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libero_10_2B/starvla_qwen_dual/config.json

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+{
+  "run_id": "starvla_qwen_dual",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_10_2B",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": false,
+  "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
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+    "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
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+      "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": 30000,
+    "learning_rate": {
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+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
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+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
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+    "freeze_modules": null,
+    "loss_scale": {
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+      "vlm": 0.1
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+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
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+        0.95
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+      "eps": 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_2/libero_10_2B/starvla_qwen_dual"
+}

libero_10_2B/starvla_qwen_dual/dataset_statistics.json

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libero_10_2B/starvla_qwen_dual/final_model/pytorch_model.pt

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libero_10_2B/starvla_qwen_dual/libero_10.log

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+Step 19200, Loss: {'mse_loss': 0.01122222002595663, 'totoal_loss': 0.01122222002595663, 'data_time': 0.02242114394903183, 'model_time': 0.711982331937179, 'learning_rate': 4.091465339129985e-06, 'epoch': 24.37})
+Step 19300, Loss: {'mse_loss': 0.009234857745468616, 'totoal_loss': 0.009234857745468616, 'data_time': 0.021737338975071907, 'model_time': 0.6997046349570155, 'learning_rate': 4.031680040371768e-06, 'epoch': 24.49})
+Step 19400, Loss: {'mse_loss': 0.012834487482905388, 'totoal_loss': 0.012834487482905388, 'data_time': 0.020842593163251877, 'model_time': 0.763354288879782, 'learning_rate': 3.972067389509344e-06, 'epoch': 24.62})
+Step 19500, Loss: {'mse_loss': 0.01841934397816658, 'totoal_loss': 0.01841934397816658, 'data_time': 0.020725741982460022, 'model_time': 0.7391947321593761, 'learning_rate': 3.912636800071335e-06, 'epoch': 24.75})
+Step 19600, Loss: {'mse_loss': 0.02911759354174137, 'totoal_loss': 0.02911759354174137, 'data_time': 0.023603218141943216, 'model_time': 0.7468897651415318, 'learning_rate': 3.853397656836754e-06, 'epoch': 24.87})
+Step 19700, Loss: {'mse_loss': 0.020647505298256874, 'totoal_loss': 0.020647505298256874, 'data_time': 1.22839763504453, 'model_time': 0.9240984041243792, 'learning_rate': 3.7943593143530404e-06, 'epoch': 25.0})
+Step 19800, Loss: {'mse_loss': 0.009802502579987049, 'totoal_loss': 0.009802502579987049, 'data_time': 0.009933554101735353, 'model_time': 0.7150624739006162, 'learning_rate': 3.735531095458867e-06, 'epoch': 25.13})
+Step 19900, Loss: {'mse_loss': 0.013376299291849136, 'totoal_loss': 0.013376299291849136, 'data_time': 0.007537018042057753, 'model_time': 0.7205919148400426, 'learning_rate': 3.6769222898119562e-06, 'epoch': 25.25})
+Step 20000, Loss: {'mse_loss': 0.017695149406790733, 'totoal_loss': 0.017695149406790733, 'data_time': 0.00848980899900198, 'model_time': 0.7514795300085098, 'learning_rate': 3.618542152422132e-06, 'epoch': 25.38})
+Step 20100, Loss: {'mse_loss': 0.017792126163840294, 'totoal_loss': 0.017792126163840294, 'data_time': 0.010456735966727138, 'model_time': 0.7489552290644497, 'learning_rate': 3.560399902189855e-06, 'epoch': 25.51})
+Step 20200, Loss: {'mse_loss': 0.006923952605575323, 'totoal_loss': 0.006923952605575323, 'data_time': 0.010687240865081549, 'model_time': 0.7625690910499543, 'learning_rate': 3.502504720450441e-06, 'epoch': 25.63})
+Step 20300, Loss: {'mse_loss': 0.01608235575258732, 'totoal_loss': 0.01608235575258732, 'data_time': 0.009618441108614206, 'model_time': 0.7298045689240098, 'learning_rate': 3.4448657495242304e-06, 'epoch': 25.76})
+Step 20400, Loss: {'mse_loss': 0.016891708597540855, 'totoal_loss': 0.016891708597540855, 'data_time': 0.011798834893852472, 'model_time': 0.8052964711096138, 'learning_rate': 3.387492091272904e-06, 'epoch': 25.89})
+Step 20500, Loss: {'mse_loss': 0.008381481282413006, 'totoal_loss': 0.008381481282413006, 'data_time': 0.017214577877894044, 'model_time': 0.735916897887364, 'learning_rate': 3.3303928056621955e-06, 'epoch': 26.02})
+Step 20600, Loss: {'mse_loss': 0.018857736140489578, 'totoal_loss': 0.018857736140489578, 'data_time': 0.015054655959829688, 'model_time': 0.7165393668692559, 'learning_rate': 3.2735769093312202e-06, 'epoch': 26.14})
+Step 20700, Loss: {'mse_loss': 0.008410196751356125, 'totoal_loss': 0.008410196751356125, 'data_time': 0.016247731167823076, 'model_time': 0.817879525013268, 'learning_rate': 3.217053374168639e-06, 'epoch': 26.27})
+Step 20800, Loss: {'mse_loss': 0.008958414196968079, 'totoal_loss': 0.008958414196968079, 'data_time': 0.019423544174060225, 'model_time': 0.7320623879786581, 'learning_rate': 3.1608311258958953e-06, 'epoch': 26.4})
+Step 20900, Loss: {'mse_loss': 0.019863653928041458, 'totoal_loss': 0.019863653928041458, 'data_time': 0.015504029113799334, 'model_time': 0.7232895910274237, 'learning_rate': 3.10491904265774e-06, 'epoch': 26.52})
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+Step 29000, Loss: {'mse_loss': 0.00550438929349184, 'totoal_loss': 0.00550438929349184, 'data_time': 0.014345866162329912, 'model_time': 0.7299341710750014, 'learning_rate': 2.884408310919209e-07, 'epoch': 36.8})
+Step 29100, Loss: {'mse_loss': 0.00667390413582325, 'totoal_loss': 0.00667390413582325, 'data_time': 0.015540515072643757, 'model_time': 0.7341891161631793, 'learning_rate': 2.8114486121495906e-07, 'epoch': 36.93})
+Step 29200, Loss: {'mse_loss': 0.008265814743936062, 'totoal_loss': 0.008265814743936062, 'data_time': 0.008158509153872728, 'model_time': 0.7336411240976304, 'learning_rate': 2.746137922161617e-07, 'epoch': 37.06})
+Step 29300, Loss: {'mse_loss': 0.022961875423789024, 'totoal_loss': 0.022961875423789024, 'data_time': 0.011602442944422364, 'model_time': 0.7106678138952702, 'learning_rate': 2.68848655427034e-07, 'epoch': 37.18})
+Step 29400, Loss: {'mse_loss': 0.006693624425679445, 'totoal_loss': 0.006693624425679445, 'data_time': 0.008192531066015363, 'model_time': 0.7469280869700015, 'learning_rate': 2.638503612295071e-07, 'epoch': 37.31})
+Step 29500, Loss: {'mse_loss': 0.016638200730085373, 'totoal_loss': 0.016638200730085373, 'data_time': 0.008776580216363072, 'model_time': 0.75890225591138, 'learning_rate': 2.5961969891217614e-07, 'epoch': 37.44})
+Step 29600, Loss: {'mse_loss': 0.012083043344318867, 'totoal_loss': 0.012083043344318867, 'data_time': 0.007531982148066163, 'model_time': 0.7342464830726385, 'learning_rate': 2.5615733654566483e-07, 'epoch': 37.56})
+Step 29700, Loss: {'mse_loss': 0.00816319603472948, 'totoal_loss': 0.00816319603472948, 'data_time': 0.008295416133478284, 'model_time': 0.7977496040984988, 'learning_rate': 2.5346382087712764e-07, 'epoch': 37.69})
+Step 29800, Loss: {'mse_loss': 0.008274941705167294, 'totoal_loss': 0.008274941705167294, 'data_time': 0.008402387844398618, 'model_time': 0.8318268901202828, 'learning_rate': 2.515395772439128e-07, 'epoch': 37.82})
+Step 29900, Loss: {'mse_loss': 0.005214365664869547, 'totoal_loss': 0.005214365664869547, 'data_time': 0.009026129031553864, 'model_time': 0.7567618528846651, 'learning_rate': 2.5038490950639644e-07, 'epoch': 37.94})
+Step 30000, Loss: {'mse_loss': 0.011127898469567299, 'totoal_loss': 0.011127898469567299, 'mse_score': 0.0014494948887399264, 'data_time': 0.008244497934356332, 'model_time': 0.728309323079884, 'learning_rate': 2.5e-07, 'epoch': 38.07})

