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libero_10_2B_mee1e-1/starvla_qwen_gr00t/config.json

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+{
+  "run_id": "starvla_qwen_gr00t",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models/libero_10_2B_mee1e-1",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.1,
+  "framework": {
+    "name": "QwenGR00T",
+    "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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+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
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+  },
+  "trainer": {
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+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 60000,
+    "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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+    "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/libero_10_2B_mee1e-1/starvla_qwen_gr00t"
+}

libero_10_2B_mee1e-1/starvla_qwen_gr00t/dataset_statistics.json

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libero_10_2B_mee1e-1/starvla_qwen_gr00t/final_model/pytorch_model.pt

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libero_10_2B_mee1e-1/starvla_qwen_gr00t/libero_10.log

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+Step 7900, Loss: {'mse_loss': 0.04948459938168526, 'mee_loss': 0.26425981521606445, 'totoal_loss': 0.04948459938168526, 'data_time': 0.009090579114854336, 'model_time': 0.6054627399425954, 'learning_rate': 9.679853594475985e-06, 'epoch': 10.03})
+Step 8000, Loss: {'mse_loss': 0.035230740904808044, 'mee_loss': 0.1960129588842392, 'totoal_loss': 0.035230740904808044, 'data_time': 0.008793552173301578, 'model_time': 0.619663478108123, 'learning_rate': 9.657660368705225e-06, 'epoch': 10.15})
+Step 8100, Loss: {'mse_loss': 0.030000245198607445, 'mee_loss': 0.16797178983688354, 'totoal_loss': 0.030000245198607445, 'data_time': 0.006888298084959388, 'model_time': 0.606665023136884, 'learning_rate': 9.634751383317983e-06, 'epoch': 10.28})
+Step 8200, Loss: {'mse_loss': 0.048367418348789215, 'mee_loss': 0.22076478600502014, 'totoal_loss': 0.048367418348789215, 'data_time': 0.007953045889735222, 'model_time': 0.610453407978639, 'learning_rate': 9.611130255908619e-06, 'epoch': 10.41})
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+Step 8400, Loss: {'mse_loss': 0.0284077450633049, 'mee_loss': 0.16241337358951569, 'totoal_loss': 0.0284077450633049, 'data_time': 0.012806514045223594, 'model_time': 0.7065484488848597, 'learning_rate': 9.561766607089355e-06, 'epoch': 10.66})
+Step 8500, Loss: {'mse_loss': 0.045729007571935654, 'mee_loss': 0.23706446588039398, 'totoal_loss': 0.045729007571935654, 'data_time': 0.008005251176655293, 'model_time': 0.5958653627894819, 'learning_rate': 9.536031880771846e-06, 'epoch': 10.79})
+Step 8600, Loss: {'mse_loss': 0.03302246332168579, 'mee_loss': 0.1939270943403244, 'totoal_loss': 0.03302246332168579, 'data_time': 0.010706072906032205, 'model_time': 0.6744187811855227, 'learning_rate': 9.50960060138606e-06, 'epoch': 10.91})
+Step 8700, Loss: {'mse_loss': 0.04119287431240082, 'mee_loss': 0.21005699038505554, 'totoal_loss': 0.04119287431240082, 'data_time': 0.021540421061217785, 'model_time': 0.600289047928527, 'learning_rate': 9.482476942737411e-06, 'epoch': 11.04})
+Step 8800, Loss: {'mse_loss': 0.029417160898447037, 'mee_loss': 0.1743442714214325, 'totoal_loss': 0.029417160898447037, 'data_time': 0.022421739995479584, 'model_time': 0.5644452029373497, 'learning_rate': 9.45466518796603e-06, 'epoch': 11.17})
+Step 8900, Loss: {'mse_loss': 0.022469116374850273, 'mee_loss': 0.13490405678749084, 'totoal_loss': 0.022469116374850273, 'data_time': 0.02630396420136094, 'model_time': 0.6831839601509273, 'learning_rate': 9.426169728870399e-06, 'epoch': 11.29})
+Step 9000, Loss: {'mse_loss': 0.0537911094725132, 'mee_loss': 0.23296159505844116, 'totoal_loss': 0.0537911094725132, 'data_time': 0.021203309996053576, 'model_time': 0.5873662470839918, 'learning_rate': 9.396995065213835e-06, 'epoch': 11.42})
+Step 9100, Loss: {'mse_loss': 0.024394698441028595, 'mee_loss': 0.14749202132225037, 'totoal_loss': 0.024394698441028595, 'data_time': 0.023176156915724277, 'model_time': 0.8034948520362377, 'learning_rate': 9.367145804013938e-06, 'epoch': 11.55})
+Step 9200, Loss: {'mse_loss': 0.03311368450522423, 'mee_loss': 0.18528784811496735, 'totoal_loss': 0.03311368450522423, 'data_time': 0.021996699972078204, 'model_time': 0.596140461973846, 'learning_rate': 9.336626658815071e-06, 'epoch': 11.68})
+Step 9300, Loss: {'mse_loss': 0.04444064572453499, 'mee_loss': 0.22932115197181702, 'totoal_loss': 0.04444064572453499, 'data_time': 0.018148121889680624, 'model_time': 0.5797548380214721, 'learning_rate': 9.305442448944056e-06, 'epoch': 11.8})
+Step 9400, Loss: {'mse_loss': 0.0289950892329216, 'mee_loss': 0.1637684404850006, 'totoal_loss': 0.0289950892329216, 'data_time': 0.013259676983579993, 'model_time': 0.587868032976985, 'learning_rate': 9.273598098749124e-06, 'epoch': 11.93})
+Step 9500, Loss: {'mse_loss': 0.022410180419683456, 'mee_loss': 0.13854104280471802, 'totoal_loss': 0.022410180419683456, 'data_time': 0.01925665489397943, 'model_time': 0.6262373870704323, 'learning_rate': 9.241098636822324e-06, 'epoch': 12.06})
+Step 9600, Loss: {'mse_loss': 0.02976299822330475, 'mee_loss': 0.16608034074306488, 'totoal_loss': 0.02976299822330475, 'data_time': 0.019961799029260874, 'model_time': 0.5666769419331104, 'learning_rate': 9.207949195205442e-06, 'epoch': 12.18})
+Step 9700, Loss: {'mse_loss': 0.03581046313047409, 'mee_loss': 0.1942899078130722, 'totoal_loss': 0.03581046313047409, 'data_time': 0.024730067001655698, 'model_time': 0.5678050080314279, 'learning_rate': 9.174155008579588e-06, 'epoch': 12.31})
+Step 9800, Loss: {'mse_loss': 0.038093723356723785, 'mee_loss': 0.18059979379177094, 'totoal_loss': 0.038093723356723785, 'data_time': 0.02218826301395893, 'model_time': 0.5941409859806299, 'learning_rate': 9.139721413438583e-06, 'epoch': 12.44})
+Step 9900, Loss: {'mse_loss': 0.03461448475718498, 'mee_loss': 0.19497759640216827, 'totoal_loss': 0.03461448475718498, 'data_time': 0.021901014959439635, 'model_time': 0.6081776057835668, 'learning_rate': 9.104653847246273e-06, 'epoch': 12.56})
+Step 10000, Loss: {'mse_loss': 0.02638712339103222, 'mee_loss': 0.1603628396987915, 'totoal_loss': 0.04242340847849846, 'data_time': 0.022449789801612496, 'model_time': 0.6888030779082328, 'learning_rate': 9.068957847577869e-06, 'epoch': 12.69})
+Step 10100, Loss: {'mse_loss': 0.03620050102472305, 'mee_loss': 0.21683843433856964, 'totoal_loss': 0.0578843429684639, 'data_time': 0.019688386004418135, 'model_time': 0.5781236910261214, 'learning_rate': 9.032639051245524e-06, 'epoch': 12.82})
+Step 10200, Loss: {'mse_loss': 0.025461921468377113, 'mee_loss': 0.14458250999450684, 'totoal_loss': 0.039920173585414886, 'data_time': 0.02412982704117894, 'model_time': 0.680274108890444, 'learning_rate': 8.995703193408199e-06, 'epoch': 12.94})
+Step 10300, Loss: {'mse_loss': 0.03415640443563461, 'mee_loss': 0.1902884989976883, 'totoal_loss': 0.05318525433540344, 'data_time': 0.013764549046754837, 'model_time': 0.6625657340046018, 'learning_rate': 8.958156106666017e-06, 'epoch': 13.07})
+Step 10400, Loss: {'mse_loss': 0.028170667588710785, 'mee_loss': 0.14326150715351105, 'totoal_loss': 0.04249681904911995, 'data_time': 0.014364870032295585, 'model_time': 0.5777243548072875, 'learning_rate': 8.92000372013924e-06, 'epoch': 13.2})
+Step 10500, Loss: {'mse_loss': 0.030846137553453445, 'mee_loss': 0.16125334799289703, 'totoal_loss': 0.04697147011756897, 'data_time': 0.01502440101467073, 'model_time': 0.6153101990930736, 'learning_rate': 8.881252058531973e-06, 'epoch': 13.32})
+Step 10600, Loss: {'mse_loss': 0.035556498914957047, 'mee_loss': 0.19101305305957794, 'totoal_loss': 0.05465780198574066, 'data_time': 0.015327187953516841, 'model_time': 0.5797392120584846, 'learning_rate': 8.841907241180809e-06, 'epoch': 13.45})
+Step 10700, Loss: {'mse_loss': 0.03181857615709305, 'mee_loss': 0.1668127030134201, 'totoal_loss': 0.04849984496831894, 'data_time': 0.01817463105544448, 'model_time': 0.5673136170953512, 'learning_rate': 8.801975481088507e-06, 'epoch': 13.58})
+Step 10800, Loss: {'mse_loss': 0.022244254127144814, 'mee_loss': 0.1247498020529747, 'totoal_loss': 0.03471923619508743, 'data_time': 0.014015904860571027, 'model_time': 0.6062899262178689, 'learning_rate': 8.761463083942889e-06, 'epoch': 13.71})
+Step 10900, Loss: {'mse_loss': 0.027586422860622406, 'mee_loss': 0.1223393976688385, 'totoal_loss': 0.039820361882448196, 'data_time': 0.013832757016643882, 'model_time': 0.6136602871119976, 'learning_rate': 8.720376447121098e-06, 'epoch': 13.83})
+Step 11000, Loss: {'mse_loss': 0.045786190778017044, 'mee_loss': 0.22989091277122498, 'totoal_loss': 0.06877528131008148, 'data_time': 0.016352330101653934, 'model_time': 0.5713104058522731, 'learning_rate': 8.678722058679382e-06, 'epoch': 13.96})
+Step 11100, Loss: {'mse_loss': 0.025004591792821884, 'mee_loss': 0.14650015532970428, 'totoal_loss': 0.03965460881590843, 'data_time': 0.007526746019721031, 'model_time': 0.5847863561939448, 'learning_rate': 8.636506496328546e-06, 'epoch': 14.09})
+Step 11200, Loss: {'mse_loss': 0.024310611188411713, 'mee_loss': 0.1461459845304489, 'totoal_loss': 0.038925208151340485, 'data_time': 0.008769665146246552, 'model_time': 0.6018036738969386, 'learning_rate': 8.593736426395268e-06, 'epoch': 14.21})
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+Step 14700, Loss: {'mse_loss': 0.018153712153434753, 'mee_loss': 0.09743073582649231, 'totoal_loss': 0.027896786108613014, 'data_time': 0.014381248969584703, 'model_time': 0.5693481089547276, 'learning_rate': 6.8051342504757714e-06, 'epoch': 18.65})
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+Step 15700, Loss: {'mse_loss': 0.019808480516076088, 'mee_loss': 0.1096927747130394, 'totoal_loss': 0.030777757987380028, 'data_time': 0.016552271088585258, 'model_time': 0.6050522620789707, 'learning_rate': 6.218319959628234e-06, 'epoch': 19.92})
+Step 15800, Loss: {'mse_loss': 0.01861528865993023, 'mee_loss': 0.10960890352725983, 'totoal_loss': 0.029576178640127182, 'data_time': 0.009584099054336548, 'model_time': 0.5953290429897606, 'learning_rate': 6.158534660870018e-06, 'epoch': 20.05})
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+Step 16000, Loss: {'mse_loss': 0.027792295441031456, 'mee_loss': 0.11618711054325104, 'totoal_loss': 0.03941100835800171, 'data_time': 0.00757449516095221, 'model_time': 0.5661902769934386, 'learning_rate': 6.0384839086054095e-06, 'epoch': 20.3})
+Step 16100, Loss: {'mse_loss': 0.015502581372857094, 'mee_loss': 0.09192028641700745, 'totoal_loss': 0.02469461038708687, 'data_time': 0.008144872030243278, 'model_time': 0.5858741549309343, 'learning_rate': 5.978237412504472e-06, 'epoch': 20.43})
+Step 16200, Loss: {'mse_loss': 0.015658486634492874, 'mee_loss': 0.08984172344207764, 'totoal_loss': 0.024642659351229668, 'data_time': 0.010623857146129012, 'model_time': 0.5665085539221764, 'learning_rate': 5.917856180325059e-06, 'epoch': 20.56})
+Step 16300, Loss: {'mse_loss': 0.011844138614833355, 'mee_loss': 0.07563719898462296, 'totoal_loss': 0.019407859072089195, 'data_time': 0.007757870014756918, 'model_time': 0.5741779301315546, 'learning_rate': 5.857349746963692e-06, 'epoch': 20.69})
+Step 16400, Loss: {'mse_loss': 0.036736540496349335, 'mee_loss': 0.16741691529750824, 'totoal_loss': 0.05347823351621628, 'data_time': 0.007667014840990305, 'model_time': 0.6064163651317358, 'learning_rate': 5.796727667087611e-06, 'epoch': 20.81})
+Step 16500, Loss: {'mse_loss': 0.020897505804896355, 'mee_loss': 0.11438114196062088, 'totoal_loss': 0.03233562037348747, 'data_time': 0.010470854816958308, 'model_time': 0.5975194340571761, 'learning_rate': 5.735999513625984e-06, 'epoch': 20.94})
+Step 16600, Loss: {'mse_loss': 0.012380260974168777, 'mee_loss': 0.0784604623913765, 'totoal_loss': 0.020226307213306427, 'data_time': 0.024319862015545368, 'model_time': 0.5787599589675665, 'learning_rate': 5.675174876258223e-06, 'epoch': 21.07})
+Step 16700, Loss: {'mse_loss': 0.02640596218407154, 'mee_loss': 0.12515205144882202, 'totoal_loss': 0.03892116621136665, 'data_time': 0.02232837094925344, 'model_time': 0.6015616671647877, 'learning_rate': 5.614263359899673e-06, 'epoch': 21.19})
+Step 16800, Loss: {'mse_loss': 0.026539428159594536, 'mee_loss': 0.13534733653068542, 'totoal_loss': 0.04007416218519211, 'data_time': 0.021254041930660605, 'model_time': 0.5589263641741127, 'learning_rate': 5.553274583184875e-06, 'epoch': 21.32})
+Step 16900, Loss: {'mse_loss': 0.03289894759654999, 'mee_loss': 0.1376761943101883, 'totoal_loss': 0.04666656628251076, 'data_time': 0.021702734054997563, 'model_time': 0.5825431679841131, 'learning_rate': 5.492218176948673e-06, 'epoch': 21.45})
+Step 17000, Loss: {'mse_loss': 0.023943794891238213, 'mee_loss': 0.13705666363239288, 'totoal_loss': 0.03764946013689041, 'data_time': 0.024727156152948737, 'model_time': 0.5872486620210111, 'learning_rate': 5.431103782705404e-06, 'epoch': 21.57})
+Step 17100, Loss: {'mse_loss': 0.015744198113679886, 'mee_loss': 0.09583133459091187, 'totoal_loss': 0.025327332317829132, 'data_time': 0.02378080994822085, 'model_time': 0.5818163580261171, 'learning_rate': 5.369941051126377e-06, 'epoch': 21.7})
+Step 17200, Loss: {'mse_loss': 0.012711720541119576, 'mee_loss': 0.08100858330726624, 'totoal_loss': 0.02081257849931717, 'data_time': 0.02175229089334607, 'model_time': 0.5686456118710339, 'learning_rate': 5.308739640515932e-06, 'epoch': 21.83})
