584757328, 'mee_loss': 0.22274233400821686, 'totoal_loss': 0.013545198366045952, 'data_time': 0.008069481002166867, 'model_time': 0.7220845610136166, 'learning_rate': 1.8781921462580238e-06, 'epoch': 44.72})
+Step 23400, Loss: {'mse_loss': 0.006963126827031374, 'mee_loss': 0.16446903347969055, 'totoal_loss': 0.008607816882431507, 'data_time': 0.03130367200355977, 'model_time': 0.730364364979323, 'learning_rate': 1.8327525604100058e-06, 'epoch': 44.91})
+Step 23500, Loss: {'mse_loss': 0.014923082664608955, 'mee_loss': 0.2027771919965744, 'totoal_loss': 0.016950855031609535, 'data_time': 0.0003435660037212074, 'model_time': 0.7828094760188833, 'learning_rate': 1.7878328585976426e-06, 'epoch': 45.11})
+Step 23600, Loss: {'mse_loss': 0.013336536474525928, 'mee_loss': 0.22981606423854828, 'totoal_loss': 0.015634696930646896, 'data_time': 0.0003346300218254328, 'model_time': 0.7458354270202108, 'learning_rate': 1.7434401341625765e-06, 'epoch': 45.3})
+Step 23700, Loss: {'mse_loss': 0.013921663165092468, 'mee_loss': 0.29761624336242676, 'totoal_loss': 0.01689782552421093, 'data_time': 0.0003778439713642001, 'model_time': 0.7422453369945288, 'learning_rate': 1.6995813972306108e-06, 'epoch': 45.49})
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+Step 29500, Loss: {'mse_loss': 0.011501527391374111, 'mee_loss': 0.2297731637954712, 'totoal_loss': 0.013799259439110756, 'data_time': 0.009110315993893892, 'model_time': 0.7263726000091992, 'learning_rate': 2.5961969891217614e-07, 'epoch': 56.62})
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+Step 29700, Loss: {'mse_loss': 0.025517133995890617, 'mee_loss': 0.24214230477809906, 'totoal_loss': 0.027938557788729668, 'data_time': 0.00039779796497896314, 'model_time': 0.814752952021081, 'learning_rate': 2.5346382087712764e-07, 'epoch': 57.01})
+Step 29800, Loss: {'mse_loss': 0.013857971876859665, 'mee_loss': 0.2249135673046112, 'totoal_loss': 0.01610710844397545, 'data_time': 0.008884479000698775, 'model_time': 0.8000179380178452, 'learning_rate': 2.515395772439128e-07, 'epoch': 57.2})
+Step 29900, Loss: {'mse_loss': 0.004779134877026081, 'mee_loss': 0.11767145246267319, 'totoal_loss': 0.0059558493085205555, 'data_time': 0.008509586041327566, 'model_time': 0.7116810739971697, 'learning_rate': 2.5038490950639644e-07, 'epoch': 57.39})
+Step 30000, Loss: {'mse_loss': 0.005849798209965229, 'mee_loss': 0.14378978312015533, 'totoal_loss': 0.007287696003913879, 'data_time': 0.008740842982660979, 'model_time': 0.8047740709735081, 'learning_rate': 2.5e-07, 'epoch': 57.58})

libero_spatial_2B_mee1e-2/starvla_qwen_dual/config.json

@@ -0,0 +1,129 @@
+{
+  "run_id": "starvla_qwen_dual",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_spatial_2B_mee1e-2",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.01,
+  "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_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
+    },
+    "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_2/libero_spatial_2B_mee1e-2/starvla_qwen_dual"
+}

libero_spatial_2B_mee1e-2/starvla_qwen_dual/dataset_statistics.json

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libero_spatial_2B_mee1e-2/starvla_qwen_dual/final_model/pytorch_model.pt

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libero_spatial_2B_mee1e-2/starvla_qwen_dual/libero_eval_libero_spatial.log

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+Task suite: libero_spatial
+
+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
+Success: True
+# episodes completed so far: 1
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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
+Success: True
+# episodes completed so far: 98
+# successes: 98 (100.0%)
+
+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# episodes completed so far: 99
+# successes: 99 (100.0%)
+
+Task: pick up the black bowl next to the ramekin and place it on the plate
+Success: True
+# episodes completed so far: 100
+# 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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+# episodes completed so far: 101
+# successes: 101 (100.0%)
+
+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 102
+# successes: 102 (100.0%)
+
+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 103
+# successes: 103 (100.0%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 104
+# successes: 104 (100.0%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 105
+# successes: 105 (100.0%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 106
+# successes: 106 (100.0%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 107 (100.0%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 108 (100.0%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 109 (100.0%)
+
+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 109 (99.1%)
+
+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 110 (99.1%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 111 (99.1%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 112 (99.1%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 113 (99.1%)
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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: 115 (99.1%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 116 (99.1%)
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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: 118 (99.2%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 119 (99.2%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 120 (99.2%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 121 (99.2%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 122 (99.2%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 123 (99.2%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 124 (99.2%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 125 (99.2%)