libero_10_2B/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
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 1 (50.0%)
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Current task success rate: 0.86
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+Task: put both the cream cheese box and the butter in the basket
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+# successes: 44 (86.3%)
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 146
+# successes: 130 (89.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 147
+# successes: 131 (89.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 148
+# successes: 132 (89.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 149
+# successes: 133 (89.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 150
+# successes: 134 (89.3%)
+Current task success rate: 0.92
+Current total success rate: 0.8933333333333333
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 151
+# successes: 135 (89.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 152
+# successes: 136 (89.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 153
+# successes: 137 (89.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 154
+# successes: 137 (89.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 155
+# successes: 138 (89.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 156
+# successes: 139 (89.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 157
+# successes: 140 (89.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 158
+# successes: 141 (89.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 159
+# successes: 142 (89.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 160
+# successes: 143 (89.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 161
+# successes: 144 (89.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 162
+# successes: 145 (89.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 163
+# successes: 146 (89.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 164
+# successes: 147 (89.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 165
+# successes: 148 (89.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 166
+# successes: 149 (89.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 167
+# successes: 150 (89.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 168
+# successes: 151 (89.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 169
+# successes: 152 (89.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 170
+# successes: 153 (90.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 171
+# successes: 154 (90.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 172
+# successes: 155 (90.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 173
+# successes: 156 (90.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 174
+# successes: 157 (90.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 175
+# successes: 158 (90.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 176
+# successes: 159 (90.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 177
+# successes: 160 (90.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 178
+# successes: 161 (90.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 179
+# successes: 162 (90.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 180
+# successes: 163 (90.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 181
+# successes: 164 (90.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 182
+# successes: 165 (90.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 183
+# successes: 166 (90.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 184
+# successes: 167 (90.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 185
+# successes: 168 (90.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 186
+# successes: 169 (90.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 187
+# successes: 170 (90.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 188
+# successes: 171 (91.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 189
+# successes: 172 (91.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 190
+# successes: 173 (91.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 191
+# successes: 174 (91.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 192
+# successes: 175 (91.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 193
+# successes: 176 (91.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 194
+# successes: 177 (91.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 195
+# successes: 178 (91.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 196
+# successes: 179 (91.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 197
+# successes: 180 (91.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 198
+# successes: 181 (91.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 199
+# successes: 182 (91.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 200
+# successes: 183 (91.5%)
+Current task success rate: 0.98
+Current total success rate: 0.915
+
+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: 184 (91.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 202
+# successes: 185 (91.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 203
+# successes: 186 (91.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 204
+# successes: 187 (91.7%)
+
+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: 205
+# successes: 188 (91.7%)
+
+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: 206
+# successes: 189 (91.7%)
+
+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: 207
+# successes: 190 (91.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 208
+# successes: 191 (91.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 209
+# successes: 192 (91.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 210
+# successes: 193 (91.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 211
+# successes: 194 (91.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 212
+# successes: 195 (92.0%)
+
+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: 213
+# successes: 196 (92.0%)
+
+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: 214
+# successes: 197 (92.1%)
+
+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: 215
+# successes: 198 (92.1%)
+
+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: 216
+# successes: 199 (92.1%)
+
+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: 217
+# successes: 199 (91.7%)
+
+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: 218
+# successes: 200 (91.7%)
+
+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: 219
+# successes: 201 (91.8%)
+
+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: 220
+# successes: 201 (91.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: False
+# episodes completed so far: 221
+# successes: 201 (91.0%)
+
+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: 222
+# successes: 201 (90.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 223
+# successes: 202 (90.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 224
+# successes: 203 (90.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 225
+# successes: 204 (90.7%)
+
+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: 226
+# successes: 205 (90.7%)
+
+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: 227
+# successes: 206 (90.7%)
+
+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: 228
+# successes: 207 (90.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 229
+# successes: 208 (90.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 230
+# successes: 209 (90.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 231
+# successes: 210 (90.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 232
+# successes: 211 (90.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 233
+# successes: 212 (91.0%)
+
+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: 234
+# successes: 213 (91.0%)
+
+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: 235
+# successes: 214 (91.1%)
+
+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: 236
+# successes: 215 (91.1%)
+
+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: 237
+# successes: 215 (90.7%)
+
+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: 238
+# successes: 215 (90.3%)
+
+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: 239
+# successes: 216 (90.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 240
+# successes: 217 (90.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 241
+# successes: 218 (90.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 242
+# successes: 219 (90.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 243
+# successes: 220 (90.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 244
+# successes: 221 (90.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 245
+# successes: 222 (90.6%)
+
+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: 246
+# successes: 222 (90.2%)
+
+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: 247
+# successes: 223 (90.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 248
+# successes: 224 (90.3%)
+
+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: 249
+# successes: 225 (90.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 250
+# successes: 226 (90.4%)
+Current task success rate: 0.86
+Current total success rate: 0.904
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 251
+# successes: 227 (90.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 252
+# successes: 228 (90.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 253
+# successes: 229 (90.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 254
+# successes: 230 (90.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 255
+# successes: 231 (90.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 256
+# successes: 232 (90.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 257
+# successes: 233 (90.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 258
+# successes: 234 (90.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 259
+# successes: 235 (90.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 260
+# successes: 236 (90.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 261
+# successes: 237 (90.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 262
+# successes: 238 (90.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 263
+# successes: 239 (90.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 264
+# successes: 240 (90.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 265
+# successes: 241 (90.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 266
+# successes: 242 (91.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 267
+# successes: 243 (91.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 268
+# successes: 244 (91.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 269
+# successes: 245 (91.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 270
+# successes: 246 (91.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 271
+# successes: 247 (91.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 272
+# successes: 248 (91.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 273
+# successes: 249 (91.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 274
+# successes: 250 (91.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 275
+# successes: 251 (91.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 276
+# successes: 252 (91.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 277
+# successes: 253 (91.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 278
+# successes: 254 (91.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 279
+# successes: 255 (91.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 280
+# successes: 256 (91.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 281
+# successes: 257 (91.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 282
+# successes: 258 (91.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 283
+# successes: 259 (91.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 284
+# successes: 260 (91.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 285
+# successes: 261 (91.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 286
+# successes: 262 (91.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 287
+# successes: 263 (91.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 288
+# successes: 264 (91.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 289
+# successes: 265 (91.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 290
+# successes: 266 (91.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 291
+# successes: 267 (91.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 292
+# successes: 268 (91.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 293
+# successes: 269 (91.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 294
+# successes: 270 (91.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 295
+# successes: 271 (91.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 296
+# successes: 272 (91.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 297
+# successes: 273 (91.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 298
+# successes: 274 (91.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 299
+# successes: 275 (92.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 300
+# successes: 276 (92.0%)
+Current task success rate: 1.0
+Current total success rate: 0.92
+
+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: 277 (92.0%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 302
+# successes: 278 (92.1%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 279 (92.1%)
+
+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: 304
+# successes: 280 (92.1%)
+
+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: 281 (92.1%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 282 (92.2%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 283 (92.2%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 284 (92.2%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 285 (92.2%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 286 (92.3%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 287 (92.3%)
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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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+# episodes completed so far: 312
+# successes: 288 (92.3%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 289 (92.3%)
+
+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: 314
+# successes: 290 (92.4%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: False
+# episodes completed so far: 315
+# successes: 290 (92.1%)
+
+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: 316
+# successes: 291 (92.1%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: False
+# episodes completed so far: 317
+# successes: 291 (91.8%)
+
+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: 318
+# successes: 292 (91.8%)
+
+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: 319
+# successes: 293 (91.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 294 (91.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 321
+# successes: 295 (91.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: False
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+# successes: 295 (91.6%)
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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: 296 (91.6%)
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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: 296 (91.4%)
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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 (91.4%)
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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 (91.1%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 298 (91.1%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 298 (90.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 329
+# successes: 299 (90.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 299 (90.6%)
+
+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: 331