+Step 17300, Loss: {'mse_loss': 0.009980149567127228, 'mee_loss': 0.06554146111011505, 'totoal_loss': 0.016534294933080673, 'data_time': 0.015974374022334814, 'model_time': 0.6089642369188368, 'learning_rate': 5.24750921528627e-06, 'epoch': 21.95})
+Step 17400, Loss: {'mse_loss': 0.022530388087034225, 'mee_loss': 0.10245249420404434, 'totoal_loss': 0.0327756367623806, 'data_time': 0.016208089888095856, 'model_time': 0.5730497590266168, 'learning_rate': 5.186259444431344e-06, 'epoch': 22.08})
+Step 17500, Loss: {'mse_loss': 0.020379167050123215, 'mee_loss': 0.10670877993106842, 'totoal_loss': 0.031050045043230057, 'data_time': 0.015835251891985536, 'model_time': 0.5733918470796198, 'learning_rate': 5.125e-06, 'epoch': 22.21})
+Step 17600, Loss: {'mse_loss': 0.015072369948029518, 'mee_loss': 0.08673224598169327, 'totoal_loss': 0.023745594546198845, 'data_time': 0.014975114027038217, 'model_time': 0.5930565081071109, 'learning_rate': 5.063740555568656e-06, 'epoch': 22.34})
+Step 17700, Loss: {'mse_loss': 0.009348741732537746, 'mee_loss': 0.06123904511332512, 'totoal_loss': 0.015472646802663803, 'data_time': 0.015211035963147879, 'model_time': 0.5868758601136506, 'learning_rate': 5.002490784713731e-06, 'epoch': 22.46})
+Step 17800, Loss: {'mse_loss': 0.01571255549788475, 'mee_loss': 0.08980122953653336, 'totoal_loss': 0.024692678824067116, 'data_time': 0.01696053915657103, 'model_time': 0.5715680359862745, 'learning_rate': 4.9412603594840695e-06, 'epoch': 22.59})
+Step 17900, Loss: {'mse_loss': 0.016505172476172447, 'mee_loss': 0.09170539677143097, 'totoal_loss': 0.025675712153315544, 'data_time': 0.01514942292124033, 'model_time': 0.5657123108394444, 'learning_rate': 4.8800589488736245e-06, 'epoch': 22.72})
+Step 18000, Loss: {'mse_loss': 0.023187650367617607, 'mee_loss': 0.10635219514369965, 'totoal_loss': 0.03382287174463272, 'data_time': 0.01664859103038907, 'model_time': 0.5720925889909267, 'learning_rate': 4.818896217294598e-06, 'epoch': 22.84})
+Step 18100, Loss: {'mse_loss': 0.016200926154851913, 'mee_loss': 0.0853680744767189, 'totoal_loss': 0.024737734347581863, 'data_time': 0.015052283881232142, 'model_time': 0.597704806830734, 'learning_rate': 4.757781823051329e-06, 'epoch': 22.97})
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+Step 21900, Loss: {'mse_loss': 0.008666858077049255, 'mee_loss': 0.05001801624894142, 'totoal_loss': 0.013668660074472427, 'data_time': 0.01598258502781391, 'model_time': 0.5936188879422843, 'learning_rate': 2.5647736789386828e-06, 'epoch': 27.79})
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+Step 22200, Loss: {'mse_loss': 0.0190013125538826, 'mee_loss': 0.10599254816770554, 'totoal_loss': 0.029600568115711212, 'data_time': 0.010785378981381655, 'model_time': 0.5591478629503399, 'learning_rate': 2.4102313696200853e-06, 'epoch': 28.17})
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+Step 22400, Loss: {'mse_loss': 0.015106593258678913, 'mee_loss': 0.0752275139093399, 'totoal_loss': 0.02262934483587742, 'data_time': 0.006955388933420181, 'model_time': 0.9109524339437485, 'learning_rate': 2.3093330708164465e-06, 'epoch': 28.43})
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+Step 22800, Loss: {'mse_loss': 0.013781124725937843, 'mee_loss': 0.06992434710264206, 'totoal_loss': 0.02077355980873108, 'data_time': 0.008455918170511723, 'model_time': 0.6156324779149145, 'learning_rate': 2.1129343861846207e-06, 'epoch': 28.93})
+Step 22900, Loss: {'mse_loss': 0.006702309474349022, 'mee_loss': 0.042624134570360184, 'totoal_loss': 0.01096472330391407, 'data_time': 0.008616232080385089, 'model_time': 0.5880559959914535, 'learning_rate': 2.065004613707836e-06, 'epoch': 29.06})
+Step 23000, Loss: {'mse_loss': 0.005506747402250767, 'mee_loss': 0.036652807146310806, 'totoal_loss': 0.009172027930617332, 'data_time': 0.00782589497976005, 'model_time': 0.5817657741717994, 'learning_rate': 2.0175580499751375e-06, 'epoch': 29.19})
+Step 23100, Loss: {'mse_loss': 0.023754896596074104, 'mee_loss': 0.11619126051664352, 'totoal_loss': 0.03537402302026749, 'data_time': 0.0077267480082809925, 'model_time': 0.6133012769278139, 'learning_rate': 1.9706021873489604e-06, 'epoch': 29.31})
+Step 23200, Loss: {'mse_loss': 0.0064142500050365925, 'mee_loss': 0.042546261101961136, 'totoal_loss': 0.010668875649571419, 'data_time': 0.011085564969107509, 'model_time': 0.6041485141031444, 'learning_rate': 1.924144440704338e-06, 'epoch': 29.44})
+Step 23300, Loss: {'mse_loss': 0.01230175606906414, 'mee_loss': 0.07167451828718185, 'totoal_loss': 0.019469209015369415, 'data_time': 0.008661109954118729, 'model_time': 0.5966123838443309, 'learning_rate': 1.8781921462580238e-06, 'epoch': 29.57})
+Step 23400, Loss: {'mse_loss': 0.010276769287884235, 'mee_loss': 0.05862336978316307, 'totoal_loss': 0.016139106824994087, 'data_time': 0.011115801986306906, 'model_time': 0.6666837809607387, 'learning_rate': 1.8327525604100058e-06, 'epoch': 29.7})
+Step 23500, Loss: {'mse_loss': 0.008115114644169807, 'mee_loss': 0.05019793286919594, 'totoal_loss': 0.013134907931089401, 'data_time': 0.009586238069459796, 'model_time': 0.596948963124305, 'learning_rate': 1.7878328585976426e-06, 'epoch': 29.82})
+Step 23600, Loss: {'mse_loss': 0.011645400896668434, 'mee_loss': 0.07182475179433823, 'totoal_loss': 0.018827876076102257, 'data_time': 0.008342708926647902, 'model_time': 0.6444452241994441, 'learning_rate': 1.7434401341625765e-06, 'epoch': 29.95})
+Step 23700, Loss: {'mse_loss': 0.010002187453210354, 'mee_loss': 0.06205150857567787, 'totoal_loss': 0.016207337379455566, 'data_time': 0.020072031999006867, 'model_time': 0.6636553001590073, 'learning_rate': 1.6995813972306108e-06, 'epoch': 30.08})
+Step 23800, Loss: {'mse_loss': 0.011279027909040451, 'mee_loss': 0.06926936656236649, 'totoal_loss': 0.01820596493780613, 'data_time': 0.02298898296430707, 'model_time': 0.5529143731109798, 'learning_rate': 1.656263573604734e-06, 'epoch': 30.2})
+Step 23900, Loss: {'mse_loss': 0.012704153545200825, 'mee_loss': 0.07914645969867706, 'totoal_loss': 0.020618800073862076, 'data_time': 0.01964950794354081, 'model_time': 0.5873789109755307, 'learning_rate': 1.613493503671454e-06, 'epoch': 30.33})
+Step 24000, Loss: {'mse_loss': 0.01782899722456932, 'mee_loss': 0.08679836243391037, 'totoal_loss': 0.026508834213018417, 'data_time': 0.02109576715156436, 'model_time': 0.582670294912532, 'learning_rate': 1.5712779413206198e-06, 'epoch': 30.46})
+Step 24100, Loss: {'mse_loss': 0.015827223658561707, 'mee_loss': 0.07847973704338074, 'totoal_loss': 0.02367519773542881, 'data_time': 0.027946538059040904, 'model_time': 0.5502388440072536, 'learning_rate': 1.5296235528789028e-06, 'epoch': 30.58})
+Step 24200, Loss: {'mse_loss': 0.007855851203203201, 'mee_loss': 0.051548633724451065, 'totoal_loss': 0.013010714203119278, 'data_time': 0.027010530000552535, 'model_time': 0.5824561058543622, 'learning_rate': 1.4885369160571124e-06, 'epoch': 30.71})
+Step 24300, Loss: {'mse_loss': 0.014661051332950592, 'mee_loss': 0.07685194909572601, 'totoal_loss': 0.022346246987581253, 'data_time': 0.02037126407958567, 'model_time': 0.6102707339450717, 'learning_rate': 1.4480245189114938e-06, 'epoch': 30.84})
+Step 24400, Loss: {'mse_loss': 0.01545229833573103, 'mee_loss': 0.06742391735315323, 'totoal_loss': 0.022194691002368927, 'data_time': 0.019565484020859003, 'model_time': 0.6267965610604733, 'learning_rate': 1.408092758819191e-06, 'epoch': 30.96})
+Step 24500, Loss: {'mse_loss': 0.007191309705376625, 'mee_loss': 0.04571203514933586, 'totoal_loss': 0.011762512847781181, 'data_time': 0.023501559160649776, 'model_time': 0.5818346189334989, 'learning_rate': 1.368747941468028e-06, 'epoch': 31.09})
+Step 24600, Loss: {'mse_loss': 0.009313089773058891, 'mee_loss': 0.05683896318078041, 'totoal_loss': 0.014996986836194992, 'data_time': 0.02223448222503066, 'model_time': 0.6015552061144263, 'learning_rate': 1.3299962798607614e-06, 'epoch': 31.22})
+Step 24700, Loss: {'mse_loss': 0.014332456514239311, 'mee_loss': 0.07811097055673599, 'totoal_loss': 0.02214355394244194, 'data_time': 0.02069417992606759, 'model_time': 0.5733530528377742, 'learning_rate': 1.2918438933339827e-06, 'epoch': 31.35})
+Step 24800, Loss: {'mse_loss': 0.010069295763969421, 'mee_loss': 0.0606439970433712, 'totoal_loss': 0.01613369584083557, 'data_time': 0.02315491996705532, 'model_time': 0.6220448908861727, 'learning_rate': 1.2542968065918027e-06, 'epoch': 31.47})
+Step 24900, Loss: {'mse_loss': 0.008830751292407513, 'mee_loss': 0.05651630461215973, 'totoal_loss': 0.014482381753623486, 'data_time': 0.022796764969825745, 'model_time': 0.5659246488939971, 'learning_rate': 1.217360948754476e-06, 'epoch': 31.6})
+Step 25000, Loss: {'mse_loss': 0.005249822046607733, 'mee_loss': 0.03560398146510124, 'totoal_loss': 0.008810220286250114, 'data_time': 0.02263112715445459, 'model_time': 0.5989538719877601, 'learning_rate': 1.1810421524221318e-06, 'epoch': 31.73})
+Step 25100, Loss: {'mse_loss': 0.015303950756788254, 'mee_loss': 0.07971292734146118, 'totoal_loss': 0.02327524498105049, 'data_time': 0.020470061106607318, 'model_time': 0.597666630987078, 'learning_rate': 1.1453461527537284e-06, 'epoch': 31.85})
+Step 25200, Loss: {'mse_loss': 0.01905057765543461, 'mee_loss': 0.07665642350912094, 'totoal_loss': 0.026716221123933792, 'data_time': 0.025303364032879472, 'model_time': 0.6804210569243878, 'learning_rate': 1.1102785865614162e-06, 'epoch': 31.98})
+Step 25300, Loss: {'mse_loss': 0.009227387607097626, 'mee_loss': 0.05747644603252411, 'totoal_loss': 0.014975031837821007, 'data_time': 0.010400751139968634, 'model_time': 0.6196089871227741, 'learning_rate': 1.0758449914204127e-06, 'epoch': 32.11})
+Step 25400, Loss: {'mse_loss': 0.008781946264207363, 'mee_loss': 0.04668058454990387, 'totoal_loss': 0.013450004160404205, 'data_time': 0.011766553856432438, 'model_time': 0.9927329970523715, 'learning_rate': 1.0420508047945595e-06, 'epoch': 32.23})
+Step 25500, Loss: {'mse_loss': 0.0235136691480875, 'mee_loss': 0.09765376150608063, 'totoal_loss': 0.033279046416282654, 'data_time': 0.009197583887726068, 'model_time': 0.5968056758865714, 'learning_rate': 1.0089013631776776e-06, 'epoch': 32.36})
+Step 25600, Loss: {'mse_loss': 0.010450129397213459, 'mee_loss': 0.06005727872252464, 'totoal_loss': 0.01645585708320141, 'data_time': 0.009222872089594603, 'model_time': 0.6263432090636343, 'learning_rate': 9.76401901250878e-07, 'epoch': 32.49})
+Step 25700, Loss: {'mse_loss': 0.006496433634310961, 'mee_loss': 0.04352756589651108, 'totoal_loss': 0.01084919087588787, 'data_time': 0.01013139495626092, 'model_time': 0.6099505019374192, 'learning_rate': 9.44557551055946e-07, 'epoch': 32.61})
+Step 25800, Loss: {'mse_loss': 0.007679739035665989, 'mee_loss': 0.04821542277932167, 'totoal_loss': 0.012501280754804611, 'data_time': 0.008819181006401777, 'model_time': 0.6069331329781562, 'learning_rate': 9.13373341184928e-07, 'epoch': 32.74})
+Step 25900, Loss: {'mse_loss': 0.010277299210429192, 'mee_loss': 0.06582222878932953, 'totoal_loss': 0.016859522089362144, 'data_time': 0.0076779089868068695, 'model_time': 0.5767564529087394, 'learning_rate': 8.828541959860623e-07, 'epoch': 32.87})
+Step 26000, Loss: {'mse_loss': 0.016938798129558563, 'mee_loss': 0.08145685493946075, 'totoal_loss': 0.0250844843685627, 'data_time': 0.008109080838039517, 'model_time': 0.5587482829578221, 'learning_rate': 8.530049347861661e-07, 'epoch': 32.99})
+Step 26100, Loss: {'mse_loss': 0.00787373073399067, 'mee_loss': 0.05015569552779198, 'totoal_loss': 0.012889300473034382, 'data_time': 0.017211963888257742, 'model_time': 0.5896770148538053, 'learning_rate': 8.238302711296034e-07, 'epoch': 33.12})
+Step 26200, Loss: {'mse_loss': 0.020837124437093735, 'mee_loss': 0.0682862251996994, 'totoal_loss': 0.027665747329592705, 'data_time': 0.016036790097132325, 'model_time': 0.5679938700050116, 'learning_rate': 7.953348120339707e-07, 'epoch': 33.25})
+Step 26300, Loss: {'mse_loss': 0.009348021820187569, 'mee_loss': 0.0538109727203846, 'totoal_loss': 0.014729119837284088, 'data_time': 0.014621031004935503, 'model_time': 0.6052280610892922, 'learning_rate': 7.675230572625892e-07, 'epoch': 33.38})
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+Step 26500, Loss: {'mse_loss': 0.006484153214842081, 'mee_loss': 0.04279743880033493, 'totoal_loss': 0.010763896629214287, 'data_time': 0.01770912786014378, 'model_time': 0.6905219899490476, 'learning_rate': 7.139681192281557e-07, 'epoch': 33.63})
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+Step 26800, Loss: {'mse_loss': 0.014515431597828865, 'mee_loss': 0.08223796635866165, 'totoal_loss': 0.022739227861166, 'data_time': 0.0076709899585694075, 'model_time': 0.6004133278038353, 'learning_rate': 6.388697440913819e-07, 'epoch': 34.01})
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+Step 28700, Loss: {'mse_loss': 0.010348612442612648, 'mee_loss': 0.06234341114759445, 'totoal_loss': 0.016582954674959183, 'data_time': 0.013789410935714841, 'model_time': 0.5611261341255158, 'learning_rate': 3.149060219866433e-07, 'epoch': 36.42})
+Step 28800, Loss: {'mse_loss': 0.014531196095049381, 'mee_loss': 0.07844395935535431, 'totoal_loss': 0.022375591099262238, 'data_time': 0.013311418006196618, 'model_time': 0.5782404681667686, 'learning_rate': 3.053227444026695e-07, 'epoch': 36.55})
+Step 28900, Loss: {'mse_loss': 0.020004965364933014, 'mee_loss': 0.09805788844823837, 'totoal_loss': 0.02981075458228588, 'data_time': 0.013303172076120973, 'model_time': 0.5870045439805835, 'learning_rate': 2.9650054972882544e-07, 'epoch': 36.68})