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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: 127 (99.2%)
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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: 131 (99.2%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 132 (99.2%)
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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: 135 (99.3%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 136 (99.3%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 137 (99.3%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 138 (99.3%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 140
+# successes: 139 (99.3%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 141
+# successes: 140 (99.3%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 142
+# successes: 141 (99.3%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 143
+# successes: 142 (99.3%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 144
+# successes: 143 (99.3%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 145
+# successes: 144 (99.3%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 146
+# successes: 145 (99.3%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 147
+# successes: 146 (99.3%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 147 (99.3%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 148 (99.3%)
+
+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 150
+# successes: 149 (99.3%)
+Current task success rate: 0.98
+Current total success rate: 0.9933333333333333
+
+Task: pick up the black bowl on the cookie box and place it on the plate
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+# episodes completed so far: 151
+# successes: 150 (99.3%)
+
+Task: pick up the black bowl on the cookie box and place it on the plate
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+# episodes completed so far: 152
+# successes: 151 (99.3%)
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+# episodes completed so far: 153
+# successes: 152 (99.3%)
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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: 154 (99.4%)
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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: 155 (99.4%)
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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: 156 (99.4%)
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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: 157 (99.4%)
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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: 158 (99.4%)
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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: 159 (99.4%)
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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: 160 (99.4%)
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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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+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: 194 (98.5%)
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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: 195 (98.5%)
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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: 196 (98.5%)
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+# episodes completed so far: 200
+# successes: 197 (98.5%)
+Current task success rate: 0.96
+Current total success rate: 0.985
+
+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+# episodes completed so far: 201
+# successes: 198 (98.5%)
+
+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 (98.5%)
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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: 200 (98.5%)
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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: 201 (98.5%)
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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: 202 (98.5%)
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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: 203 (98.5%)
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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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+# successes: 207 (98.6%)
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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: 208 (98.6%)
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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 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 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 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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+# successes: 243 (98.4%)
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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: 244 (98.4%)
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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: 245 (98.4%)
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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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+# episodes completed so far: 250
+# successes: 246 (98.4%)
+Current task success rate: 0.98
+Current total success rate: 0.984
+
+Task: pick up the black bowl on the ramekin and place it on the plate