+# successes: 300 (90.6%)
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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: 301 (90.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 333
+# successes: 302 (90.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 303 (90.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 304 (90.7%)
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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: 336
+# successes: 305 (90.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 306 (90.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 338
+# successes: 307 (90.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 339
+# successes: 308 (90.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: False
+# episodes completed so far: 340
+# successes: 308 (90.6%)
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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: 341
+# successes: 309 (90.6%)
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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: 342
+# successes: 310 (90.6%)
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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: 343
+# successes: 311 (90.7%)
+
+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: 344
+# successes: 312 (90.7%)
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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: 345
+# successes: 313 (90.7%)
+
+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: 346
+# successes: 314 (90.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 347
+# successes: 315 (90.8%)
+
+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: 348
+# successes: 316 (90.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 349
+# successes: 317 (90.8%)
+
+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: 318 (90.9%)
+Current task success rate: 0.84
+Current total success rate: 0.9085714285714286
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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: 351
+# successes: 319 (90.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 352
+# successes: 320 (90.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 353
+# successes: 321 (90.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 354
+# successes: 322 (91.0%)
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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: 323 (91.0%)
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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: 324 (91.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 357
+# successes: 325 (91.0%)
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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: 326 (91.1%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 359
+# successes: 327 (91.1%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: False
+# episodes completed so far: 360
+# successes: 327 (90.8%)
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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: 328 (90.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 362
+# successes: 329 (90.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 363
+# successes: 330 (90.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 364
+# successes: 331 (90.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 365
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 333 (91.0%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 334 (91.0%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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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: 374
+# successes: 340 (90.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 341 (90.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 343 (91.0%)
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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: 378
+# successes: 344 (91.0%)
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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: 379
+# successes: 345 (91.0%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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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: 382
+# successes: 348 (91.1%)
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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: 383
+# successes: 349 (91.1%)
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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: 384
+# successes: 350 (91.1%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 385
+# successes: 351 (91.2%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 353 (91.2%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 388
+# successes: 354 (91.2%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 389
+# successes: 355 (91.3%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 390
+# successes: 356 (91.3%)
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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: 391
+# successes: 357 (91.3%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 358 (91.3%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 393
+# successes: 359 (91.3%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 394
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 395
+# successes: 361 (91.4%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 396
+# successes: 362 (91.4%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 397
+# successes: 363 (91.4%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 398
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+Task: put both the alphabet soup and the cream cheese box in the basket
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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: 400
+# successes: 365 (91.2%)
+Current task success rate: 0.94
+Current total success rate: 0.9125
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+Task: put both moka pots on the stove
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+# episodes completed so far: 401
+# successes: 366 (91.3%)
+
+Task: put both moka pots on the stove
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+# successes: 366 (91.0%)
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+Task: put both moka pots on the stove
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+# successes: 367 (91.1%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# episodes completed so far: 405
+# successes: 368 (90.9%)
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+Task: put both moka pots on the stove
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+# successes: 368 (90.6%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 407
+# successes: 369 (90.7%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 408
+# successes: 369 (90.4%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 409
+# successes: 370 (90.5%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 410
+# successes: 370 (90.2%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 411
+# successes: 371 (90.3%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 412
+# successes: 371 (90.0%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 413
+# successes: 371 (89.8%)
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+Task: put both moka pots on the stove
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+# successes: 372 (89.9%)
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+Task: put both moka pots on the stove
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+# successes: 373 (89.9%)
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+Task: put both moka pots on the stove
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+# successes: 373 (89.7%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 417
+# successes: 374 (89.7%)
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+Task: put both moka pots on the stove
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+# successes: 374 (89.5%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# successes: 375 (89.3%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# successes: 376 (89.1%)
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+Task: put both moka pots on the stove
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+# successes: 377 (89.1%)
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+Task: put both moka pots on the stove
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+# successes: 378 (89.2%)
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+Task: put both moka pots on the stove
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+# successes: 378 (88.9%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# successes: 380 (88.8%)
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+Task: put both moka pots on the stove
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+# successes: 380 (88.6%)
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+Task: put both moka pots on the stove
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+# successes: 381 (88.6%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# successes: 383 (88.7%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 433
+# successes: 384 (88.7%)
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+Task: put both moka pots on the stove
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+# successes: 385 (88.7%)
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+Task: put both moka pots on the stove
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+# successes: 386 (88.7%)
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+Task: put both moka pots on the stove
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+# successes: 387 (88.8%)
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+Task: put both moka pots on the stove
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+# successes: 388 (88.8%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 438
+# successes: 389 (88.8%)
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+Task: put both moka pots on the stove
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+# successes: 389 (88.6%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 440
+# successes: 390 (88.6%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 441
+# successes: 390 (88.4%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 442
+# successes: 391 (88.5%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 443
+# successes: 392 (88.5%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 444
+# successes: 393 (88.5%)
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+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 445
+# successes: 394 (88.5%)
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+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 446
+# successes: 394 (88.3%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 447
+# successes: 395 (88.4%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 448
+# successes: 395 (88.2%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 449
+# successes: 396 (88.2%)
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+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 450
+# successes: 397 (88.2%)
+Current task success rate: 0.64
+Current total success rate: 0.8822222222222222
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 451
+# successes: 398 (88.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 452
+# successes: 399 (88.3%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 453
+# successes: 400 (88.3%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 454
+# successes: 401 (88.3%)
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+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 455
+# successes: 402 (88.4%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 456
+# successes: 403 (88.4%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 457
+# successes: 404 (88.4%)
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+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 458
+# successes: 405 (88.4%)
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+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 459
+# successes: 406 (88.5%)
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+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 460
+# successes: 407 (88.5%)
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+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 461
+# successes: 408 (88.5%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 462
+# successes: 409 (88.5%)
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+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 463
+# successes: 410 (88.6%)
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+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 464
+# successes: 411 (88.6%)
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+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 465
+# successes: 412 (88.6%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 466
+# successes: 413 (88.6%)
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+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 467
+# successes: 414 (88.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 468
+# successes: 415 (88.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 469
+# successes: 416 (88.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 470
+# successes: 417 (88.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 471
+# successes: 418 (88.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 472
+# successes: 419 (88.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 473
+# successes: 420 (88.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 474
+# successes: 421 (88.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 475
+# successes: 422 (88.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 476
+# successes: 423 (88.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 477
+# successes: 424 (88.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 478
+# successes: 425 (88.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 479
+# successes: 426 (88.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 480
+# successes: 427 (89.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 481
+# successes: 428 (89.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 482
+# successes: 429 (89.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 483
+# successes: 430 (89.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 484
+# successes: 431 (89.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 485
+# successes: 432 (89.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 486
+# successes: 433 (89.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 487
+# successes: 434 (89.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 488
+# successes: 435 (89.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 489
+# successes: 436 (89.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: False
+# episodes completed so far: 490
+# successes: 436 (89.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 491
+# successes: 437 (89.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 492
+# successes: 438 (89.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 493
+# successes: 439 (89.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 494
+# successes: 440 (89.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 495
+# successes: 441 (89.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 496
+# successes: 442 (89.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 497
+# successes: 443 (89.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 498
+# successes: 444 (89.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 499
+# successes: 445 (89.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 500
+# successes: 446 (89.2%)
+Current task success rate: 0.98
+Current total success rate: 0.892