+Step 29000, Loss: {'mse_loss': 0.005798375234007835, 'mee_loss': 0.038142282515764236, 'totoal_loss': 0.00961260311305523, 'data_time': 0.016276309033855796, 'model_time': 0.5698831612244248, 'learning_rate': 2.884408310919209e-07, 'epoch': 36.8})
+Step 29100, Loss: {'mse_loss': 0.005688707809895277, 'mee_loss': 0.03740079328417778, 'totoal_loss': 0.009428787045180798, 'data_time': 0.013837378937751055, 'model_time': 0.6058111591264606, 'learning_rate': 2.8114486121495906e-07, 'epoch': 36.93})
+Step 29200, Loss: {'mse_loss': 0.007964598946273327, 'mee_loss': 0.0438377745449543, 'totoal_loss': 0.012348376214504242, 'data_time': 0.015539698069915175, 'model_time': 0.6040301688481122, 'learning_rate': 2.746137922161617e-07, 'epoch': 37.06})
+Step 29300, Loss: {'mse_loss': 0.02358251065015793, 'mee_loss': 0.0758555456995964, 'totoal_loss': 0.03116806596517563, 'data_time': 0.016009700018912554, 'model_time': 0.5948676099069417, 'learning_rate': 2.68848655427034e-07, 'epoch': 37.18})
+Step 29400, Loss: {'mse_loss': 0.0058987876400351524, 'mee_loss': 0.03867935389280319, 'totoal_loss': 0.009766723029315472, 'data_time': 0.015924470964819193, 'model_time': 0.5675620299298316, 'learning_rate': 2.638503612295071e-07, 'epoch': 37.31})
+Step 29500, Loss: {'mse_loss': 0.015012888237833977, 'mee_loss': 0.08996196836233139, 'totoal_loss': 0.024009086191654205, 'data_time': 0.018308921018615365, 'model_time': 0.5744669460691512, 'learning_rate': 2.5961969891217614e-07, 'epoch': 37.44})
+Step 29600, Loss: {'mse_loss': 0.011698923073709011, 'mee_loss': 0.060363732278347015, 'totoal_loss': 0.017735296860337257, 'data_time': 0.014330456033349037, 'model_time': 0.5852647949941456, 'learning_rate': 2.5615733654566483e-07, 'epoch': 37.56})
+Step 29700, Loss: {'mse_loss': 0.007796152029186487, 'mee_loss': 0.04916805773973465, 'totoal_loss': 0.012712957337498665, 'data_time': 0.015292167896404862, 'model_time': 0.5801064108964056, 'learning_rate': 2.5346382087712764e-07, 'epoch': 37.69})
+Step 29800, Loss: {'mse_loss': 0.006887209601700306, 'mee_loss': 0.04435398429632187, 'totoal_loss': 0.011322608217597008, 'data_time': 0.016194608062505722, 'model_time': 0.5836052750237286, 'learning_rate': 2.515395772439128e-07, 'epoch': 37.82})
+Step 29900, Loss: {'mse_loss': 0.0051102470606565475, 'mee_loss': 0.03437943756580353, 'totoal_loss': 0.0085481908172369, 'data_time': 0.013964204117655754, 'model_time': 0.6203884750138968, 'learning_rate': 2.5038490950639644e-07, 'epoch': 37.94})
+Step 30000, Loss: {'mse_loss': 0.010719896294176579, 'mee_loss': 0.05411709100008011, 'totoal_loss': 0.016131605952978134, 'data_time': 0.02719463803805411, 'model_time': 0.549323579063639, 'learning_rate': 2.5e-07, 'epoch': 38.07})

libero_10_2B_mee1e-1/starvla_qwen_gr00t/libero_eval_libero_10.log

@@ -0,0 +1,2521 @@
+Task suite: libero_10
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 14
+# successes: 13 (92.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 15
+# successes: 14 (93.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 16
+# successes: 14 (87.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 17
+# successes: 14 (82.4%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 18
+# successes: 14 (77.8%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 19
+# successes: 15 (78.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 20
+# successes: 15 (75.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 21
+# successes: 15 (71.4%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 22
+# successes: 16 (72.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 23
+# successes: 17 (73.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 24
+# successes: 18 (75.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 25
+# successes: 19 (76.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 26
+# successes: 20 (76.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 27
+# successes: 21 (77.8%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 28
+# successes: 22 (78.6%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 29
+# successes: 23 (79.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 30
+# successes: 24 (80.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 31
+# successes: 25 (80.6%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 32
+# successes: 26 (81.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 33
+# successes: 26 (78.8%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 34
+# successes: 27 (79.4%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 35
+# successes: 28 (80.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 36
+# successes: 29 (80.6%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 37
+# successes: 30 (81.1%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 38
+# successes: 30 (78.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 39
+# successes: 31 (79.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 40
+# successes: 32 (80.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 41
+# successes: 33 (80.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 42
+# successes: 33 (78.6%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 43
+# successes: 34 (79.1%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 44
+# successes: 35 (79.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 45
+# successes: 36 (80.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 46
+# successes: 37 (80.4%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 47
+# successes: 38 (80.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 48
+# successes: 39 (81.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 49
+# successes: 40 (81.6%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 50
+# successes: 40 (80.0%)
+Current task success rate: 0.8
+Current total success rate: 0.8
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 51
+# successes: 41 (80.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 52
+# successes: 42 (80.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 53
+# successes: 43 (81.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 54
+# successes: 44 (81.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: False
+# episodes completed so far: 55
+# successes: 44 (80.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 56
+# successes: 45 (80.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 57
+# successes: 46 (80.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 58
+# successes: 47 (81.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 59
+# successes: 48 (81.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 60
+# successes: 49 (81.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 61
+# successes: 50 (82.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 62
+# successes: 51 (82.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 63
+# successes: 52 (82.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 64
+# successes: 53 (82.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 65
+# successes: 54 (83.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 66
+# successes: 55 (83.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 67
+# successes: 56 (83.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 68
+# successes: 57 (83.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 69
+# successes: 58 (84.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 70
+# successes: 59 (84.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 71
+# successes: 60 (84.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 72
+# successes: 61 (84.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 73
+# successes: 62 (84.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 74
+# successes: 63 (85.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 75
+# successes: 64 (85.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 76
+# successes: 65 (85.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 77
+# successes: 66 (85.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 78
+# successes: 67 (85.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 79
+# successes: 68 (86.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 80
+# successes: 69 (86.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 81
+# successes: 70 (86.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 82
+# successes: 71 (86.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 83
+# successes: 72 (86.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 84
+# successes: 73 (86.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 85
+# successes: 74 (87.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 86
+# successes: 75 (87.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 87
+# successes: 76 (87.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 88
+# successes: 77 (87.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 89
+# successes: 78 (87.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 90
+# successes: 79 (87.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 91
+# successes: 80 (87.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 92
+# successes: 81 (88.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 93
+# successes: 82 (88.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 94
+# successes: 83 (88.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 95
+# successes: 84 (88.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 96
+# successes: 85 (88.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 97
+# successes: 86 (88.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 98
+# successes: 87 (88.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 99
+# successes: 88 (88.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: False
+# episodes completed so far: 100
+# successes: 88 (88.0%)
+Current task success rate: 0.96
+Current total success rate: 0.88
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 101
+# successes: 89 (88.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 102
+# successes: 90 (88.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 103
+# successes: 91 (88.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 104
+# successes: 92 (88.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 105
+# successes: 93 (88.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 106
+# successes: 94 (88.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 107
+# successes: 95 (88.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 108
+# successes: 96 (88.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 109
+# successes: 97 (89.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 110
+# successes: 98 (89.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 111
+# successes: 99 (89.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 112
+# successes: 100 (89.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 113
+# successes: 101 (89.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 114
+# successes: 102 (89.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 115
+# successes: 103 (89.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 116
+# successes: 104 (89.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 117
+# successes: 105 (89.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 118
+# successes: 106 (89.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 119
+# successes: 107 (89.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 120
+# successes: 108 (90.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: False
+# episodes completed so far: 121
+# successes: 108 (89.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 122
+# successes: 109 (89.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 123
+# successes: 110 (89.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 124
+# successes: 111 (89.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 125
+# successes: 112 (89.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 126
+# successes: 113 (89.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 127
+# successes: 114 (89.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 128
+# successes: 115 (89.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 129
+# successes: 116 (89.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 130
+# successes: 117 (90.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 131
+# successes: 118 (90.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 132
+# successes: 119 (90.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 133
+# successes: 120 (90.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 134
+# successes: 121 (90.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 135
+# successes: 122 (90.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 136
+# successes: 123 (90.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 137
+# successes: 124 (90.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 138
+# successes: 125 (90.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 139
+# successes: 126 (90.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 140
+# successes: 127 (90.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 141
+# successes: 128 (90.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 142
+# successes: 129 (90.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 143
+# successes: 130 (90.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 144
+# successes: 131 (91.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 145
+# successes: 132 (91.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 146
+# successes: 133 (91.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 147