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+# episodes completed so far: 251
+# successes: 247 (98.4%)
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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 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 on the stove and place it on the plate
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+Success: True
+# episodes completed so far: 410
+# successes: 403 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 411
+# successes: 404 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 412
+# successes: 405 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 413
+# successes: 406 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 414
+# successes: 407 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 415
+# successes: 408 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 416
+# successes: 409 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 417
+# successes: 410 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 418
+# successes: 411 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 419
+# successes: 412 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 420
+# successes: 413 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 421
+# successes: 414 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 422
+# successes: 415 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 423
+# successes: 416 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 424
+# successes: 417 (98.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 425
+# successes: 418 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 426
+# successes: 419 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 427
+# successes: 420 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 428
+# successes: 421 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 429
+# successes: 422 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 430
+# successes: 423 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 431
+# successes: 424 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 432
+# successes: 425 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 433
+# successes: 426 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 434
+# successes: 427 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 435
+# successes: 428 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 436
+# successes: 429 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 437
+# successes: 430 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 438
+# successes: 431 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 439
+# successes: 432 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 440
+# successes: 433 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 441
+# successes: 434 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 442
+# successes: 435 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 443
+# successes: 436 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 444
+# successes: 437 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 445
+# successes: 438 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 446
+# successes: 439 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 447
+# successes: 440 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 448
+# successes: 441 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 449
+# successes: 442 (98.4%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 450
+# successes: 443 (98.4%)
+Current task success rate: 1.0
+Current total success rate: 0.9844444444444445
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 451
+# successes: 444 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 452
+# successes: 445 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 453
+# successes: 446 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 454
+# successes: 447 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 455
+# successes: 448 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 456
+# successes: 449 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 457
+# successes: 450 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 458
+# successes: 451 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 459
+# successes: 452 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 460
+# successes: 453 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 461
+# successes: 454 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 462
+# successes: 455 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 463
+# successes: 456 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 464
+# successes: 457 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 465
+# successes: 458 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 466
+# successes: 459 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 467
+# successes: 460 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 468
+# successes: 461 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 469
+# successes: 462 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 470
+# successes: 463 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 471
+# successes: 464 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 472
+# successes: 465 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 473
+# successes: 466 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 474
+# successes: 467 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 475
+# successes: 468 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 476
+# successes: 469 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 477
+# successes: 470 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 478