libero_goal_2B/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_goal_2B",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": false,
+  "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_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": 30000,
+    "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_goal_2B/starvla_qwen_dual"
+}

libero_goal_2B/starvla_qwen_dual/dataset_statistics.json

@@ -0,0 +1,133 @@
+{
+  "franka": {
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+    "state": {
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+        -0.040336399003863335
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+        0.040610933862626555,
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+    },
+    "num_transitions": 51851,
+    "num_trajectories": 428
+  }
+}

libero_goal_2B/starvla_qwen_dual/final_model/pytorch_model.pt

@@ -0,0 +1,3 @@
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+size 5233814193

libero_goal_2B/starvla_qwen_dual/libero_eval_libero_goal.log

@@ -0,0 +1,2521 @@
+Task suite: libero_goal
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 3
+# successes: 3 (100.0%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# successes: 5 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# successes: 6 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# successes: 7 (100.0%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# successes: 11 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# successes: 12 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 13
+# successes: 13 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 18
+# successes: 18 (100.0%)
+
+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 19
+# successes: 19 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# successes: 21 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# successes: 22 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 23
+# successes: 23 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 24
+# successes: 24 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 25
+# successes: 25 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 26
+# successes: 26 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 27
+# successes: 27 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 28
+# successes: 28 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 29
+# successes: 29 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 30
+# successes: 30 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 31
+# successes: 31 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# successes: 32 (100.0%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# successes: 39 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 40
+# successes: 40 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 41
+# successes: 41 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 42
+# successes: 42 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 43
+# successes: 43 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 44
+# successes: 44 (100.0%)
+
+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 45
+# successes: 45 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 46
+# successes: 46 (100.0%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 49
+# successes: 49 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 50
+# successes: 50 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
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+Task: put the bowl on the stove
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+# episodes completed so far: 51
+# successes: 51 (100.0%)
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+Task: put the bowl on the stove
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+# episodes completed so far: 52
+# successes: 52 (100.0%)
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+Task: put the bowl on the stove
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+# episodes completed so far: 53
+# successes: 53 (100.0%)
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+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 54
+# successes: 54 (100.0%)
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+Task: put the bowl on the stove
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+# episodes completed so far: 55
+# successes: 55 (100.0%)
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+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 56
+# successes: 56 (100.0%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 57
+# successes: 57 (100.0%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 58
+# successes: 58 (100.0%)
+
+Task: put the bowl on the stove
+Success: False
+# episodes completed so far: 59
+# successes: 58 (98.3%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 60
+# successes: 59 (98.3%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 61
+# successes: 60 (98.4%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 62
+# successes: 61 (98.4%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 63
+# successes: 62 (98.4%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 64
+# successes: 63 (98.4%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 65
+# successes: 64 (98.5%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 66
+# successes: 65 (98.5%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 67
+# successes: 66 (98.5%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 68
+# successes: 67 (98.5%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 69
+# successes: 68 (98.6%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 70
+# successes: 69 (98.6%)
+
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+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: 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: 240 (96.0%)
+Current task success rate: 0.98
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+Task: push the plate to the front of the stove
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+# successes: 241 (96.0%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 252
+# successes: 242 (96.0%)
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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: 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: 430 (97.1%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 444
+# successes: 431 (97.1%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 445
+# successes: 432 (97.1%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 446
+# successes: 433 (97.1%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 447
+# successes: 434 (97.1%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 448
+# successes: 435 (97.1%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 449
+# successes: 436 (97.1%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 450
+# successes: 437 (97.1%)
+Current task success rate: 1.0
+Current total success rate: 0.9711111111111111
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 451
+# successes: 437 (96.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 452
+# successes: 438 (96.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 453
+# successes: 439 (96.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 454
+# successes: 440 (96.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 455
+# successes: 441 (96.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 456
+# successes: 442 (96.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 457
+# successes: 443 (96.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 458
+# successes: 444 (96.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 459
+# successes: 445 (96.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 460
+# successes: 446 (97.0%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 461
+# successes: 447 (97.0%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 462
+# successes: 448 (97.0%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 463
+# successes: 449 (97.0%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 464
+# successes: 450 (97.0%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 465
+# successes: 450 (96.8%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 466
+# successes: 451 (96.8%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 467
+# successes: 451 (96.6%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 468
+# successes: 451 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 469
+# successes: 452 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 470
+# successes: 453 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 471
+# successes: 454 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 472
+# successes: 455 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 473
+# successes: 456 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 474
+# successes: 457 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 475
+# successes: 458 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 476
+# successes: 459 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 477
+# successes: 460 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 478
+# successes: 461 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 479
+# successes: 462 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 480
+# successes: 463 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 481
+# successes: 464 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 482
+# successes: 465 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 483
+# successes: 466 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 484
+# successes: 467 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 485
+# successes: 468 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 486
+# successes: 468 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 487
+# successes: 469 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 488
+# successes: 470 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 489
+# successes: 471 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 490
+# successes: 472 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 491
+# successes: 473 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 492
+# successes: 474 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 493
+# successes: 475 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 494
+# successes: 476 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 495
+# successes: 477 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 496
+# successes: 478 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 497
+# successes: 479 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 498
+# successes: 480 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 499
+# successes: 481 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 500
+# successes: 482 (96.4%)
+Current task success rate: 0.9
+Current total success rate: 0.964