+# successes: 134 (91.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 148
+# successes: 135 (91.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 149
+# successes: 136 (91.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 150
+# successes: 137 (91.3%)
+Current task success rate: 0.98
+Current total success rate: 0.9133333333333333
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 151
+# successes: 138 (91.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 152
+# successes: 138 (90.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 153
+# successes: 139 (90.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 154
+# successes: 140 (90.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 155
+# successes: 141 (91.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 156
+# successes: 142 (91.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 157
+# successes: 143 (91.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 158
+# successes: 144 (91.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 159
+# successes: 145 (91.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 160
+# successes: 146 (91.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 161
+# successes: 147 (91.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 162
+# successes: 147 (90.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 163
+# successes: 148 (90.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 164
+# successes: 149 (90.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 165
+# successes: 150 (90.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 166
+# successes: 151 (91.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 167
+# successes: 152 (91.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 168
+# successes: 153 (91.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 169
+# successes: 154 (91.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 170
+# successes: 155 (91.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 171
+# successes: 156 (91.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 172
+# successes: 157 (91.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 173
+# successes: 158 (91.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 174
+# successes: 159 (91.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 175
+# successes: 160 (91.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 176
+# successes: 161 (91.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 177
+# successes: 162 (91.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 178
+# successes: 163 (91.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 179
+# successes: 164 (91.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 180
+# successes: 165 (91.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 181
+# successes: 166 (91.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 182
+# successes: 167 (91.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 183
+# successes: 168 (91.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 184
+# successes: 169 (91.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 185
+# successes: 170 (91.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 186
+# successes: 171 (91.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 187
+# successes: 172 (92.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 188
+# successes: 173 (92.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 189
+# successes: 174 (92.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 190
+# successes: 175 (92.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 191
+# successes: 176 (92.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 192
+# successes: 177 (92.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 193
+# successes: 178 (92.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 194
+# successes: 178 (91.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 195
+# successes: 179 (91.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# 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: 0.92
+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: False
+# episodes completed so far: 210
+# successes: 192 (91.4%)
+
+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: 211
+# successes: 193 (91.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 194 (91.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 195 (91.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 196 (91.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: False
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+# successes: 196 (91.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 197 (91.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 198 (91.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 199 (91.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 200 (91.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# 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
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+# successes: 202 (91.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 203 (91.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 204 (91.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 205 (91.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 206 (91.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 207 (91.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 208 (91.6%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 209 (91.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 210 (91.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 211 (91.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 212 (91.8%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 213 (91.8%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 214 (91.8%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 215 (91.9%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 216 (91.9%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 217 (91.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 218 (92.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 219 (92.0%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 220 (92.1%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 240
+# successes: 221 (92.1%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 241
+# successes: 222 (92.1%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 242
+# successes: 223 (92.1%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 243
+# successes: 224 (92.2%)
+
+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: 244
+# successes: 225 (92.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 245
+# successes: 226 (92.2%)
+
+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: 226 (91.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 247
+# successes: 227 (91.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 248
+# successes: 228 (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: 249
+# successes: 229 (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: 250
+# successes: 230 (92.0%)
+Current task success rate: 0.94
+Current total success rate: 0.92
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 251
+# successes: 231 (92.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 252
+# successes: 232 (92.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 253
+# successes: 233 (92.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 254
+# successes: 234 (92.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 255
+# successes: 235 (92.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 256
+# successes: 236 (92.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 257
+# successes: 237 (92.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 258
+# successes: 238 (92.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 259
+# successes: 239 (92.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 260
+# successes: 240 (92.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 261
+# successes: 241 (92.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 262
+# successes: 242 (92.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 263
+# successes: 243 (92.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 264
+# successes: 244 (92.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 265
+# successes: 245 (92.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 266
+# successes: 246 (92.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 267
+# successes: 247 (92.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 268
+# successes: 248 (92.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 269
+# successes: 249 (92.6%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 270
+# successes: 250 (92.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 271
+# successes: 251 (92.6%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 272
+# successes: 252 (92.6%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 273
+# successes: 253 (92.7%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 274
+# successes: 254 (92.7%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 275
+# successes: 255 (92.7%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 276
+# successes: 256 (92.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 277
+# successes: 257 (92.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 258 (92.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 259 (92.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 260 (92.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 281
+# successes: 261 (92.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 262 (92.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 263 (92.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 284
+# successes: 264 (93.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 285
+# successes: 265 (93.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 286
+# successes: 266 (93.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 287
+# successes: 267 (93.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 288
+# successes: 268 (93.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 289
+# successes: 269 (93.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 290
+# successes: 270 (93.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 291
+# successes: 271 (93.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 292
+# successes: 272 (93.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 293
+# successes: 273 (93.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 294
+# successes: 274 (93.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 295
+# successes: 275 (93.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 296
+# successes: 276 (93.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 297
+# successes: 277 (93.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 298
+# successes: 278 (93.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 299
+# successes: 279 (93.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 300
+# successes: 280 (93.3%)
+Current task success rate: 1.0
+Current total success rate: 0.9333333333333333
+
+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: 281 (93.4%)
+
+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: 302
+# successes: 282 (93.4%)
+
+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 (93.1%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 283 (93.1%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 305
+# successes: 284 (93.1%)
+
+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: 306
+# successes: 285 (93.1%)
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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: 286 (93.2%)
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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: 287 (93.2%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 309
+# successes: 288 (93.2%)
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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: 289 (93.2%)
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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: 290 (93.2%)
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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: 291 (93.3%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 294 (93.3%)
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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: 316
+# successes: 295 (93.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 296 (93.4%)
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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 (93.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 298 (93.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 299 (93.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 301 (93.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+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 (93.6%)
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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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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 310 (93.4%)
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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: 311 (93.4%)
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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: 312 (93.4%)
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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: 313 (93.4%)