+# successes: 471 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 479
+# successes: 472 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 480
+# successes: 473 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 481
+# successes: 474 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 482
+# successes: 475 (98.5%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 483
+# successes: 476 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 484
+# successes: 477 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 485
+# successes: 478 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 486
+# successes: 479 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 487
+# successes: 480 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 488
+# successes: 481 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 489
+# successes: 482 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 490
+# successes: 483 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 491
+# successes: 484 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 492
+# successes: 485 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 493
+# successes: 486 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 494
+# successes: 487 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 495
+# successes: 488 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 496
+# successes: 489 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 497
+# successes: 490 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 498
+# successes: 491 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 499
+# successes: 492 (98.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 500
+# successes: 493 (98.6%)
+Current task success rate: 1.0
+Current total success rate: 0.986

libero_spatial_2B_mee1e-2/starvla_qwen_dual/libero_spatial.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.0885215997695923, 'mee_loss': 3.941105365753174, 'totoal_loss': 1.0885215997695923, 'data_time': 0.007986028009327129, 'model_time': 0.7039853610040154, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.24})
+Step 200, Loss: {'mse_loss': 1.0163110494613647, 'mee_loss': 3.7629661560058594, 'totoal_loss': 1.0163110494613647, 'data_time': 0.008407412999076769, 'model_time': 0.7568766830081586, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.48})
+Step 300, Loss: {'mse_loss': 0.8077380657196045, 'mee_loss': 2.9936046600341797, 'totoal_loss': 0.8077380657196045, 'data_time': 0.010839558992302045, 'model_time': 0.7227808089810424, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.73})
+Step 400, Loss: {'mse_loss': 0.5982745885848999, 'mee_loss': 2.296400308609009, 'totoal_loss': 0.5982745885848999, 'data_time': 0.00879335799254477, 'model_time': 0.7446353959967382, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.97})
+Step 500, Loss: {'mse_loss': 0.4859220087528229, 'mee_loss': 2.0638835430145264, 'totoal_loss': 0.4859220087528229, 'data_time': 0.008883240981958807, 'model_time': 0.7470823859912343, 'learning_rate': 1.0000000000000002e-06, 'epoch': 1.21})
+Step 600, Loss: {'mse_loss': 0.38230326771736145, 'mee_loss': 1.6010605096817017, 'totoal_loss': 0.38230326771736145, 'data_time': 0.00821890399674885, 'model_time': 0.7391294319822919, 'learning_rate': 1.2000000000000002e-06, 'epoch': 1.45})
+Step 700, Loss: {'mse_loss': 0.2911021113395691, 'mee_loss': 1.2109174728393555, 'totoal_loss': 0.2911021113395691, 'data_time': 0.010499081981834024, 'model_time': 0.7240377660200465, 'learning_rate': 1.4000000000000001e-06, 'epoch': 1.69})
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+Step 1200, Loss: {'mse_loss': 0.11804912984371185, 'mee_loss': 0.6104139685630798, 'totoal_loss': 0.11804912984371185, 'data_time': 0.00036848001764155924, 'model_time': 0.7451376440003514, 'learning_rate': 2.4000000000000003e-06, 'epoch': 2.91})
+Step 1300, Loss: {'mse_loss': 0.18011555075645447, 'mee_loss': 0.7906346917152405, 'totoal_loss': 0.18011555075645447, 'data_time': 0.000358260003849864, 'model_time': 0.736228170018876, 'learning_rate': 2.6e-06, 'epoch': 3.15})
+Step 1400, Loss: {'mse_loss': 0.15540078282356262, 'mee_loss': 0.7488890886306763, 'totoal_loss': 0.15540078282356262, 'data_time': 0.00035844798549078405, 'model_time': 0.7378628939914051, 'learning_rate': 2.8000000000000003e-06, 'epoch': 3.39})
+Step 1500, Loss: {'mse_loss': 0.1489277333021164, 'mee_loss': 0.7178404927253723, 'totoal_loss': 0.1489277333021164, 'data_time': 0.0005233810225035995, 'model_time': 0.783884852018673, 'learning_rate': 3e-06, 'epoch': 3.63})
+Step 1600, Loss: {'mse_loss': 0.15053372085094452, 'mee_loss': 0.7231089472770691, 'totoal_loss': 0.15053372085094452, 'data_time': 0.0010241749987471849, 'model_time': 0.7722565199946985, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.87})
+Step 1700, Loss: {'mse_loss': 0.16179725527763367, 'mee_loss': 0.7056779265403748, 'totoal_loss': 0.16179725527763367, 'data_time': 0.02247773398994468, 'model_time': 0.739459511009045, 'learning_rate': 3.4000000000000005e-06, 'epoch': 4.12})
+Step 1800, Loss: {'mse_loss': 0.13527800142765045, 'mee_loss': 0.6499937176704407, 'totoal_loss': 0.13527800142765045, 'data_time': 0.023240990994963795, 'model_time': 0.7545889009779785, 'learning_rate': 3.6000000000000003e-06, 'epoch': 4.36})
+Step 1900, Loss: {'mse_loss': 0.13061612844467163, 'mee_loss': 0.6570521593093872, 'totoal_loss': 0.13061612844467163, 'data_time': 0.02219258900731802, 'model_time': 0.7102125700039323, 'learning_rate': 3.8000000000000005e-06, 'epoch': 4.6})
+Step 2000, Loss: {'mse_loss': 0.1254056990146637, 'mee_loss': 0.5896503329277039, 'totoal_loss': 0.1254056990146637, 'data_time': 0.021699282980989665, 'model_time': 0.7976732419920154, 'learning_rate': 4.000000000000001e-06, 'epoch': 4.84})