libero_goal_2B/starvla_qwen_dual/libero_goal.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.13235342502594, 'totoal_loss': 1.13235342502594, 'data_time': 0.02003104891628027, 'model_time': 0.7540001850575209, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.25})
+Step 200, Loss: {'mse_loss': 1.044721007347107, 'totoal_loss': 1.044721007347107, 'data_time': 0.01976405316963792, 'model_time': 0.7031369609758258, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.49})
+Step 300, Loss: {'mse_loss': 0.7938295602798462, 'totoal_loss': 0.7938295602798462, 'data_time': 0.019052489195019007, 'model_time': 0.7536049531772733, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.74})
+Step 400, Loss: {'mse_loss': 0.5639538764953613, 'totoal_loss': 0.5639538764953613, 'data_time': 0.01672526402398944, 'model_time': 0.6714198431000113, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.99})
+Step 500, Loss: {'mse_loss': 0.466010183095932, 'totoal_loss': 0.466010183095932, 'data_time': 0.02301518013700843, 'model_time': 0.7047572359442711, 'learning_rate': 1.0000000000000002e-06, 'epoch': 1.23})
+Step 600, Loss: {'mse_loss': 0.34547242522239685, 'totoal_loss': 0.34547242522239685, 'data_time': 0.02540705190040171, 'model_time': 0.7240518608596176, 'learning_rate': 1.2000000000000002e-06, 'epoch': 1.48})
+Step 700, Loss: {'mse_loss': 0.3189221918582916, 'totoal_loss': 0.3189221918582916, 'data_time': 0.0265121900010854, 'model_time': 0.6993386740796268, 'learning_rate': 1.4000000000000001e-06, 'epoch': 1.72})
+Step 800, Loss: {'mse_loss': 0.2933785021305084, 'totoal_loss': 0.2933785021305084, 'data_time': 0.02621791698038578, 'model_time': 0.7822871538810432, 'learning_rate': 1.6000000000000001e-06, 'epoch': 1.97})
+Step 900, Loss: {'mse_loss': 0.15656748414039612, 'totoal_loss': 0.15656748414039612, 'data_time': 0.020063944859430194, 'model_time': 0.70715969405137, 'learning_rate': 1.8000000000000001e-06, 'epoch': 2.22})
+Step 1000, Loss: {'mse_loss': 0.13084977865219116, 'totoal_loss': 0.13084977865219116, 'data_time': 0.017530160956084728, 'model_time': 0.7164946829434484, 'learning_rate': 2.0000000000000003e-06, 'epoch': 2.46})
+Step 1100, Loss: {'mse_loss': 0.10358764976263046, 'totoal_loss': 0.10358764976263046, 'data_time': 0.015221042791381478, 'model_time': 0.7444557470735162, 'learning_rate': 2.2e-06, 'epoch': 2.71})
+Step 1200, Loss: {'mse_loss': 0.16990846395492554, 'totoal_loss': 0.16990846395492554, 'data_time': 0.015247669070959091, 'model_time': 0.7460093169938773, 'learning_rate': 2.4000000000000003e-06, 'epoch': 2.96})
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+Step 1400, Loss: {'mse_loss': 0.14228016138076782, 'totoal_loss': 0.14228016138076782, 'data_time': 0.00039218412712216377, 'model_time': 0.7266084149014205, 'learning_rate': 2.8000000000000003e-06, 'epoch': 3.45})
+Step 1500, Loss: {'mse_loss': 0.19317403435707092, 'totoal_loss': 0.19317403435707092, 'data_time': 0.0004702848382294178, 'model_time': 0.7266604399774224, 'learning_rate': 3e-06, 'epoch': 3.69})
+Step 1600, Loss: {'mse_loss': 0.13169358670711517, 'totoal_loss': 0.13169358670711517, 'data_time': 0.000427081948146224, 'model_time': 0.7200681739486754, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.94})
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+Step 2200, Loss: {'mse_loss': 0.12716735899448395, 'totoal_loss': 0.12716735899448395, 'data_time': 0.0004155950155109167, 'model_time': 0.7805266019422561, 'learning_rate': 4.4e-06, 'epoch': 5.42})
+Step 2300, Loss: {'mse_loss': 0.12242789566516876, 'totoal_loss': 0.12242789566516876, 'data_time': 0.0004194520879536867, 'model_time': 0.7228790749795735, 'learning_rate': 4.600000000000001e-06, 'epoch': 5.67})
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+Step 3300, Loss: {'mse_loss': 0.05876311659812927, 'totoal_loss': 0.05876311659812927, 'data_time': 0.02290432807058096, 'model_time': 0.6945000819396228, 'learning_rate': 6.600000000000001e-06, 'epoch': 8.13})
+Step 3400, Loss: {'mse_loss': 0.09214566648006439, 'totoal_loss': 0.09214566648006439, 'data_time': 0.02611346496269107, 'model_time': 0.7417499360162765, 'learning_rate': 6.800000000000001e-06, 'epoch': 8.37})
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+Step 3900, Loss: {'mse_loss': 0.06096266210079193, 'totoal_loss': 0.06096266210079193, 'data_time': 0.0005155201070010662, 'model_time': 0.7559882360510528, 'learning_rate': 7.800000000000002e-06, 'epoch': 9.61})
+Step 4000, Loss: {'mse_loss': 0.04948277026414871, 'totoal_loss': 0.04948277026414871, 'data_time': 0.0004295420367270708, 'model_time': 0.7266269370447844, 'learning_rate': 8.000000000000001e-06, 'epoch': 9.85})
+Step 4100, Loss: {'mse_loss': 0.07451830804347992, 'totoal_loss': 0.07451830804347992, 'data_time': 0.015546387061476707, 'model_time': 0.732275330927223, 'learning_rate': 8.2e-06, 'epoch': 10.1})
+Step 4200, Loss: {'mse_loss': 0.0421840064227581, 'totoal_loss': 0.0421840064227581, 'data_time': 0.018955945037305355, 'model_time': 0.7240558099001646, 'learning_rate': 8.400000000000001e-06, 'epoch': 10.34})
+Step 4300, Loss: {'mse_loss': 0.07062847912311554, 'totoal_loss': 0.07062847912311554, 'data_time': 0.02383451210334897, 'model_time': 0.7112459000200033, 'learning_rate': 8.6e-06, 'epoch': 10.59})
+Step 4400, Loss: {'mse_loss': 0.055105872452259064, 'totoal_loss': 0.055105872452259064, 'data_time': 0.016722982982173562, 'model_time': 0.7463902868330479, 'learning_rate': 8.8e-06, 'epoch': 10.84})
+Step 4500, Loss: {'mse_loss': 0.07136349380016327, 'totoal_loss': 0.07136349380016327, 'data_time': 0.016390664037317038, 'model_time': 0.7174582458101213, 'learning_rate': 9e-06, 'epoch': 11.08})
+Step 4600, Loss: {'mse_loss': 0.04807275906205177, 'totoal_loss': 0.04807275906205177, 'data_time': 0.01624635001644492, 'model_time': 1.0783615899272263, 'learning_rate': 9.200000000000002e-06, 'epoch': 11.33})
+Step 4700, Loss: {'mse_loss': 0.045663025230169296, 'totoal_loss': 0.045663025230169296, 'data_time': 0.017579457024112344, 'model_time': 0.7241248420905322, 'learning_rate': 9.4e-06, 'epoch': 11.58})
+Step 4800, Loss: {'mse_loss': 0.06463941186666489, 'totoal_loss': 0.06463941186666489, 'data_time': 0.019250834826380014, 'model_time': 0.7178303839173168, 'learning_rate': 9.600000000000001e-06, 'epoch': 11.82})
+Step 4900, Loss: {'mse_loss': 0.03793349489569664, 'totoal_loss': 0.03793349489569664, 'data_time': 0.009401804069057107, 'model_time': 0.7771601749118418, 'learning_rate': 9.800000000000001e-06, 'epoch': 12.07})
+Step 5000, Loss: {'mse_loss': 0.07581351697444916, 'totoal_loss': 0.07581351697444916, 'data_time': 0.008600027998909354, 'model_time': 0.7040182109922171, 'learning_rate': 1e-05, 'epoch': 12.32})
+Step 5100, Loss: {'mse_loss': 0.05260660871863365, 'totoal_loss': 0.05260660871863365, 'data_time': 0.011034801136702299, 'model_time': 0.7192821931093931, 'learning_rate': 9.999615090493604e-06, 'epoch': 12.56})
+Step 5200, Loss: {'mse_loss': 0.03742503374814987, 'totoal_loss': 0.03742503374814987, 'data_time': 0.009051371132954955, 'model_time': 0.7671258728951216, 'learning_rate': 9.998460422756089e-06, 'epoch': 12.81})
+Step 5300, Loss: {'mse_loss': 0.04497196152806282, 'totoal_loss': 0.04497196152806282, 'data_time': 0.0004588649608194828, 'model_time': 0.8164676129817963, 'learning_rate': 9.996536179122874e-06, 'epoch': 13.05})
+Step 5400, Loss: {'mse_loss': 0.04756006971001625, 'totoal_loss': 0.04756006971001625, 'data_time': 0.00034002610482275486, 'model_time': 0.8075681929476559, 'learning_rate': 9.993842663454337e-06, 'epoch': 13.3})
+Step 5500, Loss: {'mse_loss': 0.04660799354314804, 'totoal_loss': 0.04660799354314804, 'data_time': 0.0004182080738246441, 'model_time': 0.745121476938948, 'learning_rate': 9.990380301087824e-06, 'epoch': 13.55})
+Step 5600, Loss: {'mse_loss': 0.047828443348407745, 'totoal_loss': 0.047828443348407745, 'data_time': 0.000445640180259943, 'model_time': 0.7031579550821334, 'learning_rate': 9.986149638770493e-06, 'epoch': 13.79})
+Step 5700, Loss: {'mse_loss': 0.05921897292137146, 'totoal_loss': 0.05921897292137146, 'data_time': 0.010123001877218485, 'model_time': 0.7091132279019803, 'learning_rate': 9.981151344572967e-06, 'epoch': 14.04})
+Step 5800, Loss: {'mse_loss': 0.04087100178003311, 'totoal_loss': 0.04087100178003311, 'data_time': 0.009944028919562697, 'model_time': 0.7429353490006179, 'learning_rate': 9.975386207783839e-06, 'epoch': 14.29})
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+Step 19700, Loss: {'mse_loss': 0.013880395330488682, 'totoal_loss': 0.013880395330488682, 'data_time': 0.029104060027748346, 'model_time': 0.7072040208149701, 'learning_rate': 3.7943593143530404e-06, 'epoch': 48.52})
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+Step 20700, Loss: {'mse_loss': 0.02115103229880333, 'totoal_loss': 0.02115103229880333, 'data_time': 0.0161986721213907, 'model_time': 0.6784804279450327, 'learning_rate': 3.217053374168639e-06, 'epoch': 50.99})
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+Step 21000, Loss: {'mse_loss': 0.009985617361962795, 'totoal_loss': 0.009985617361962795, 'data_time': 0.0003901990130543709, 'model_time': 0.7321701680775732, 'learning_rate': 3.0493259536202714e-06, 'epoch': 51.72})
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+Step 21300, Loss: {'mse_loss': 0.01754147745668888, 'totoal_loss': 0.01754147745668888, 'data_time': 0.013542308006435633, 'model_time': 0.7339864610694349, 'learning_rate': 2.8845481794702473e-06, 'epoch': 52.46})
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+Step 21500, Loss: {'mse_loss': 0.010911816731095314, 'totoal_loss': 0.010911816731095314, 'data_time': 0.0168205751106143, 'model_time': 0.7118755439296365, 'learning_rate': 2.7764508387541378e-06, 'epoch': 52.96})
+Step 21600, Loss: {'mse_loss': 0.008115197531878948, 'totoal_loss': 0.008115197531878948, 'data_time': 0.0003766969311982393, 'model_time': 0.7066892480943352, 'learning_rate': 2.7229542099520797e-06, 'epoch': 53.2})
+Step 21700, Loss: {'mse_loss': 0.01401301845908165, 'totoal_loss': 0.01401301845908165, 'data_time': 0.0003664889372885227, 'model_time': 0.7132211979478598, 'learning_rate': 2.669836892025666e-06, 'epoch': 53.45})
+Step 21800, Loss: {'mse_loss': 0.009494258090853691, 'totoal_loss': 0.009494258090853691, 'data_time': 0.00035522901453077793, 'model_time': 0.7449754429981112, 'learning_rate': 2.6171072728151557e-06, 'epoch': 53.69})
+Step 21900, Loss: {'mse_loss': 0.0070909857749938965, 'totoal_loss': 0.0070909857749938965, 'data_time': 0.00036875996738672256, 'model_time': 0.7337070610374212, 'learning_rate': 2.5647736789386828e-06, 'epoch': 53.94})
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+Step 30000, Loss: {'mse_loss': 0.01075481716543436, 'totoal_loss': 0.01075481716543436, 'mse_score': 0.001062778356884207, 'data_time': 0.0003910830710083246, 'model_time': 0.7583394239190966, 'learning_rate': 2.5e-07, 'epoch': 73.89})