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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: 314 (93.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 315 (93.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 316 (93.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 317 (93.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 318 (93.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 319 (93.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 320 (93.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 343
+# successes: 321 (93.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 344
+# successes: 322 (93.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 345
+# successes: 323 (93.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 346
+# successes: 324 (93.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 347
+# successes: 325 (93.7%)
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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: 348
+# successes: 326 (93.7%)
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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: 349
+# successes: 327 (93.7%)
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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: 350
+# successes: 328 (93.7%)
+Current task success rate: 0.96
+Current total success rate: 0.9371428571428572
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 351
+# successes: 329 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 352
+# successes: 330 (93.8%)
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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: 353
+# successes: 331 (93.8%)
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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: 354
+# successes: 332 (93.8%)
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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: 355
+# successes: 333 (93.8%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 356
+# successes: 334 (93.8%)
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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: 357
+# successes: 335 (93.8%)
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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: 358
+# successes: 336 (93.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: False
+# episodes completed so far: 359
+# successes: 336 (93.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 360
+# successes: 337 (93.6%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 361
+# successes: 338 (93.6%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 362
+# successes: 339 (93.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 363
+# successes: 340 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 364
+# successes: 341 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 365
+# successes: 342 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 366
+# successes: 343 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 367
+# successes: 344 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 368
+# successes: 345 (93.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 369
+# successes: 346 (93.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 370
+# successes: 347 (93.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 371
+# successes: 348 (93.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 372
+# successes: 349 (93.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 373
+# successes: 350 (93.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 374
+# successes: 351 (93.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 375
+# successes: 352 (93.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 376
+# successes: 353 (93.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 377
+# successes: 354 (93.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 378
+# successes: 355 (93.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 379
+# successes: 356 (93.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 380
+# successes: 357 (93.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 381
+# successes: 358 (94.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: False
+# episodes completed so far: 382
+# successes: 358 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 383
+# successes: 359 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 384
+# successes: 360 (93.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 385
+# successes: 361 (93.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 386
+# successes: 362 (93.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 387
+# successes: 363 (93.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: False
+# episodes completed so far: 388
+# successes: 363 (93.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 389
+# successes: 364 (93.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 390
+# successes: 365 (93.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 391
+# successes: 366 (93.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 392
+# successes: 367 (93.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 393
+# successes: 368 (93.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 394
+# successes: 369 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 395
+# successes: 370 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 396
+# successes: 371 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 397
+# successes: 372 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 398
+# successes: 373 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 399
+# successes: 374 (93.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 400
+# successes: 375 (93.8%)
+Current task success rate: 0.94
+Current total success rate: 0.9375
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 401
+# successes: 376 (93.8%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 402
+# successes: 376 (93.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 403
+# successes: 377 (93.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 404
+# successes: 378 (93.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 405
+# successes: 379 (93.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 406
+# successes: 380 (93.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 407
+# successes: 381 (93.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 408
+# successes: 382 (93.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 409
+# successes: 383 (93.6%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 410
+# successes: 383 (93.4%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 411
+# successes: 384 (93.4%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 412
+# successes: 385 (93.4%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 413
+# successes: 386 (93.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 414
+# successes: 387 (93.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 415
+# successes: 388 (93.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 416
+# successes: 389 (93.5%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 417
+# successes: 389 (93.3%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 418
+# successes: 390 (93.3%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 419
+# successes: 391 (93.3%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 420
+# successes: 392 (93.3%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 421
+# successes: 393 (93.3%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 422
+# successes: 393 (93.1%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 423
+# successes: 393 (92.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 424
+# successes: 394 (92.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 425
+# successes: 395 (92.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 426
+# successes: 396 (93.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 427
+# successes: 397 (93.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 428
+# successes: 398 (93.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 429
+# successes: 399 (93.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 430
+# successes: 400 (93.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 431
+# successes: 401 (93.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 432
+# successes: 402 (93.1%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 433
+# successes: 403 (93.1%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 434
+# successes: 404 (93.1%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 435
+# successes: 405 (93.1%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 436
+# successes: 406 (93.1%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 437
+# successes: 407 (93.1%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 438
+# successes: 408 (93.2%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 439
+# successes: 409 (93.2%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 440
+# successes: 410 (93.2%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 441
+# successes: 411 (93.2%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 442
+# successes: 412 (93.2%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 443
+# successes: 412 (93.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 444
+# successes: 413 (93.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 445
+# successes: 414 (93.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 446
+# successes: 415 (93.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 447
+# successes: 416 (93.1%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 448
+# successes: 416 (92.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 449
+# successes: 417 (92.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 450
+# successes: 418 (92.9%)
+Current task success rate: 0.86
+Current total success rate: 0.9288888888888889
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 451
+# successes: 419 (92.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 452
+# successes: 420 (92.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 453
+# successes: 421 (92.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 454
+# successes: 422 (93.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 455
+# successes: 423 (93.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 456
+# successes: 424 (93.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 457
+# successes: 425 (93.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 458
+# successes: 426 (93.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 459
+# successes: 427 (93.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 460
+# successes: 428 (93.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 461
+# successes: 429 (93.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 462
+# successes: 430 (93.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 463
+# successes: 431 (93.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 464
+# successes: 432 (93.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 465
+# successes: 433 (93.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 466
+# successes: 434 (93.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 467
+# successes: 435 (93.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 468
+# successes: 436 (93.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 469
+# successes: 437 (93.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 470
+# successes: 438 (93.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 471
+# successes: 439 (93.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 472
+# successes: 440 (93.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 473
+# successes: 441 (93.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 474
+# successes: 442 (93.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 475
+# successes: 443 (93.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 476
+# successes: 444 (93.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 477
+# successes: 445 (93.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 478
+# successes: 446 (93.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 479
+# successes: 447 (93.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 480
+# successes: 448 (93.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 481
+# successes: 449 (93.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 482
+# successes: 450 (93.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 483
+# successes: 451 (93.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 484
+# successes: 452 (93.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 485
+# successes: 453 (93.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 486
+# successes: 454 (93.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 487
+# successes: 455 (93.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 488
+# successes: 456 (93.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 489
+# successes: 457 (93.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 490
+# successes: 458 (93.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 491
+# successes: 459 (93.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 492
+# successes: 460 (93.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: False
+# episodes completed so far: 493
+# successes: 460 (93.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 494
+# successes: 461 (93.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 495
+# successes: 462 (93.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 496
+# successes: 463 (93.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 497