+Step 2100, Loss: {'mse_loss': 0.1417565643787384, 'mee_loss': 0.6720448732376099, 'totoal_loss': 0.1417565643787384, 'data_time': 0.0090552470064722, 'model_time': 0.7187305680126883, 'learning_rate': 4.2000000000000004e-06, 'epoch': 5.08})
+Step 2200, Loss: {'mse_loss': 0.17549829185009003, 'mee_loss': 0.7193741798400879, 'totoal_loss': 0.17549829185009003, 'data_time': 0.00854376598726958, 'model_time': 0.8154415499884635, 'learning_rate': 4.4e-06, 'epoch': 5.33})
+Step 2300, Loss: {'mse_loss': 0.11898493766784668, 'mee_loss': 0.5553644299507141, 'totoal_loss': 0.11898493766784668, 'data_time': 0.00845567398937419, 'model_time': 0.7323409400123637, 'learning_rate': 4.600000000000001e-06, 'epoch': 5.57})
+Step 2400, Loss: {'mse_loss': 0.08414491266012192, 'mee_loss': 0.4267389476299286, 'totoal_loss': 0.08414491266012192, 'data_time': 0.007622928998898715, 'model_time': 0.9320058929733932, 'learning_rate': 4.800000000000001e-06, 'epoch': 5.81})
+Step 2500, Loss: {'mse_loss': 0.09868062287569046, 'mee_loss': 0.43419134616851807, 'totoal_loss': 0.09868062287569046, 'data_time': 0.007896803988842294, 'model_time': 0.812288715998875, 'learning_rate': 5e-06, 'epoch': 6.05})
+Step 2600, Loss: {'mse_loss': 0.08209964632987976, 'mee_loss': 0.4161023199558258, 'totoal_loss': 0.08209964632987976, 'data_time': 0.008815440000034869, 'model_time': 0.7284567109891213, 'learning_rate': 5.2e-06, 'epoch': 6.3})
+Step 2700, Loss: {'mse_loss': 0.21666695177555084, 'mee_loss': 0.9498026967048645, 'totoal_loss': 0.21666695177555084, 'data_time': 0.010463702987181023, 'model_time': 0.718115689989645, 'learning_rate': 5.400000000000001e-06, 'epoch': 6.54})
+Step 2800, Loss: {'mse_loss': 0.09166049212217331, 'mee_loss': 0.46891218423843384, 'totoal_loss': 0.09166049212217331, 'data_time': 0.009328550018835813, 'model_time': 0.7211238820163999, 'learning_rate': 5.600000000000001e-06, 'epoch': 6.78})
+Step 2900, Loss: {'mse_loss': 0.07668979465961456, 'mee_loss': 0.410213828086853, 'totoal_loss': 0.07668979465961456, 'data_time': 0.014831034990493208, 'model_time': 0.8232522589969449, 'learning_rate': 5.8e-06, 'epoch': 7.02})
+Step 3000, Loss: {'mse_loss': 0.07037875056266785, 'mee_loss': 0.3648189604282379, 'totoal_loss': 0.07037875056266785, 'data_time': 0.015508421987760812, 'model_time': 0.7296343950147275, 'learning_rate': 6e-06, 'epoch': 7.26})
+Step 3100, Loss: {'mse_loss': 0.0673033818602562, 'mee_loss': 0.34489622712135315, 'totoal_loss': 0.0673033818602562, 'data_time': 0.013577902020188048, 'model_time': 0.8129767359932885, 'learning_rate': 6.200000000000001e-06, 'epoch': 7.51})
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+Step 7300, Loss: {'mse_loss': 0.032567840069532394, 'mee_loss': 0.19100640714168549, 'totoal_loss': 0.032567840069532394, 'data_time': 0.00842478999402374, 'model_time': 0.7266658160078805, 'learning_rate': 9.797793721459709e-06, 'epoch': 17.68})
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+Step 7700, Loss: {'mse_loss': 0.05162463337182999, 'mee_loss': 0.26226717233657837, 'totoal_loss': 0.05162463337182999, 'data_time': 0.0076619149767793715, 'model_time': 0.734809260990005, 'learning_rate': 9.722078862477715e-06, 'epoch': 18.64})
+Step 7800, Loss: {'mse_loss': 0.036177538335323334, 'mee_loss': 0.20395660400390625, 'totoal_loss': 0.036177538335323334, 'data_time': 0.008233380998717621, 'model_time': 0.7837076630094089, 'learning_rate': 9.701327556062637e-06, 'epoch': 18.89})
+Step 7900, Loss: {'mse_loss': 0.05061430111527443, 'mee_loss': 0.2531573176383972, 'totoal_loss': 0.05061430111527443, 'data_time': 0.016294916975311935, 'model_time': 0.7152620339766145, 'learning_rate': 9.679853594475985e-06, 'epoch': 19.13})
+Step 8000, Loss: {'mse_loss': 0.03761184215545654, 'mee_loss': 0.2212391197681427, 'totoal_loss': 0.03761184215545654, 'data_time': 0.01601662699249573, 'model_time': 0.7270148360112216, 'learning_rate': 9.657660368705225e-06, 'epoch': 19.37})
+Step 8100, Loss: {'mse_loss': 0.03828020393848419, 'mee_loss': 0.19175812602043152, 'totoal_loss': 0.03828020393848419, 'data_time': 0.015361961995949969, 'model_time': 0.735697797004832, 'learning_rate': 9.634751383317983e-06, 'epoch': 19.61})
+Step 8200, Loss: {'mse_loss': 0.038020797073841095, 'mee_loss': 0.214920774102211, 'totoal_loss': 0.038020797073841095, 'data_time': 0.014924087008694187, 'model_time': 0.7208902389975265, 'learning_rate': 9.611130255908619e-06, 'epoch': 19.85})
+Step 8300, Loss: {'mse_loss': 0.029720444232225418, 'mee_loss': 0.17700572311878204, 'totoal_loss': 0.029720444232225418, 'data_time': 0.008931683987611905, 'model_time': 0.7573286550177727, 'learning_rate': 9.586800716526974e-06, 'epoch': 20.1})
+Step 8400, Loss: {'mse_loss': 0.0371159091591835, 'mee_loss': 0.19252385199069977, 'totoal_loss': 0.0371159091591835, 'data_time': 0.00810427698888816, 'model_time': 0.7548415850033052, 'learning_rate': 9.561766607089355e-06, 'epoch': 20.34})
+Step 8500, Loss: {'mse_loss': 0.05931362509727478, 'mee_loss': 0.2905191481113434, 'totoal_loss': 0.05931362509727478, 'data_time': 0.009372054017148912, 'model_time': 0.7527051010110881, 'learning_rate': 9.536031880771846e-06, 'epoch': 20.58})
+Step 8600, Loss: {'mse_loss': 0.026691721752285957, 'mee_loss': 0.16431924700737, 'totoal_loss': 0.026691721752285957, 'data_time': 0.008692005008924752, 'model_time': 0.7077255139884073, 'learning_rate': 9.50960060138606e-06, 'epoch': 20.82})
+Step 8700, Loss: {'mse_loss': 0.02591187320649624, 'mee_loss': 0.1441764235496521, 'totoal_loss': 0.02591187320649624, 'data_time': 0.007984669005963951, 'model_time': 0.703730381996138, 'learning_rate': 9.482476942737411e-06, 'epoch': 21.07})