libero_object_2B/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_object_2B",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": false,
+  "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": {
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+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
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+    },
+    "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": 30000,
+    "learning_rate": {
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+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
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+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
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+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_object_2B/starvla_qwen_dual"
+}

libero_object_2B/starvla_qwen_dual/dataset_statistics.json

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libero_object_2B/starvla_qwen_dual/final_model/pytorch_model.pt

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+Task: pick up the salad dressing and place it in the basket
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+Task: pick up the salad dressing and place it in the basket
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+Task: pick up the salad dressing and place it in the basket
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+Task: pick up the salad dressing and place it in the basket
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+Task: pick up the salad dressing and place it in the basket
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+Task: pick up the salad dressing and place it in the basket
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+Task: pick up the salad dressing and place it in the basket
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+Task: pick up the salad dressing and place it in the basket
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+Task: pick up the salad dressing and place it in the basket
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+Task: pick up the salad dressing and place it in the basket
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+Task: pick up the salad dressing and place it in the basket
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+Task: pick up the salad dressing and place it in the basket
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+Task: pick up the salad dressing and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 445
+# successes: 441 (99.1%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 446
+# successes: 442 (99.1%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 447
+# successes: 443 (99.1%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 448
+# successes: 444 (99.1%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 449
+# successes: 445 (99.1%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 450
+# successes: 446 (99.1%)
+Current task success rate: 1.0
+Current total success rate: 0.9911111111111112
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 451
+# successes: 447 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 452
+# successes: 448 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 453
+# successes: 449 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 454
+# successes: 450 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 455
+# successes: 451 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 456
+# successes: 452 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 457
+# successes: 453 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 458
+# successes: 454 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 459
+# successes: 455 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 460
+# successes: 456 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 461
+# successes: 457 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 462
+# successes: 458 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 463
+# successes: 459 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 464
+# successes: 460 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 465
+# successes: 461 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 466
+# successes: 462 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 467
+# successes: 463 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 468
+# successes: 464 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 469
+# successes: 465 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 470
+# successes: 466 (99.1%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 471
+# successes: 467 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 472
+# successes: 468 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 473
+# successes: 469 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 474
+# successes: 470 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 475
+# successes: 471 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 476
+# successes: 472 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 477
+# successes: 473 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 478
+# successes: 474 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 479
+# successes: 475 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 480
+# successes: 476 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 481
+# successes: 477 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 482
+# successes: 478 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 483
+# successes: 479 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 484
+# successes: 480 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 485
+# successes: 481 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 486
+# successes: 482 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 487
+# successes: 483 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 488
+# successes: 484 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 489
+# successes: 485 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 490
+# successes: 486 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 491
+# successes: 487 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 492
+# successes: 488 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 493
+# successes: 489 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 494
+# successes: 490 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 495
+# successes: 491 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 496
+# successes: 492 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 497
+# successes: 493 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 498
+# successes: 494 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 499
+# successes: 495 (99.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 500
+# successes: 496 (99.2%)
+Current task success rate: 1.0
+Current total success rate: 0.992

libero_object_2B/starvla_qwen_dual/libero_object.log

@@ -0,0 +1,300 @@
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+Step 4700, Loss: {'mse_loss': 0.06674464046955109, 'totoal_loss': 0.06674464046955109, 'data_time': 0.008365972898900509, 'model_time': 0.7148252290207893, 'learning_rate': 9.4e-06, 'epoch': 9.02})
+Step 4800, Loss: {'mse_loss': 0.032604046165943146, 'totoal_loss': 0.032604046165943146, 'data_time': 0.008227626094594598, 'model_time': 0.8228613410610706, 'learning_rate': 9.600000000000001e-06, 'epoch': 9.21})
+Step 4900, Loss: {'mse_loss': 0.04241829365491867, 'totoal_loss': 0.04241829365491867, 'data_time': 0.008502282900735736, 'model_time': 0.7329984889365733, 'learning_rate': 9.800000000000001e-06, 'epoch': 9.4})
+Step 5000, Loss: {'mse_loss': 0.05776876583695412, 'totoal_loss': 0.05776876583695412, 'data_time': 0.008678165031597018, 'model_time': 0.7044772659428418, 'learning_rate': 1e-05, 'epoch': 9.6})
+Step 5100, Loss: {'mse_loss': 0.052203454077243805, 'totoal_loss': 0.052203454077243805, 'data_time': 0.008355787955224514, 'model_time': 0.7080730930902064, 'learning_rate': 9.999615090493604e-06, 'epoch': 9.79})
+Step 5200, Loss: {'mse_loss': 0.029819244518876076, 'totoal_loss': 0.029819244518876076, 'data_time': 0.008393511874601245, 'model_time': 0.7188414451666176, 'learning_rate': 9.998460422756089e-06, 'epoch': 9.98})
+Step 5300, Loss: {'mse_loss': 0.04854217916727066, 'totoal_loss': 0.04854217916727066, 'data_time': 0.00034162402153015137, 'model_time': 0.7093251829501241, 'learning_rate': 9.996536179122874e-06, 'epoch': 10.17})
+Step 5400, Loss: {'mse_loss': 0.05773342773318291, 'totoal_loss': 0.05773342773318291, 'data_time': 0.0004138180520385504, 'model_time': 0.7994937461335212, 'learning_rate': 9.993842663454337e-06, 'epoch': 10.36})
+Step 5500, Loss: {'mse_loss': 0.046958256512880325, 'totoal_loss': 0.046958256512880325, 'data_time': 0.0004640768747776747, 'model_time': 0.7057794909924269, 'learning_rate': 9.990380301087824e-06, 'epoch': 10.56})
+Step 5600, Loss: {'mse_loss': 0.04251040145754814, 'totoal_loss': 0.04251040145754814, 'data_time': 0.0007949469145387411, 'model_time': 0.6985377608798444, 'learning_rate': 9.986149638770493e-06, 'epoch': 10.75})
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+Step 20000, Loss: {'mse_loss': 0.008041862398386002, 'totoal_loss': 0.008041862398386002, 'data_time': 0.0003723348490893841, 'model_time': 0.7823412460274994, 'learning_rate': 3.618542152422132e-06, 'epoch': 38.39})
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+Step 20400, Loss: {'mse_loss': 0.020054016262292862, 'totoal_loss': 0.020054016262292862, 'data_time': 0.000337052159011364, 'model_time': 0.7743419019971043, 'learning_rate': 3.387492091272904e-06, 'epoch': 39.16})
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+Step 20900, Loss: {'mse_loss': 0.018033474683761597, 'totoal_loss': 0.018033474683761597, 'data_time': 0.01602632086724043, 'model_time': 0.7500604870729148, 'learning_rate': 3.10491904265774e-06, 'epoch': 40.12})
+Step 21000, Loss: {'mse_loss': 0.012413909658789635, 'totoal_loss': 0.012413909658789635, 'data_time': 0.01583237899467349, 'model_time': 0.7067903520073742, 'learning_rate': 3.0493259536202714e-06, 'epoch': 40.31})
+Step 21100, Loss: {'mse_loss': 0.023530984297394753, 'totoal_loss': 0.023530984297394753, 'data_time': 0.017147063044831157, 'model_time': 0.7301133160945028, 'learning_rate': 2.9940606375767038e-06, 'epoch': 40.5})
+Step 21200, Loss: {'mse_loss': 0.010242714546620846, 'totoal_loss': 0.010242714546620846, 'data_time': 0.016349988989531994, 'model_time': 0.7061417719814926, 'learning_rate': 2.939131821561094e-06, 'epoch': 40.69})
+Step 21300, Loss: {'mse_loss': 0.014734986238181591, 'totoal_loss': 0.014734986238181591, 'data_time': 0.01582840201444924, 'model_time': 0.7543139071203768, 'learning_rate': 2.8845481794702473e-06, 'epoch': 40.88})
+Step 21400, Loss: {'mse_loss': 0.022472025826573372, 'totoal_loss': 0.022472025826573372, 'data_time': 0.01049991906620562, 'model_time': 0.6993559140246361, 'learning_rate': 2.830318330694004e-06, 'epoch': 41.07})
+Step 21500, Loss: {'mse_loss': 0.010685506276786327, 'totoal_loss': 0.010685506276786327, 'data_time': 0.008815353969112039, 'model_time': 0.7592344270087779, 'learning_rate': 2.7764508387541378e-06, 'epoch': 41.27})
+Step 21600, Loss: {'mse_loss': 0.011422679759562016, 'totoal_loss': 0.011422679759562016, 'data_time': 0.009840826969593763, 'model_time': 0.7194288589525968, 'learning_rate': 2.7229542099520797e-06, 'epoch': 41.46})
+Step 21700, Loss: {'mse_loss': 0.013385394588112831, 'totoal_loss': 0.013385394588112831, 'data_time': 0.012680689105764031, 'model_time': 0.7260980750434101, 'learning_rate': 2.669836892025666e-06, 'epoch': 41.65})
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+Step 29800, Loss: {'mse_loss': 0.012468094006180763, 'totoal_loss': 0.012468094006180763, 'data_time': 0.008605761919170618, 'model_time': 0.7243249248713255, 'learning_rate': 2.515395772439128e-07, 'epoch': 57.2})
+Step 29900, Loss: {'mse_loss': 0.0047164796851575375, 'totoal_loss': 0.0047164796851575375, 'data_time': 0.009688928024843335, 'model_time': 0.6843922680709511, 'learning_rate': 2.5038490950639644e-07, 'epoch': 57.39})
+Step 30000, Loss: {'mse_loss': 0.00584928784519434, 'totoal_loss': 0.00584928784519434, 'mse_score': 0.0013657717832497188, 'data_time': 0.010037573054432869, 'model_time': 0.812750096898526, 'learning_rate': 2.5e-07, 'epoch': 57.58})