+# successes: 464 (93.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 498
+# successes: 465 (93.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 499
+# successes: 466 (93.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 500
+# successes: 467 (93.4%)
+Current task success rate: 0.98
+Current total success rate: 0.934

libero_goal_2B_mee1e-2/starvla_qwen_gr00t/config.json

@@ -0,0 +1,129 @@
+{
+  "run_id": "starvla_qwen_gr00t",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models/libero_goal_2B_mee1e-2",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.01,
+  "framework": {
+    "name": "QwenGR00T",
+    "qwenvl": {
+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
+    },
+    "dino": {
+      "dino_backbone": "dinov2_vits14"
+    },
+    "action_model": {
+      "action_model_type": "DiT-B",
+      "action_hidden_dim": 2,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 7,
+      "state_dim": 7,
+      "future_action_window_size": 7,
+      "action_horizon": 8,
+      "past_action_window_size": 0,
+      "repeated_diffusion_steps": 8,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 4,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
+        "cross_attention_dim": 2048,
+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    },
+    "reduce_in_full_precision": true
+  },
+  "datasets": {
+    "vlm_data": {
+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_goal",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 60000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "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,
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+}

libero_goal_2B_mee1e-2/starvla_qwen_gr00t/dataset_statistics.json

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libero_goal_2B_mee1e-2/starvla_qwen_gr00t/final_model/pytorch_model.pt

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+# episodes completed so far: 143
+# successes: 140 (97.9%)
+
+Task: put the wine bottle on top of the cabinet
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+# successes: 141 (97.9%)
+
+Task: put the wine bottle on top of the cabinet
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+# successes: 142 (97.9%)
+
+Task: put the wine bottle on top of the cabinet
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+# successes: 143 (97.9%)
+
+Task: put the wine bottle on top of the cabinet
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+# episodes completed so far: 147
+# successes: 144 (98.0%)
+
+Task: put the wine bottle on top of the cabinet
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+# episodes completed so far: 148
+# successes: 145 (98.0%)
+
+Task: put the wine bottle on top of the cabinet
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+# successes: 146 (98.0%)
+
+Task: put the wine bottle on top of the cabinet
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+# episodes completed so far: 150
+# successes: 147 (98.0%)
+Current task success rate: 0.94
+Current total success rate: 0.98
+
+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 151
+# successes: 148 (98.0%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 149 (98.0%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 150 (98.0%)
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+# successes: 155 (98.1%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 156 (98.1%)
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+# successes: 177 (95.7%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 178 (95.7%)
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+# successes: 180 (95.7%)
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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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+# episodes completed so far: 190
+# successes: 182 (95.8%)
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+Task: open the top drawer and put the bowl inside
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+# successes: 183 (95.8%)
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+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 192
+# successes: 184 (95.8%)
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+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 193
+# successes: 185 (95.9%)
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+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 194
+# successes: 186 (95.9%)
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+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 195
+# successes: 187 (95.9%)
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+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 196
+# successes: 188 (95.9%)
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+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 197
+# successes: 189 (95.9%)
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+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 198
+# successes: 190 (96.0%)
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+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 199
+# successes: 191 (96.0%)
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+Task: open the top drawer and put the bowl inside
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+# episodes completed so far: 200
+# successes: 192 (96.0%)
+Current task success rate: 0.9
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+Task: put the bowl on top of the cabinet
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+# successes: 193 (96.0%)
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+Task: put the bowl on top of the cabinet
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+# successes: 194 (96.0%)
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+Task: put the bowl on top of the cabinet
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+# successes: 195 (96.1%)
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+Task: put the bowl on top of the cabinet
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+# successes: 196 (96.1%)
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+Task: put the bowl on top of the cabinet
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+# successes: 197 (96.1%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 206
+# successes: 198 (96.1%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 207
+# successes: 199 (96.1%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 208
+# successes: 200 (96.2%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 209
+# successes: 201 (96.2%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 210
+# successes: 202 (96.2%)
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+# successes: 204 (96.2%)
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+# successes: 229 (95.4%)
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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: 231 (95.5%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 243
+# successes: 232 (95.5%)
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+Task: put the bowl on top of the cabinet
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+# successes: 232 (95.1%)
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+Task: put the bowl on top of the cabinet
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+# successes: 233 (95.1%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 246
+# successes: 234 (95.1%)
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+Task: put the bowl on top of the cabinet
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+# successes: 235 (95.1%)
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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: 237 (95.2%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 250
+# successes: 238 (95.2%)
+Current task success rate: 0.92
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 251
+# successes: 239 (95.2%)
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+# successes: 242 (95.3%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 255
+# successes: 243 (95.3%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 256
+# successes: 244 (95.3%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 257
+# successes: 245 (95.3%)
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+Task: push the plate to the front of the stove
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+# successes: 246 (95.3%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 259
+# successes: 247 (95.4%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 260
+# successes: 248 (95.4%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 261
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+Task: push the plate to the front of the stove
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+# successes: 250 (95.4%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 263
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+# successes: 278 (95.2%)
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 294
+# successes: 279 (94.9%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 295
+# successes: 280 (94.9%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 296
+# successes: 281 (94.9%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 297
+# successes: 282 (94.9%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 298
+# successes: 283 (95.0%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 299
+# successes: 284 (95.0%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 300
+# successes: 285 (95.0%)
+Current task success rate: 0.94
+Current total success rate: 0.95
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+Task: put the cream cheese in the bowl
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+# episodes completed so far: 301
+# successes: 286 (95.0%)
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+Task: put the cream cheese in the bowl
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+# successes: 286 (94.7%)
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+Task: put the cream cheese in the bowl
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+# successes: 287 (94.7%)
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+Task: put the cream cheese in the bowl
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+# successes: 288 (94.7%)
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+Task: put the cream cheese in the bowl
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+# episodes completed so far: 305
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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: 290 (94.5%)
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+Task: put the cream cheese in the bowl
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+# episodes completed so far: 308
+# successes: 291 (94.5%)
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+Task: put the cream cheese in the bowl
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+# episodes completed so far: 309
+# successes: 292 (94.5%)
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+Task: put the cream cheese in the bowl
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+# episodes completed so far: 310
+# successes: 293 (94.5%)
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+Task: put the cream cheese in the bowl
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+# successes: 294 (94.5%)
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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: 296 (94.6%)
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+Task: put the cream cheese in the bowl
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+# successes: 297 (94.6%)
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+Task: put the cream cheese in the bowl
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+# successes: 298 (94.6%)
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+Task: put the cream cheese in the bowl
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+# successes: 299 (94.6%)
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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: 303 (94.7%)
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+Task: put the cream cheese in the bowl
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+# episodes completed so far: 321
+# successes: 304 (94.7%)
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+# episodes completed so far: 324
+# successes: 306 (94.4%)
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+Task: put the cream cheese in the bowl
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+# successes: 468 (95.7%)
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+Task: put the wine bottle on the rack
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+# successes: 469 (95.7%)
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+Task: put the wine bottle on the rack
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+# successes: 470 (95.7%)
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+Task: put the wine bottle on the rack
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+# successes: 471 (95.7%)
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+Task: put the wine bottle on the rack
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+# successes: 472 (95.7%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 494
+# successes: 473 (95.7%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 495
+# successes: 474 (95.8%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 496
+# successes: 475 (95.8%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 497