+Step 8800, Loss: {'mse_loss': 0.033630140125751495, 'mee_loss': 0.19105388224124908, 'totoal_loss': 0.033630140125751495, 'data_time': 0.008332167024491355, 'model_time': 0.7065736469812691, 'learning_rate': 9.45466518796603e-06, 'epoch': 21.31})
+Step 8900, Loss: {'mse_loss': 0.06556426733732224, 'mee_loss': 0.29659801721572876, 'totoal_loss': 0.06556426733732224, 'data_time': 0.008250091021182016, 'model_time': 0.7293188110052142, 'learning_rate': 9.426169728870399e-06, 'epoch': 21.55})
+Step 9000, Loss: {'mse_loss': 0.044761694967746735, 'mee_loss': 0.22620542347431183, 'totoal_loss': 0.044761694967746735, 'data_time': 0.008416186989052221, 'model_time': 0.6963896699890029, 'learning_rate': 9.396995065213835e-06, 'epoch': 21.79})
+Step 9100, Loss: {'mse_loss': 0.03149931877851486, 'mee_loss': 0.1887466460466385, 'totoal_loss': 0.03149931877851486, 'data_time': 0.0004411489935591817, 'model_time': 0.7692374360049143, 'learning_rate': 9.367145804013938e-06, 'epoch': 22.03})
+Step 9200, Loss: {'mse_loss': 0.042653921991586685, 'mee_loss': 0.2421218752861023, 'totoal_loss': 0.042653921991586685, 'data_time': 0.00035992401535622776, 'model_time': 0.7342420100176241, 'learning_rate': 9.336626658815071e-06, 'epoch': 22.28})
+Step 9300, Loss: {'mse_loss': 0.03293849527835846, 'mee_loss': 0.18628773093223572, 'totoal_loss': 0.03293849527835846, 'data_time': 0.0003507549990899861, 'model_time': 0.9738275010022335, 'learning_rate': 9.305442448944056e-06, 'epoch': 22.52})
+Step 9400, Loss: {'mse_loss': 0.03477393835783005, 'mee_loss': 0.17888233065605164, 'totoal_loss': 0.03477393835783005, 'data_time': 0.00045523798326030374, 'model_time': 0.7756873340113088, 'learning_rate': 9.273598098749124e-06, 'epoch': 22.76})
+Step 9500, Loss: {'mse_loss': 0.045955974608659744, 'mee_loss': 0.24683688580989838, 'totoal_loss': 0.045955974608659744, 'data_time': 1.844649422011571, 'model_time': 1.0466074330033734, 'learning_rate': 9.241098636822324e-06, 'epoch': 23.0})
+Step 9600, Loss: {'mse_loss': 0.02995876967906952, 'mee_loss': 0.17746031284332275, 'totoal_loss': 0.02995876967906952, 'data_time': 0.007954525004606694, 'model_time': 0.723300551995635, 'learning_rate': 9.207949195205442e-06, 'epoch': 23.24})
+Step 9700, Loss: {'mse_loss': 0.03321743756532669, 'mee_loss': 0.18765434622764587, 'totoal_loss': 0.03321743756532669, 'data_time': 0.01018040400231257, 'model_time': 0.717312046996085, 'learning_rate': 9.174155008579588e-06, 'epoch': 23.49})
+Step 9800, Loss: {'mse_loss': 0.06413795799016953, 'mee_loss': 0.2759748101234436, 'totoal_loss': 0.06413795799016953, 'data_time': 0.009451774007175118, 'model_time': 0.7177010730083566, 'learning_rate': 9.139721413438583e-06, 'epoch': 23.73})
+Step 9900, Loss: {'mse_loss': 0.03443358838558197, 'mee_loss': 0.1908511519432068, 'totoal_loss': 0.03443358838558197, 'data_time': 0.011978258000453934, 'model_time': 0.7159230500110425, 'learning_rate': 9.104653847246273e-06, 'epoch': 23.97})
+Step 10000, Loss: {'mse_loss': 0.03317960351705551, 'mee_loss': 0.1792808622121811, 'totoal_loss': 0.0349724106490612, 'data_time': 0.019084520026808605, 'model_time': 0.700156817008974, 'learning_rate': 9.068957847577869e-06, 'epoch': 24.21})
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+Step 14700, Loss: {'mse_loss': 0.016561338678002357, 'mee_loss': 0.09559310227632523, 'totoal_loss': 0.017517270520329475, 'data_time': 0.009846700995694846, 'model_time': 0.7517729450191837, 'learning_rate': 6.8051342504757714e-06, 'epoch': 35.59})
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+Step 15600, Loss: {'mse_loss': 0.015809357166290283, 'mee_loss': 0.09428733587265015, 'totoal_loss': 0.016752230003476143, 'data_time': 0.010720775986555964, 'model_time': 0.7150140189914964, 'learning_rate': 6.277932610490659e-06, 'epoch': 37.77})
+Step 15700, Loss: {'mse_loss': 0.021281840279698372, 'mee_loss': 0.12662427127361298, 'totoal_loss': 0.02254808321595192, 'data_time': 0.00036267502582632005, 'model_time': 0.7459708820097148, 'learning_rate': 6.218319959628234e-06, 'epoch': 38.01})
+Step 15800, Loss: {'mse_loss': 0.02776646986603737, 'mee_loss': 0.14215397834777832, 'totoal_loss': 0.029188008978962898, 'data_time': 0.00037599701317958534, 'model_time': 0.7587201819987968, 'learning_rate': 6.158534660870018e-06, 'epoch': 38.26})
+Step 15900, Loss: {'mse_loss': 0.03330177813768387, 'mee_loss': 0.14709097146987915, 'totoal_loss': 0.034772686660289764, 'data_time': 0.0005227290093898773, 'model_time': 0.742716559994733, 'learning_rate': 6.0985861550077345e-06, 'epoch': 38.5})
+Step 16000, Loss: {'mse_loss': 0.037800878286361694, 'mee_loss': 0.1405375897884369, 'totoal_loss': 0.03920625522732735, 'data_time': 0.00035481801023706794, 'model_time': 0.7187131039972883, 'learning_rate': 6.0384839086054095e-06, 'epoch': 38.74})
+Step 16100, Loss: {'mse_loss': 0.020301036536693573, 'mee_loss': 0.1129668727517128, 'totoal_loss': 0.02143070474267006, 'data_time': 0.0003197070036549121, 'model_time': 0.6884305120038334, 'learning_rate': 5.978237412504472e-06, 'epoch': 38.98})
+Step 16200, Loss: {'mse_loss': 0.020143311470746994, 'mee_loss': 0.12127256393432617, 'totoal_loss': 0.021356036886572838, 'data_time': 0.00036350099253468215, 'model_time': 0.7077588840038516, 'learning_rate': 5.917856180325059e-06, 'epoch': 39.23})
+Step 16300, Loss: {'mse_loss': 0.014294873923063278, 'mee_loss': 0.09002359956502914, 'totoal_loss': 0.015195109881460667, 'data_time': 0.0003410640056245029, 'model_time': 0.7279508950014133, 'learning_rate': 5.857349746963692e-06, 'epoch': 39.47})