libero_spatial_2B/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",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": false,
+  "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": 30000,
+    "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/starvla_qwen_dual"
+}

libero_spatial_2B/starvla_qwen_dual/dataset_statistics.json

@@ -0,0 +1,133 @@
+{
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+    "num_trajectories": 432
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+}

libero_spatial_2B/starvla_qwen_dual/final_model/pytorch_model.pt

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+oid sha256:c93cee31b57faaa1fb37a382f099df82bdc9cd738377faa8340afc3941da8a20
+size 5233814193

libero_spatial_2B/starvla_qwen_dual/libero_eval_libero_spatial.log

@@ -0,0 +1,2521 @@
+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
+# successes: 1 (100.0%)
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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 between the plate and the ramekin and place it on the plate
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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 between the plate and the ramekin and place it on the plate
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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 between the plate and the ramekin and place it on the plate
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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 between the plate and the ramekin and place it on the plate
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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 between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# successes: 95 (99.0%)
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# successes: 95 (97.9%)
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# successes: 97 (98.0%)
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# successes: 98 (98.0%)
+Current task success rate: 0.96
+Current total success rate: 0.98
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 99 (98.0%)
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 100 (98.0%)
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 148 (98.7%)
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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: 196 (98.0%)
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+# successes: 197 (98.0%)
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl 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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+Current task success rate: 0.96
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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 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 next to the cookie box and place it on the plate
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+Task: pick up the black bowl next to the cookie box and place it on the plate
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+Task: pick up the black bowl next to the cookie box and place it on the plate
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+
+Task: pick up the black bowl on the stove and place it on the plate
+Success: True
+# episodes completed so far: 392
+# successes: 383 (97.7%)
+
+Task: pick up the black bowl on the stove and place it on the plate
+Success: True
+# episodes completed so far: 393
+# successes: 384 (97.7%)
+
+Task: pick up the black bowl on the stove and place it on the plate
+Success: True
+# episodes completed so far: 394
+# successes: 385 (97.7%)
+
+Task: pick up the black bowl on the stove and place it on the plate
+Success: True
+# episodes completed so far: 395
+# successes: 386 (97.7%)
+
+Task: pick up the black bowl on the stove and place it on the plate
+Success: True
+# episodes completed so far: 396
+# successes: 387 (97.7%)
+
+Task: pick up the black bowl on the stove and place it on the plate
+Success: True
+# episodes completed so far: 397
+# successes: 388 (97.7%)
+
+Task: pick up the black bowl on the stove and place it on the plate
+Success: True
+# episodes completed so far: 398
+# successes: 389 (97.7%)
+
+Task: pick up the black bowl on the stove and place it on the plate
+Success: True
+# episodes completed so far: 399
+# successes: 390 (97.7%)
+
+Task: pick up the black bowl on the stove and place it on the plate
+Success: True
+# episodes completed so far: 400
+# successes: 391 (97.8%)
+Current task success rate: 1.0
+Current total success rate: 0.9775
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 401
+# successes: 392 (97.8%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 402
+# successes: 393 (97.8%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 403
+# successes: 394 (97.8%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
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+# successes: 395 (97.8%)
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+Task: pick up the black bowl next to the plate and place it on the plate
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+Task: pick up the black bowl next to the plate and place it on the plate
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+# successes: 401 (97.8%)
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+Success: True
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 423
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 424
+# successes: 415 (97.9%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 425
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 426
+# successes: 417 (97.9%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 427
+# successes: 418 (97.9%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 428
+# successes: 419 (97.9%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 429
+# successes: 420 (97.9%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 430
+# successes: 421 (97.9%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 431
+# successes: 422 (97.9%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 432
+# successes: 423 (97.9%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 433
+# successes: 424 (97.9%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 434
+# successes: 425 (97.9%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 435
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+Task: pick up the black bowl next to the plate and place it on the plate
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+# successes: 430 (97.9%)
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+# episodes completed so far: 441
+# successes: 432 (98.0%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 442
+# successes: 433 (98.0%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 443
+# successes: 434 (98.0%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 444
+# successes: 435 (98.0%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 445
+# successes: 436 (98.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 446
+# successes: 437 (98.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 447
+# successes: 438 (98.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 448
+# successes: 439 (98.0%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 449
+# successes: 440 (98.0%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 450
+# successes: 441 (98.0%)
+Current task success rate: 1.0
+Current total success rate: 0.98
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 451
+# successes: 442 (98.0%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 452
+# successes: 443 (98.0%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 453
+# successes: 444 (98.0%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 454
+# successes: 445 (98.0%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 455
+# successes: 446 (98.0%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 456
+# successes: 447 (98.0%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 457
+# successes: 448 (98.0%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 458
+# successes: 449 (98.0%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
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+# episodes completed so far: 459
+# successes: 450 (98.0%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
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+# successes: 451 (98.0%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
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+Success: True
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 463
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 464
+# successes: 455 (98.1%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 465
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 466
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 467
+# successes: 458 (98.1%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 468
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 469
+# successes: 460 (98.1%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 470
+# successes: 461 (98.1%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 471
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 472
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 473
+# successes: 464 (98.1%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 474
+# successes: 465 (98.1%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 475
+# successes: 466 (98.1%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 476
+# successes: 467 (98.1%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 477
+# successes: 468 (98.1%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 478
+# successes: 469 (98.1%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 479
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 480
+# successes: 471 (98.1%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 481
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 482
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 484
+# successes: 475 (98.1%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 485
+# successes: 476 (98.1%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 486
+# successes: 477 (98.1%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 487
+# successes: 478 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 488
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+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 489
+# successes: 480 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 490
+# successes: 481 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 491
+# successes: 482 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 492
+# successes: 483 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 493
+# successes: 484 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 494
+# successes: 485 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 495
+# successes: 486 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 496
+# successes: 487 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 497
+# successes: 488 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 498
+# successes: 489 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 499
+# successes: 490 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 500
+# successes: 491 (98.2%)
+Current task success rate: 1.0
+Current total success rate: 0.982