+# successes: 476 (95.8%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 498
+# successes: 477 (95.8%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 499
+# successes: 478 (95.8%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 500
+# successes: 478 (95.6%)
+Current task success rate: 0.94
+Current total success rate: 0.956

libero_goal_2B_mee1e-2/starvla_qwen_gr00t/libero_goal.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.132469654083252, 'mee_loss': 4.014125347137451, 'totoal_loss': 1.132469654083252, 'data_time': 0.02369506799732335, 'model_time': 0.5739959340135101, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.25})
+Step 200, Loss: {'mse_loss': 1.0333302021026611, 'mee_loss': 3.7329838275909424, 'totoal_loss': 1.0333302021026611, 'data_time': 0.028146430995548144, 'model_time': 0.6724754759925418, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.49})
+Step 300, Loss: {'mse_loss': 0.7895919680595398, 'mee_loss': 3.0147502422332764, 'totoal_loss': 0.7895919680595398, 'data_time': 0.022977241984335706, 'model_time': 0.5929802989994641, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.74})
+Step 400, Loss: {'mse_loss': 0.5806525945663452, 'mee_loss': 2.417125940322876, 'totoal_loss': 0.5806525945663452, 'data_time': 0.02067931302008219, 'model_time': 0.5221217260113917, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.99})
+Step 500, Loss: {'mse_loss': 0.4852970540523529, 'mee_loss': 2.0872879028320312, 'totoal_loss': 0.4852970540523529, 'data_time': 0.00042345598922111094, 'model_time': 0.5779866979864892, 'learning_rate': 1.0000000000000002e-06, 'epoch': 1.23})
+Step 600, Loss: {'mse_loss': 0.3541784882545471, 'mee_loss': 1.6003321409225464, 'totoal_loss': 0.3541784882545471, 'data_time': 0.00034382700687274337, 'model_time': 0.5890216859988868, 'learning_rate': 1.2000000000000002e-06, 'epoch': 1.48})
+Step 700, Loss: {'mse_loss': 0.3268962800502777, 'mee_loss': 1.3882479667663574, 'totoal_loss': 0.3268962800502777, 'data_time': 0.0006296859937720001, 'model_time': 0.6607636080007069, 'learning_rate': 1.4000000000000001e-06, 'epoch': 1.72})
+Step 800, Loss: {'mse_loss': 0.3053821921348572, 'mee_loss': 1.2738912105560303, 'totoal_loss': 0.3053821921348572, 'data_time': 0.00034922099439427257, 'model_time': 0.5870043209870346, 'learning_rate': 1.6000000000000001e-06, 'epoch': 1.97})
+Step 900, Loss: {'mse_loss': 0.1556273251771927, 'mee_loss': 0.7781718969345093, 'totoal_loss': 0.1556273251771927, 'data_time': 0.015567502996418625, 'model_time': 0.5945804899965879, 'learning_rate': 1.8000000000000001e-06, 'epoch': 2.22})
+Step 1000, Loss: {'mse_loss': 0.14643478393554688, 'mee_loss': 0.6926536560058594, 'totoal_loss': 0.14643478393554688, 'data_time': 0.016090577002614737, 'model_time': 0.6862421029945835, 'learning_rate': 2.0000000000000003e-06, 'epoch': 2.46})
+Step 1100, Loss: {'mse_loss': 0.10759536176919937, 'mee_loss': 0.5652449131011963, 'totoal_loss': 0.10759536176919937, 'data_time': 0.017580938001628965, 'model_time': 0.5577527699933853, 'learning_rate': 2.2e-06, 'epoch': 2.71})
+Step 1200, Loss: {'mse_loss': 0.15854088962078094, 'mee_loss': 0.7314467430114746, 'totoal_loss': 0.15854088962078094, 'data_time': 0.018031416984740645, 'model_time': 0.5698278729978483, 'learning_rate': 2.4000000000000003e-06, 'epoch': 2.96})
+Step 1300, Loss: {'mse_loss': 0.16919341683387756, 'mee_loss': 0.7753536105155945, 'totoal_loss': 0.16919341683387756, 'data_time': 0.00034573901211842895, 'model_time': 0.5660619230184238, 'learning_rate': 2.6e-06, 'epoch': 3.2})
+Step 1400, Loss: {'mse_loss': 0.14985743165016174, 'mee_loss': 0.7170977592468262, 'totoal_loss': 0.14985743165016174, 'data_time': 0.00034192201565019786, 'model_time': 0.6319739370082971, 'learning_rate': 2.8000000000000003e-06, 'epoch': 3.45})
+Step 1500, Loss: {'mse_loss': 0.19097404181957245, 'mee_loss': 0.8196608424186707, 'totoal_loss': 0.19097404181957245, 'data_time': 0.00037553798756562173, 'model_time': 0.6851902909984346, 'learning_rate': 3e-06, 'epoch': 3.69})
+Step 1600, Loss: {'mse_loss': 0.12856869399547577, 'mee_loss': 0.5981520414352417, 'totoal_loss': 0.12856869399547577, 'data_time': 0.0003669580037239939, 'model_time': 0.5792509849998169, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.94})
+Step 1700, Loss: {'mse_loss': 0.1430804580450058, 'mee_loss': 0.6625471711158752, 'totoal_loss': 0.1430804580450058, 'data_time': 0.017986871011089534, 'model_time': 0.684366981004132, 'learning_rate': 3.4000000000000005e-06, 'epoch': 4.19})
+Step 1800, Loss: {'mse_loss': 0.09388873726129532, 'mee_loss': 0.44197240471839905, 'totoal_loss': 0.09388873726129532, 'data_time': 0.018167760979849845, 'model_time': 0.5602780600020196, 'learning_rate': 3.6000000000000003e-06, 'epoch': 4.43})
+Step 1900, Loss: {'mse_loss': 0.12308792024850845, 'mee_loss': 0.5858849287033081, 'totoal_loss': 0.12308792024850845, 'data_time': 0.01775454299058765, 'model_time': 0.607522324018646, 'learning_rate': 3.8000000000000005e-06, 'epoch': 4.68})
+Step 2000, Loss: {'mse_loss': 0.10575524717569351, 'mee_loss': 0.5077558755874634, 'totoal_loss': 0.10575524717569351, 'data_time': 0.014542443008394912, 'model_time': 0.6241914450074546, 'learning_rate': 4.000000000000001e-06, 'epoch': 4.93})
+Step 2100, Loss: {'mse_loss': 0.10290785878896713, 'mee_loss': 0.5028091669082642, 'totoal_loss': 0.10290785878896713, 'data_time': 0.00033624499337747693, 'model_time': 0.872906602016883, 'learning_rate': 4.2000000000000004e-06, 'epoch': 5.17})
+Step 2200, Loss: {'mse_loss': 0.12702076137065887, 'mee_loss': 0.5731929540634155, 'totoal_loss': 0.12702076137065887, 'data_time': 0.00034921601763926446, 'model_time': 0.5680519469897263, 'learning_rate': 4.4e-06, 'epoch': 5.42})
+Step 2300, Loss: {'mse_loss': 0.1362159103155136, 'mee_loss': 0.5936656594276428, 'totoal_loss': 0.1362159103155136, 'data_time': 0.0003547969972714782, 'model_time': 0.5705142559891101, 'learning_rate': 4.600000000000001e-06, 'epoch': 5.67})
+Step 2400, Loss: {'mse_loss': 0.1146429181098938, 'mee_loss': 0.5665462613105774, 'totoal_loss': 0.1146429181098938, 'data_time': 0.0005571540095843375, 'model_time': 0.5681888149993028, 'learning_rate': 4.800000000000001e-06, 'epoch': 5.91})
+Step 2500, Loss: {'mse_loss': 0.083657406270504, 'mee_loss': 0.42795702815055847, 'totoal_loss': 0.083657406270504, 'data_time': 0.008512663014698774, 'model_time': 0.5940503509773407, 'learning_rate': 5e-06, 'epoch': 6.16})
+Step 2600, Loss: {'mse_loss': 0.12086537480354309, 'mee_loss': 0.5566587448120117, 'totoal_loss': 0.12086537480354309, 'data_time': 0.010553746978985146, 'model_time': 0.5656767390028108, 'learning_rate': 5.2e-06, 'epoch': 6.4})
+Step 2700, Loss: {'mse_loss': 0.09123511612415314, 'mee_loss': 0.45990991592407227, 'totoal_loss': 0.09123511612415314, 'data_time': 0.012770126020768657, 'model_time': 0.6043251619848888, 'learning_rate': 5.400000000000001e-06, 'epoch': 6.65})
+Step 2800, Loss: {'mse_loss': 0.08557364344596863, 'mee_loss': 0.4200654625892639, 'totoal_loss': 0.08557364344596863, 'data_time': 0.008571231999667361, 'model_time': 0.8168573009897955, 'learning_rate': 5.600000000000001e-06, 'epoch': 6.9})
+Step 2900, Loss: {'mse_loss': 0.0763188973069191, 'mee_loss': 0.37924790382385254, 'totoal_loss': 0.0763188973069191, 'data_time': 0.0003909369988832623, 'model_time': 0.6016715790028684, 'learning_rate': 5.8e-06, 'epoch': 7.14})
+Step 3000, Loss: {'mse_loss': 0.07772167026996613, 'mee_loss': 0.44268640875816345, 'totoal_loss': 0.07772167026996613, 'data_time': 0.0003600839991122484, 'model_time': 0.5676829330041073, 'learning_rate': 6e-06, 'epoch': 7.39})
+Step 3100, Loss: {'mse_loss': 0.04965343698859215, 'mee_loss': 0.2845745086669922, 'totoal_loss': 0.04965343698859215, 'data_time': 0.0005737099854741246, 'model_time': 0.6984594459936488, 'learning_rate': 6.200000000000001e-06, 'epoch': 7.64})
+Step 3200, Loss: {'mse_loss': 0.0813034176826477, 'mee_loss': 0.3823435306549072, 'totoal_loss': 0.0813034176826477, 'data_time': 0.0003581920173019171, 'model_time': 0.5534578480001073, 'learning_rate': 6.4000000000000006e-06, 'epoch': 7.88})
+Step 3300, Loss: {'mse_loss': 0.05941179394721985, 'mee_loss': 0.2973998785018921, 'totoal_loss': 0.05941179394721985, 'data_time': 0.009900557022774592, 'model_time': 0.5794767450133804, 'learning_rate': 6.600000000000001e-06, 'epoch': 8.13})
+Step 3400, Loss: {'mse_loss': 0.09588316828012466, 'mee_loss': 0.42694956064224243, 'totoal_loss': 0.09588316828012466, 'data_time': 0.00902633898658678, 'model_time': 0.5812458489963319, 'learning_rate': 6.800000000000001e-06, 'epoch': 8.37})
+Step 3500, Loss: {'mse_loss': 0.08711350709199905, 'mee_loss': 0.4227452278137207, 'totoal_loss': 0.08711350709199905, 'data_time': 0.009847943001659587, 'model_time': 0.5894099730066955, 'learning_rate': 7e-06, 'epoch': 8.62})
+Step 3600, Loss: {'mse_loss': 0.06977420300245285, 'mee_loss': 0.3901131749153137, 'totoal_loss': 0.06977420300245285, 'data_time': 0.009674782020738348, 'model_time': 0.5708896989817731, 'learning_rate': 7.2000000000000005e-06, 'epoch': 8.87})
+Step 3700, Loss: {'mse_loss': 0.05860240384936333, 'mee_loss': 0.3183784782886505, 'totoal_loss': 0.05860240384936333, 'data_time': 0.00037339000846259296, 'model_time': 0.6384807070135139, 'learning_rate': 7.4e-06, 'epoch': 9.11})
+Step 3800, Loss: {'mse_loss': 0.06781771779060364, 'mee_loss': 0.33300602436065674, 'totoal_loss': 0.06781771779060364, 'data_time': 0.000342751998687163, 'model_time': 0.5898765269957948, 'learning_rate': 7.600000000000001e-06, 'epoch': 9.36})
+Step 3900, Loss: {'mse_loss': 0.060795173048973083, 'mee_loss': 0.32255879044532776, 'totoal_loss': 0.060795173048973083, 'data_time': 0.00035302300238981843, 'model_time': 0.6240632119879592, 'learning_rate': 7.800000000000002e-06, 'epoch': 9.61})
+Step 4000, Loss: {'mse_loss': 0.04772355780005455, 'mee_loss': 0.2705138027667999, 'totoal_loss': 0.04772355780005455, 'data_time': 0.00037828501081094146, 'model_time': 0.6035951609956101, 'learning_rate': 8.000000000000001e-06, 'epoch': 9.85})
+Step 4100, Loss: {'mse_loss': 0.073615163564682, 'mee_loss': 0.36863279342651367, 'totoal_loss': 0.073615163564682, 'data_time': 0.016061439004261047, 'model_time': 0.6533264969766606, 'learning_rate': 8.2e-06, 'epoch': 10.1})
+Step 4200, Loss: {'mse_loss': 0.043066997081041336, 'mee_loss': 0.22112691402435303, 'totoal_loss': 0.043066997081041336, 'data_time': 0.016241025005001575, 'model_time': 0.5887573650106788, 'learning_rate': 8.400000000000001e-06, 'epoch': 10.34})
+Step 4300, Loss: {'mse_loss': 0.07202092558145523, 'mee_loss': 0.3682318329811096, 'totoal_loss': 0.07202092558145523, 'data_time': 0.018401401990558952, 'model_time': 0.6367229239840526, 'learning_rate': 8.6e-06, 'epoch': 10.59})
+Step 4400, Loss: {'mse_loss': 0.06301943212747574, 'mee_loss': 0.3231162428855896, 'totoal_loss': 0.06301943212747574, 'data_time': 0.01694453801610507, 'model_time': 0.6598110580234788, 'learning_rate': 8.8e-06, 'epoch': 10.84})
+Step 4500, Loss: {'mse_loss': 0.07033481448888779, 'mee_loss': 0.3155103921890259, 'totoal_loss': 0.07033481448888779, 'data_time': 0.00035649898927658796, 'model_time': 0.5577276409894694, 'learning_rate': 9e-06, 'epoch': 11.08})
+Step 4600, Loss: {'mse_loss': 0.048848025500774384, 'mee_loss': 0.2873254716396332, 'totoal_loss': 0.048848025500774384, 'data_time': 0.0003556000010576099, 'model_time': 0.6173296920023859, 'learning_rate': 9.200000000000002e-06, 'epoch': 11.33})
+Step 4700, Loss: {'mse_loss': 0.04153789207339287, 'mee_loss': 0.23408323526382446, 'totoal_loss': 0.04153789207339287, 'data_time': 0.0003493870026431978, 'model_time': 0.5526954290107824, 'learning_rate': 9.4e-06, 'epoch': 11.58})
+Step 4800, Loss: {'mse_loss': 0.07535292953252792, 'mee_loss': 0.3393964469432831, 'totoal_loss': 0.07535292953252792, 'data_time': 0.0003611639840528369, 'model_time': 0.5922368129831739, 'learning_rate': 9.600000000000001e-06, 'epoch': 11.82})
+Step 4900, Loss: {'mse_loss': 0.04575545713305473, 'mee_loss': 0.25439050793647766, 'totoal_loss': 0.04575545713305473, 'data_time': 0.015481159003684297, 'model_time': 0.5589432339766063, 'learning_rate': 9.800000000000001e-06, 'epoch': 12.07})
+Step 5000, Loss: {'mse_loss': 0.07469405978918076, 'mee_loss': 0.33052194118499756, 'totoal_loss': 0.07469405978918076, 'data_time': 0.020296525995945558, 'model_time': 0.5950360020215157, 'learning_rate': 1e-05, 'epoch': 12.32})
+Step 5100, Loss: {'mse_loss': 0.049674347043037415, 'mee_loss': 0.278577595949173, 'totoal_loss': 0.049674347043037415, 'data_time': 0.02726958499988541, 'model_time': 0.6426707509963308, 'learning_rate': 9.999615090493604e-06, 'epoch': 12.56})
+Step 5200, Loss: {'mse_loss': 0.04273315146565437, 'mee_loss': 0.2357049584388733, 'totoal_loss': 0.04273315146565437, 'data_time': 0.01705958301317878, 'model_time': 0.5932664819993079, 'learning_rate': 9.998460422756089e-06, 'epoch': 12.81})
+Step 5300, Loss: {'mse_loss': 0.04630221799015999, 'mee_loss': 0.2573721408843994, 'totoal_loss': 0.04630221799015999, 'data_time': 0.000652738002827391, 'model_time': 0.5723039750009775, 'learning_rate': 9.996536179122874e-06, 'epoch': 13.05})
+Step 5400, Loss: {'mse_loss': 0.04530041292309761, 'mee_loss': 0.24271705746650696, 'totoal_loss': 0.04530041292309761, 'data_time': 0.0003476149868220091, 'model_time': 0.5998949189961422, 'learning_rate': 9.993842663454337e-06, 'epoch': 13.3})
+Step 5500, Loss: {'mse_loss': 0.05173884704709053, 'mee_loss': 0.2643156349658966, 'totoal_loss': 0.05173884704709053, 'data_time': 0.00034366099862381816, 'model_time': 0.5845098330173641, 'learning_rate': 9.990380301087824e-06, 'epoch': 13.55})