+Step 16400, Loss: {'mse_loss': 0.028543923050165176, 'mee_loss': 0.15689446032047272, 'totoal_loss': 0.030112868174910545, 'data_time': 0.00035930800368078053, 'model_time': 0.7258812460058834, 'learning_rate': 5.796727667087611e-06, 'epoch': 39.71})
+Step 16500, Loss: {'mse_loss': 0.01918216608464718, 'mee_loss': 0.11495696008205414, 'totoal_loss': 0.02033173479139805, 'data_time': 0.00044440501369535923, 'model_time': 0.7352450570033398, 'learning_rate': 5.735999513625984e-06, 'epoch': 39.95})
+Step 16600, Loss: {'mse_loss': 0.014612879604101181, 'mee_loss': 0.09294983744621277, 'totoal_loss': 0.015542377717792988, 'data_time': 0.016168432019185275, 'model_time': 0.733121299999766, 'learning_rate': 5.675174876258223e-06, 'epoch': 40.19})
+Step 16700, Loss: {'mse_loss': 0.022844424471259117, 'mee_loss': 0.12190171331167221, 'totoal_loss': 0.024063441902399063, 'data_time': 0.016874205000931397, 'model_time': 0.7302790250105318, 'learning_rate': 5.614263359899673e-06, 'epoch': 40.44})
+Step 16800, Loss: {'mse_loss': 0.01933462917804718, 'mee_loss': 0.11153306812047958, 'totoal_loss': 0.020449960604310036, 'data_time': 0.026538906997302547, 'model_time': 0.7925798800133634, 'learning_rate': 5.553274583184875e-06, 'epoch': 40.68})
+Step 16900, Loss: {'mse_loss': 0.03838537633419037, 'mee_loss': 0.17688186466693878, 'totoal_loss': 0.040154196321964264, 'data_time': 0.018500117992516607, 'model_time': 0.7047576350159943, 'learning_rate': 5.492218176948673e-06, 'epoch': 40.92})
+Step 17000, Loss: {'mse_loss': 0.024435581639409065, 'mee_loss': 0.1292395442724228, 'totoal_loss': 0.025727976113557816, 'data_time': 0.008574758016038686, 'model_time': 0.7169598359905649, 'learning_rate': 5.431103782705404e-06, 'epoch': 41.16})
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+Step 21800, Loss: {'mse_loss': 0.01579693891108036, 'mee_loss': 0.0950254425406456, 'totoal_loss': 0.016747193410992622, 'data_time': 0.022594641981413588, 'model_time': 0.7220516120141838, 'learning_rate': 2.6171072728151557e-06, 'epoch': 52.78})
+Step 21900, Loss: {'mse_loss': 0.01191322598606348, 'mee_loss': 0.06961846351623535, 'totoal_loss': 0.012609411031007767, 'data_time': 0.009325613005785272, 'model_time': 0.7229090970067773, 'learning_rate': 2.5647736789386828e-06, 'epoch': 53.03})
+Step 22000, Loss: {'mse_loss': 0.018682261928915977, 'mee_loss': 0.09055032581090927, 'totoal_loss': 0.019587764516472816, 'data_time': 0.00849903398193419, 'model_time': 0.736910218023695, 'learning_rate': 2.5128443744773904e-06, 'epoch': 53.27})
+Step 22100, Loss: {'mse_loss': 0.009525053203105927, 'mee_loss': 0.06158820539712906, 'totoal_loss': 0.010140934959053993, 'data_time': 0.008988526999019086, 'model_time': 0.7474606650066562, 'learning_rate': 2.4613275596704386e-06, 'epoch': 53.51})
+Step 22200, Loss: {'mse_loss': 0.020915305241942406, 'mee_loss': 0.12607063353061676, 'totoal_loss': 0.02217601239681244, 'data_time': 0.008286775002488866, 'model_time': 0.7357542300014757, 'learning_rate': 2.4102313696200853e-06, 'epoch': 53.75})
+Step 22300, Loss: {'mse_loss': 0.0168550256639719, 'mee_loss': 0.09509734809398651, 'totoal_loss': 0.017805999144911766, 'data_time': 0.00849865100462921, 'model_time': 0.6695289409835823, 'learning_rate': 2.359563873007063e-06, 'epoch': 54.0})
+Step 22400, Loss: {'mse_loss': 0.016362857073545456, 'mee_loss': 0.09407049417495728, 'totoal_loss': 0.01730356179177761, 'data_time': 0.009506618982413784, 'model_time': 0.7226528320170473, 'learning_rate': 2.3093330708164465e-06, 'epoch': 54.24})
+Step 22500, Loss: {'mse_loss': 0.025162164121866226, 'mee_loss': 0.09803619235754013, 'totoal_loss': 0.026142526417970657, 'data_time': 0.009470914024859667, 'model_time': 0.7078149449953344, 'learning_rate': 2.2595468950741943e-06, 'epoch': 54.48})
+Step 22600, Loss: {'mse_loss': 0.01146742794662714, 'mee_loss': 0.07206711918115616, 'totoal_loss': 0.012188099324703217, 'data_time': 0.01203165200422518, 'model_time': 0.7489873720041942, 'learning_rate': 2.2102132075945974e-06, 'epoch': 54.72})
+Step 22700, Loss: {'mse_loss': 0.014146639034152031, 'mee_loss': 0.08087072521448135, 'totoal_loss': 0.01495534647256136, 'data_time': 0.008772918983595446, 'model_time': 0.7358466629812028, 'learning_rate': 2.1613397987388e-06, 'epoch': 54.96})
+Step 22800, Loss: {'mse_loss': 0.012756037525832653, 'mee_loss': 0.07099253684282303, 'totoal_loss': 0.013465963304042816, 'data_time': 0.009613401984097436, 'model_time': 0.7269660320016555, 'learning_rate': 2.1129343861846207e-06, 'epoch': 55.21})
+Step 22900, Loss: {'mse_loss': 0.008524117060005665, 'mee_loss': 0.055642660707235336, 'totoal_loss': 0.009080544114112854, 'data_time': 0.012621041998500004, 'model_time': 0.7337219009932596, 'learning_rate': 2.065004613707836e-06, 'epoch': 55.45})
+Step 23000, Loss: {'mse_loss': 0.014717772603034973, 'mee_loss': 0.0881071388721466, 'totoal_loss': 0.015598843805491924, 'data_time': 0.009354724985314533, 'model_time': 0.7200139409978874, 'learning_rate': 2.0175580499751375e-06, 'epoch': 55.69})
+Step 23100, Loss: {'mse_loss': 0.027085648849606514, 'mee_loss': 0.12618659436702728, 'totoal_loss': 0.02834751456975937, 'data_time': 0.012534065986983478, 'model_time': 0.7385890759760514, 'learning_rate': 1.9706021873489604e-06, 'epoch': 55.93})
+Step 23200, Loss: {'mse_loss': 0.010556267574429512, 'mee_loss': 0.0659496858716011, 'totoal_loss': 0.011215764097869396, 'data_time': 0.01088731799973175, 'model_time': 0.8128437119885348, 'learning_rate': 1.924144440704338e-06, 'epoch': 56.17})