libero_spatial_2B/starvla_qwen_dual/libero_spatial.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.0798825025558472, 'totoal_loss': 1.0798825025558472, 'data_time': 0.024950260063633323, 'model_time': 0.7858787318691611, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.24})
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+Step 400, Loss: {'mse_loss': 0.6137050986289978, 'totoal_loss': 0.6137050986289978, 'data_time': 0.0272909770719707, 'model_time': 0.7890619388781488, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.97})
+Step 500, Loss: {'mse_loss': 0.5011520385742188, 'totoal_loss': 0.5011520385742188, 'data_time': 0.008842090144753456, 'model_time': 0.737831698032096, 'learning_rate': 1.0000000000000002e-06, 'epoch': 1.21})
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+Step 1600, Loss: {'mse_loss': 0.1402033567428589, 'totoal_loss': 0.1402033567428589, 'data_time': 0.00985990115441382, 'model_time': 0.7631145920604467, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.87})
+Step 1700, Loss: {'mse_loss': 0.1575743854045868, 'totoal_loss': 0.1575743854045868, 'data_time': 0.00860020611435175, 'model_time': 0.7512360899709165, 'learning_rate': 3.4000000000000005e-06, 'epoch': 4.12})
+Step 1800, Loss: {'mse_loss': 0.13803653419017792, 'totoal_loss': 0.13803653419017792, 'data_time': 0.008127095876261592, 'model_time': 0.7170862900093198, 'learning_rate': 3.6000000000000003e-06, 'epoch': 4.36})
+Step 1900, Loss: {'mse_loss': 0.14110597968101501, 'totoal_loss': 0.14110597968101501, 'data_time': 0.007995394989848137, 'model_time': 0.8350306670181453, 'learning_rate': 3.8000000000000005e-06, 'epoch': 4.6})
+Step 2000, Loss: {'mse_loss': 0.135024294257164, 'totoal_loss': 0.135024294257164, 'data_time': 0.00783283612690866, 'model_time': 0.7405869520734996, 'learning_rate': 4.000000000000001e-06, 'epoch': 4.84})
+Step 2100, Loss: {'mse_loss': 0.12349332869052887, 'totoal_loss': 0.12349332869052887, 'data_time': 0.013445165939629078, 'model_time': 0.8304831509012729, 'learning_rate': 4.2000000000000004e-06, 'epoch': 5.08})
+Step 2200, Loss: {'mse_loss': 0.16757307946681976, 'totoal_loss': 0.16757307946681976, 'data_time': 0.009225354064255953, 'model_time': 0.7048848089762032, 'learning_rate': 4.4e-06, 'epoch': 5.33})
+Step 2300, Loss: {'mse_loss': 0.11576617509126663, 'totoal_loss': 0.11576617509126663, 'data_time': 0.009452808881178498, 'model_time': 0.7157463950570673, 'learning_rate': 4.600000000000001e-06, 'epoch': 5.57})
+Step 2400, Loss: {'mse_loss': 0.08393817394971848, 'totoal_loss': 0.08393817394971848, 'data_time': 0.007252431008964777, 'model_time': 0.7007810440845788, 'learning_rate': 4.800000000000001e-06, 'epoch': 5.81})
+Step 2500, Loss: {'mse_loss': 0.09713419526815414, 'totoal_loss': 0.09713419526815414, 'data_time': 0.010047242045402527, 'model_time': 0.7191065710503608, 'learning_rate': 5e-06, 'epoch': 6.05})
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+Step 2700, Loss: {'mse_loss': 0.0853329747915268, 'totoal_loss': 0.0853329747915268, 'data_time': 0.008184158010408282, 'model_time': 0.7208350079599768, 'learning_rate': 5.400000000000001e-06, 'epoch': 6.54})
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+Step 10000, Loss: {'mse_loss': 0.027237864211201668, 'totoal_loss': 0.027237864211201668, 'data_time': 0.026358064031228423, 'model_time': 0.72316938592121, 'learning_rate': 9.068957847577869e-06, 'epoch': 24.21})
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+Step 10200, Loss: {'mse_loss': 0.019378332421183586, 'totoal_loss': 0.019378332421183586, 'data_time': 0.023579096887260675, 'model_time': 0.7141105569899082, 'learning_rate': 8.995703193408199e-06, 'epoch': 24.7})
+Step 10300, Loss: {'mse_loss': 0.03172560781240463, 'totoal_loss': 0.03172560781240463, 'data_time': 0.02255816711112857, 'model_time': 0.7110088660847396, 'learning_rate': 8.958156106666017e-06, 'epoch': 24.94})
+Step 10400, Loss: {'mse_loss': 0.018024109303951263, 'totoal_loss': 0.018024109303951263, 'data_time': 0.011047228937968612, 'model_time': 0.7538415060844272, 'learning_rate': 8.92000372013924e-06, 'epoch': 25.18})
+Step 10500, Loss: {'mse_loss': 0.03004194237291813, 'totoal_loss': 0.03004194237291813, 'data_time': 0.009538385085761547, 'model_time': 0.6939285148400813, 'learning_rate': 8.881252058531973e-06, 'epoch': 25.42})
+Step 10600, Loss: {'mse_loss': 0.02799084410071373, 'totoal_loss': 0.02799084410071373, 'data_time': 0.01178077096119523, 'model_time': 0.9726061299443245, 'learning_rate': 8.841907241180809e-06, 'epoch': 25.67})
+Step 10700, Loss: {'mse_loss': 0.027131512761116028, 'totoal_loss': 0.027131512761116028, 'data_time': 0.008269547019153833, 'model_time': 0.7126376868691295, 'learning_rate': 8.801975481088507e-06, 'epoch': 25.91})
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+Step 18300, Loss: {'mse_loss': 0.014639207161962986, 'totoal_loss': 0.014639207161962986, 'data_time': 0.022972970036789775, 'model_time': 0.7252535899169743, 'learning_rate': 4.635736640100327e-06, 'epoch': 44.31})
+Step 18400, Loss: {'mse_loss': 0.0219290591776371, 'totoal_loss': 0.0219290591776371, 'data_time': 0.022745921975001693, 'model_time': 0.7287842051591724, 'learning_rate': 4.574825123741778e-06, 'epoch': 44.55})
+Step 18500, Loss: {'mse_loss': 0.01141809206455946, 'totoal_loss': 0.01141809206455946, 'data_time': 0.022854060865938663, 'model_time': 0.8054822341073304, 'learning_rate': 4.5140004863740165e-06, 'epoch': 44.79})
+Step 18600, Loss: {'mse_loss': 0.025711458176374435, 'totoal_loss': 0.025711458176374435, 'data_time': 0.008913706056773663, 'model_time': 0.7797683100216091, 'learning_rate': 4.45327233291239e-06, 'epoch': 45.04})
+Step 18700, Loss: {'mse_loss': 0.02320913039147854, 'totoal_loss': 0.02320913039147854, 'data_time': 0.010293650906533003, 'model_time': 0.7309806488920003, 'learning_rate': 4.39265025303631e-06, 'epoch': 45.28})
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+Step 26700, Loss: {'mse_loss': 0.010555270127952099, 'totoal_loss': 0.010555270127952099, 'data_time': 0.025893294950947165, 'model_time': 0.7368699628859758, 'learning_rate': 6.63199283473027e-07, 'epoch': 64.65})
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