+Step 23300, Loss: {'mse_loss': 0.012706141918897629, 'mee_loss': 0.07679042220115662, 'totoal_loss': 0.013474046252667904, 'data_time': 0.008505348989274353, 'model_time': 0.7951536850014236, 'learning_rate': 1.8781921462580238e-06, 'epoch': 56.42})
+Step 23400, Loss: {'mse_loss': 0.015282217413187027, 'mee_loss': 0.09251973032951355, 'totoal_loss': 0.016207415610551834, 'data_time': 0.008999512006994337, 'model_time': 0.7384121640061494, 'learning_rate': 1.8327525604100058e-06, 'epoch': 56.66})
+Step 23500, Loss: {'mse_loss': 0.0077305445447564125, 'mee_loss': 0.0489315502345562, 'totoal_loss': 0.00821986049413681, 'data_time': 0.009075271023903042, 'model_time': 0.8256559880101122, 'learning_rate': 1.7878328585976426e-06, 'epoch': 56.9})
+Step 23600, Loss: {'mse_loss': 0.01460389606654644, 'mee_loss': 0.08733515441417694, 'totoal_loss': 0.015477247536182404, 'data_time': 0.008229552011471242, 'model_time': 0.7040902389853727, 'learning_rate': 1.7434401341625765e-06, 'epoch': 57.14})
+Step 23700, Loss: {'mse_loss': 0.012377907522022724, 'mee_loss': 0.0769055038690567, 'totoal_loss': 0.013146962970495224, 'data_time': 0.010381837986642495, 'model_time': 0.7159849310119171, 'learning_rate': 1.6995813972306108e-06, 'epoch': 57.38})
+Step 23800, Loss: {'mse_loss': 0.013876260258257389, 'mee_loss': 0.08533574640750885, 'totoal_loss': 0.014729618094861507, 'data_time': 0.008897685998817906, 'model_time': 0.7153172520047519, 'learning_rate': 1.656263573604734e-06, 'epoch': 57.63})
+Step 23900, Loss: {'mse_loss': 0.01813448593020439, 'mee_loss': 0.10676594823598862, 'totoal_loss': 0.01920214481651783, 'data_time': 0.00830905998009257, 'model_time': 0.7125728219980374, 'learning_rate': 1.613493503671454e-06, 'epoch': 57.87})
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+Step 28500, Loss: {'mse_loss': 0.00762441148981452, 'mee_loss': 0.050391800701618195, 'totoal_loss': 0.008128329180181026, 'data_time': 0.01042735402006656, 'model_time': 0.7773326869937591, 'learning_rate': 3.36349652697643e-07, 'epoch': 69.01})
+Step 28600, Loss: {'mse_loss': 0.014739000238478184, 'mee_loss': 0.08381504565477371, 'totoal_loss': 0.015577150508761406, 'data_time': 0.008280233014374971, 'model_time': 0.7998741519986652, 'learning_rate': 3.2524886917012403e-07, 'epoch': 69.25})
+Step 28700, Loss: {'mse_loss': 0.009138476103544235, 'mee_loss': 0.05703185126185417, 'totoal_loss': 0.009708794765174389, 'data_time': 0.007594057009555399, 'model_time': 0.7507719109999016, 'learning_rate': 3.149060219866433e-07, 'epoch': 69.49})
+Step 28800, Loss: {'mse_loss': 0.01736203394830227, 'mee_loss': 0.07391718029975891, 'totoal_loss': 0.018101206049323082, 'data_time': 0.010005924996221438, 'model_time': 0.7964128580060787, 'learning_rate': 3.053227444026695e-07, 'epoch': 69.73})
+Step 28900, Loss: {'mse_loss': 0.007270306348800659, 'mee_loss': 0.04620549455285072, 'totoal_loss': 0.0077323610894382, 'data_time': 0.007674160005990416, 'model_time': 0.7077336469956208, 'learning_rate': 2.9650054972882544e-07, 'epoch': 69.98})
+Step 29000, Loss: {'mse_loss': 0.012020112946629524, 'mee_loss': 0.07371658086776733, 'totoal_loss': 0.012757278978824615, 'data_time': 0.0003603269869927317, 'model_time': 0.7486329020175617, 'learning_rate': 2.884408310919209e-07, 'epoch': 70.22})
+Step 29100, Loss: {'mse_loss': 0.01072812732309103, 'mee_loss': 0.06509117037057877, 'totoal_loss': 0.011379038915038109, 'data_time': 0.0003939559974242002, 'model_time': 0.740469837008277, 'learning_rate': 2.8114486121495906e-07, 'epoch': 70.46})
+Step 29200, Loss: {'mse_loss': 0.01436957810074091, 'mee_loss': 0.08036483824253082, 'totoal_loss': 0.015173226594924927, 'data_time': 0.00033321999944746494, 'model_time': 0.7447686820232775, 'learning_rate': 2.746137922161617e-07, 'epoch': 70.7})
+Step 29300, Loss: {'mse_loss': 0.025145936757326126, 'mee_loss': 0.09189140051603317, 'totoal_loss': 0.026064850389957428, 'data_time': 0.00032573399948887527, 'model_time': 0.7518001839926001, 'learning_rate': 2.68848655427034e-07, 'epoch': 70.94})
+Step 29400, Loss: {'mse_loss': 0.01017787866294384, 'mee_loss': 0.05718015134334564, 'totoal_loss': 0.010749679990112782, 'data_time': 0.00047574902419000864, 'model_time': 0.7633796769951005, 'learning_rate': 2.638503612295071e-07, 'epoch': 71.19})
+Step 29500, Loss: {'mse_loss': 0.01251574233174324, 'mee_loss': 0.07282175868749619, 'totoal_loss': 0.013243960216641426, 'data_time': 0.0003504179767332971, 'model_time': 0.8381368419795763, 'learning_rate': 2.5961969891217614e-07, 'epoch': 71.43})
+Step 29600, Loss: {'mse_loss': 0.0166502483189106, 'mee_loss': 0.09179450571537018, 'totoal_loss': 0.0175681933760643, 'data_time': 0.00036623000050894916, 'model_time': 0.7468185409961734, 'learning_rate': 2.5615733654566483e-07, 'epoch': 71.67})
+Step 29700, Loss: {'mse_loss': 0.01219559833407402, 'mee_loss': 0.07064340263605118, 'totoal_loss': 0.01290203258395195, 'data_time': 0.00036012401687912643, 'model_time': 0.7098261569917668, 'learning_rate': 2.5346382087712764e-07, 'epoch': 71.91})
+Step 29800, Loss: {'mse_loss': 0.013601863756775856, 'mee_loss': 0.08158230781555176, 'totoal_loss': 0.014417686499655247, 'data_time': 0.025945377012249082, 'model_time': 0.7098259029735345, 'learning_rate': 2.515395772439128e-07, 'epoch': 72.15})
+Step 29900, Loss: {'mse_loss': 0.007013136055320501, 'mee_loss': 0.04694667086005211, 'totoal_loss': 0.007482602726668119, 'data_time': 0.021651076996931806, 'model_time': 0.7714851489872672, 'learning_rate': 2.5038490950639644e-07, 'epoch': 72.4})
+Step 30000, Loss: {'mse_loss': 0.011048168875277042, 'mee_loss': 0.06794512271881104, 'totoal_loss': 0.011727619916200638, 'data_time': 0.023121748003177345, 'model_time': 0.7341695140057709, 'learning_rate': 2.5e-07, 'epoch': 72.64})