+Step 5600, Loss: {'mse_loss': 0.04627710208296776, 'mee_loss': 0.2577826976776123, 'totoal_loss': 0.04627710208296776, 'data_time': 0.0003721670072991401, 'model_time': 0.5874739970022347, 'learning_rate': 9.986149638770493e-06, 'epoch': 13.79})
+Step 5700, Loss: {'mse_loss': 0.0554775707423687, 'mee_loss': 0.27689749002456665, 'totoal_loss': 0.0554775707423687, 'data_time': 0.018583533994387835, 'model_time': 0.5751995509781409, 'learning_rate': 9.981151344572967e-06, 'epoch': 14.04})
+Step 5800, Loss: {'mse_loss': 0.04325995221734047, 'mee_loss': 0.23272280395030975, 'totoal_loss': 0.04325995221734047, 'data_time': 0.015850980998948216, 'model_time': 0.5695896580000408, 'learning_rate': 9.975386207783839e-06, 'epoch': 14.29})
+Step 5900, Loss: {'mse_loss': 0.03757148236036301, 'mee_loss': 0.20820556581020355, 'totoal_loss': 0.03757148236036301, 'data_time': 0.01734230198781006, 'model_time': 0.5490376869856846, 'learning_rate': 9.968855138785041e-06, 'epoch': 14.53})
+Step 6000, Loss: {'mse_loss': 0.034010738134384155, 'mee_loss': 0.1979285180568695, 'totoal_loss': 0.034010738134384155, 'data_time': 0.02191196699277498, 'model_time': 0.5508326150011271, 'learning_rate': 9.961559168908081e-06, 'epoch': 14.78})
+Step 6100, Loss: {'mse_loss': 0.04400065168738365, 'mee_loss': 0.2654215693473816, 'totoal_loss': 0.04400065168738365, 'data_time': 0.009733124985359609, 'model_time': 0.6414562580175698, 'learning_rate': 9.953499450271174e-06, 'epoch': 15.02})
+Step 6200, Loss: {'mse_loss': 0.04621812328696251, 'mee_loss': 0.24833279848098755, 'totoal_loss': 0.04621812328696251, 'data_time': 0.019137790019158274, 'model_time': 0.5766149779956322, 'learning_rate': 9.944677255597332e-06, 'epoch': 15.27})
+Step 6300, Loss: {'mse_loss': 0.04578382894396782, 'mee_loss': 0.2441215217113495, 'totoal_loss': 0.04578382894396782, 'data_time': 0.019365230022231117, 'model_time': 0.5533952389960177, 'learning_rate': 9.935093978013357e-06, 'epoch': 15.52})
+Step 6400, Loss: {'mse_loss': 0.051956042647361755, 'mee_loss': 0.2450154721736908, 'totoal_loss': 0.051956042647361755, 'data_time': 0.016016562993172556, 'model_time': 0.5954855939780828, 'learning_rate': 9.924751130829878e-06, 'epoch': 15.76})
+Step 6500, Loss: {'mse_loss': 0.04779873043298721, 'mee_loss': 0.26984626054763794, 'totoal_loss': 0.04779873043298721, 'data_time': 0.04465195399825461, 'model_time': 0.5953877050196752, 'learning_rate': 9.91365034730236e-06, 'epoch': 16.01})
+Step 6600, Loss: {'mse_loss': 0.05421266704797745, 'mee_loss': 0.2513338625431061, 'totoal_loss': 0.05421266704797745, 'data_time': 0.010690333001548424, 'model_time': 0.5856599950056989, 'learning_rate': 9.901793380373204e-06, 'epoch': 16.26})
+Step 6700, Loss: {'mse_loss': 0.028977569192647934, 'mee_loss': 0.1671929955482483, 'totoal_loss': 0.028977569192647934, 'data_time': 0.008417347009526566, 'model_time': 0.5996098800096661, 'learning_rate': 9.889182102394944e-06, 'epoch': 16.5})
+Step 6800, Loss: {'mse_loss': 0.04182523116469383, 'mee_loss': 0.21250450611114502, 'totoal_loss': 0.04182523116469383, 'data_time': 0.009987655008444563, 'model_time': 0.5979162529984023, 'learning_rate': 9.875818504834564e-06, 'epoch': 16.75})
+Step 6900, Loss: {'mse_loss': 0.04730355367064476, 'mee_loss': 0.19947296380996704, 'totoal_loss': 0.04730355367064476, 'data_time': 0.007982404000358656, 'model_time': 0.5111267270112876, 'learning_rate': 9.861704697959036e-06, 'epoch': 17.0})
+Step 7000, Loss: {'mse_loss': 0.02866278775036335, 'mee_loss': 0.16687656939029694, 'totoal_loss': 0.02866278775036335, 'data_time': 0.008079694991465658, 'model_time': 0.5945962289988529, 'learning_rate': 9.846842910502077e-06, 'epoch': 17.24})
+Step 7100, Loss: {'mse_loss': 0.03932975232601166, 'mee_loss': 0.20162731409072876, 'totoal_loss': 0.03932975232601166, 'data_time': 0.008190825989004225, 'model_time': 0.6316193840175401, 'learning_rate': 9.831235489312212e-06, 'epoch': 17.49})
+Step 7200, Loss: {'mse_loss': 0.03593961149454117, 'mee_loss': 0.19116659462451935, 'totoal_loss': 0.03593961149454117, 'data_time': 0.008617389015853405, 'model_time': 0.5655932950030547, 'learning_rate': 9.814884898982168e-06, 'epoch': 17.73})
+Step 7300, Loss: {'mse_loss': 0.043964605778455734, 'mee_loss': 0.24923855066299438, 'totoal_loss': 0.043964605778455734, 'data_time': 0.014606581011321396, 'model_time': 0.5819872950087301, 'learning_rate': 9.797793721459709e-06, 'epoch': 17.98})
+Step 7400, Loss: {'mse_loss': 0.02983352728188038, 'mee_loss': 0.17529085278511047, 'totoal_loss': 0.02983352728188038, 'data_time': 0.015989565989002585, 'model_time': 0.564274906006176, 'learning_rate': 9.779964655639886e-06, 'epoch': 18.23})
+Step 7500, Loss: {'mse_loss': 0.04264267161488533, 'mee_loss': 0.2128252238035202, 'totoal_loss': 0.04264267161488533, 'data_time': 0.0158286830119323, 'model_time': 0.5785035259905271, 'learning_rate': 9.761400516938874e-06, 'epoch': 18.47})
+Step 7600, Loss: {'mse_loss': 0.036975812166929245, 'mee_loss': 0.20477138459682465, 'totoal_loss': 0.036975812166929245, 'data_time': 0.014442595012951642, 'model_time': 0.7046586300130002, 'learning_rate': 9.74210423684938e-06, 'epoch': 18.72})
+Step 7700, Loss: {'mse_loss': 0.04287553206086159, 'mee_loss': 0.17575091123580933, 'totoal_loss': 0.04287553206086159, 'data_time': 0.01441977801732719, 'model_time': 0.5943422539858148, 'learning_rate': 9.722078862477715e-06, 'epoch': 18.97})
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+Step 13100, Loss: {'mse_loss': 0.05009923130273819, 'mee_loss': 0.20812658965587616, 'totoal_loss': 0.05218049883842468, 'data_time': 0.011500285007059574, 'model_time': 0.5756756440096069, 'learning_rate': 7.685226321061318e-06, 'epoch': 32.27})
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+Step 13600, Loss: {'mse_loss': 0.02139217220246792, 'mee_loss': 0.1278243064880371, 'totoal_loss': 0.022670414298772812, 'data_time': 0.008147929009282961, 'model_time': 0.6109378500259481, 'learning_rate': 7.419681669305998e-06, 'epoch': 33.5})
+Step 13700, Loss: {'mse_loss': 0.02544458582997322, 'mee_loss': 0.14088428020477295, 'totoal_loss': 0.026853429153561592, 'data_time': 0.010988547001034021, 'model_time': 0.6435560779937077, 'learning_rate': 7.365451820529756e-06, 'epoch': 33.74})
+Step 13800, Loss: {'mse_loss': 0.024585064500570297, 'mee_loss': 0.10694310814142227, 'totoal_loss': 0.025654494762420654, 'data_time': 0.007349949999479577, 'model_time': 0.5190711970208213, 'learning_rate': 7.310868178438909e-06, 'epoch': 33.99})
+Step 13900, Loss: {'mse_loss': 0.024016503244638443, 'mee_loss': 0.13733915984630585, 'totoal_loss': 0.0253898948431015, 'data_time': 0.02236514800461009, 'model_time': 0.5835139550035819, 'learning_rate': 7.2559393624232985e-06, 'epoch': 34.24})
+Step 14000, Loss: {'mse_loss': 0.022333486005663872, 'mee_loss': 0.1210709810256958, 'totoal_loss': 0.023544196039438248, 'data_time': 0.027290098019875586, 'model_time': 0.5899295790004544, 'learning_rate': 7.2006740463797296e-06, 'epoch': 34.48})
+Step 14100, Loss: {'mse_loss': 0.02781614288687706, 'mee_loss': 0.15718472003936768, 'totoal_loss': 0.02938799001276493, 'data_time': 0.022844644001452252, 'model_time': 0.548760723992018, 'learning_rate': 7.145080957342262e-06, 'epoch': 34.73})
+Step 14200, Loss: {'mse_loss': 0.023290583863854408, 'mee_loss': 0.13327278196811676, 'totoal_loss': 0.024623312056064606, 'data_time': 0.026571651018457487, 'model_time': 0.5756498780101538, 'learning_rate': 7.0891688741041065e-06, 'epoch': 34.98})
+Step 14300, Loss: {'mse_loss': 0.015948113054037094, 'mee_loss': 0.0957154929637909, 'totoal_loss': 0.016905268654227257, 'data_time': 0.00037861798773519695, 'model_time': 0.6712866200250573, 'learning_rate': 7.032946625831363e-06, 'epoch': 35.22})
+Step 14400, Loss: {'mse_loss': 0.012175305746495724, 'mee_loss': 0.07963908463716507, 'totoal_loss': 0.012971696443855762, 'data_time': 0.0004921940271742642, 'model_time': 0.658654802973615, 'learning_rate': 6.976423090668781e-06, 'epoch': 35.47})
+Step 14500, Loss: {'mse_loss': 0.02963789738714695, 'mee_loss': 0.16272367537021637, 'totoal_loss': 0.03126513585448265, 'data_time': 0.0003735919890459627, 'model_time': 0.5759278630139306, 'learning_rate': 6.919607194337806e-06, 'epoch': 35.71})
+Step 14600, Loss: {'mse_loss': 0.016160931438207626, 'mee_loss': 0.10040980577468872, 'totoal_loss': 0.017165029421448708, 'data_time': 0.0003726639843080193, 'model_time': 0.5811629010131583, 'learning_rate': 6.8625079087270976e-06, 'epoch': 35.96})
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+Step 16400, Loss: {'mse_loss': 0.01712236925959587, 'mee_loss': 0.10758733004331589, 'totoal_loss': 0.018198242411017418, 'data_time': 0.016514287010068074, 'model_time': 0.5770769960072357, 'learning_rate': 5.796727667087611e-06, 'epoch': 40.39})
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+Step 17100, Loss: {'mse_loss': 0.014284741133451462, 'mee_loss': 0.08947519212961197, 'totoal_loss': 0.015179493464529514, 'data_time': 0.016162867977982387, 'model_time': 0.5478855999826919, 'learning_rate': 5.369941051126377e-06, 'epoch': 42.12})
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+Step 17300, Loss: {'mse_loss': 0.012169872410595417, 'mee_loss': 0.07316985726356506, 'totoal_loss': 0.01290157064795494, 'data_time': 0.017724084988003597, 'model_time': 0.5734377329936251, 'learning_rate': 5.24750921528627e-06, 'epoch': 42.61})
+Step 17400, Loss: {'mse_loss': 0.02651393599808216, 'mee_loss': 0.10887211561203003, 'totoal_loss': 0.027602657675743103, 'data_time': 0.01748716799193062, 'model_time': 0.5859429129923228, 'learning_rate': 5.186259444431344e-06, 'epoch': 42.86})
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+Step 17600, Loss: {'mse_loss': 0.014186208136379719, 'mee_loss': 0.08507417142391205, 'totoal_loss': 0.015036949887871742, 'data_time': 0.0003719420055858791, 'model_time': 0.6092586610175204, 'learning_rate': 5.063740555568656e-06, 'epoch': 43.35})
+Step 17700, Loss: {'mse_loss': 0.026385342702269554, 'mee_loss': 0.12441655993461609, 'totoal_loss': 0.027629507705569267, 'data_time': 0.0005443900008685887, 'model_time': 0.5708638799842447, 'learning_rate': 5.002490784713731e-06, 'epoch': 43.6})
+Step 17800, Loss: {'mse_loss': 0.018558679148554802, 'mee_loss': 0.10606306046247482, 'totoal_loss': 0.019619310274720192, 'data_time': 0.0004222690185997635, 'model_time': 0.5677810909983236, 'learning_rate': 4.9412603594840695e-06, 'epoch': 43.84})
+Step 17900, Loss: {'mse_loss': 0.01657990552484989, 'mee_loss': 0.10124154388904572, 'totoal_loss': 0.01759232021868229, 'data_time': 0.010079678002512082, 'model_time': 0.6114917099766899, 'learning_rate': 4.8800589488736245e-06, 'epoch': 44.09})
+Step 18000, Loss: {'mse_loss': 0.0336490236222744, 'mee_loss': 0.14922092854976654, 'totoal_loss': 0.0351412333548069, 'data_time': 0.013320275989826769, 'model_time': 0.5755819790065289, 'learning_rate': 4.818896217294598e-06, 'epoch': 44.33})
+Step 18100, Loss: {'mse_loss': 0.020473983138799667, 'mee_loss': 0.08573634922504425, 'totoal_loss': 0.02133134752511978, 'data_time': 0.008967996982391924, 'model_time': 0.6076748179912101, 'learning_rate': 4.757781823051329e-06, 'epoch': 44.58})
+Step 18200, Loss: {'mse_loss': 0.01773952692747116, 'mee_loss': 0.09760447591543198, 'totoal_loss': 0.018715571612119675, 'data_time': 0.009935107984347269, 'model_time': 0.6125433680135757, 'learning_rate': 4.696725416815128e-06, 'epoch': 44.83})
+Step 18300, Loss: {'mse_loss': 0.009062390774488449, 'mee_loss': 0.05695120617747307, 'totoal_loss': 0.009631902910768986, 'data_time': 0.0005211890093050897, 'model_time': 0.5579687330173329, 'learning_rate': 4.635736640100327e-06, 'epoch': 45.07})
+Step 18400, Loss: {'mse_loss': 0.02283153124153614, 'mee_loss': 0.12256481498479843, 'totoal_loss': 0.02405717968940735, 'data_time': 0.0003622339863795787, 'model_time': 0.5525623409776017, 'learning_rate': 4.574825123741778e-06, 'epoch': 45.32})
+Step 18500, Loss: {'mse_loss': 0.012781670317053795, 'mee_loss': 0.07835834473371506, 'totoal_loss': 0.013565253466367722, 'data_time': 0.0003874769899994135, 'model_time': 0.6716204780095723, 'learning_rate': 4.5140004863740165e-06, 'epoch': 45.57})
+Step 18600, Loss: {'mse_loss': 0.014233974739909172, 'mee_loss': 0.08568264544010162, 'totoal_loss': 0.015090800821781158, 'data_time': 0.0004158910014666617, 'model_time': 0.6778200940170791, 'learning_rate': 4.45327233291239e-06, 'epoch': 45.81})
+Step 18700, Loss: {'mse_loss': 0.016908684745430946, 'mee_loss': 0.09932929277420044, 'totoal_loss': 0.01790197752416134, 'data_time': 0.015295721008442342, 'model_time': 0.5865441689966246, 'learning_rate': 4.39265025303631e-06, 'epoch': 46.06})
+Step 18800, Loss: {'mse_loss': 0.01976659707725048, 'mee_loss': 0.09641166031360626, 'totoal_loss': 0.02073071338236332, 'data_time': 0.015046278014779091, 'model_time': 0.5696575740003027, 'learning_rate': 4.332143819674943e-06, 'epoch': 46.31})
+Step 18900, Loss: {'mse_loss': 0.010506343096494675, 'mee_loss': 0.06658885627985, 'totoal_loss': 0.011172231286764145, 'data_time': 0.01678455001092516, 'model_time': 0.5630085250013508, 'learning_rate': 4.271762587495529e-06, 'epoch': 46.55})
+Step 19000, Loss: {'mse_loss': 0.013328422792255878, 'mee_loss': 0.08306780457496643, 'totoal_loss': 0.01415910106152296, 'data_time': 0.019105927989585325, 'model_time': 0.564371968008345, 'learning_rate': 4.2115160913945914e-06, 'epoch': 46.8})
+Step 19100, Loss: {'mse_loss': 0.02181381918489933, 'mee_loss': 0.10646602511405945, 'totoal_loss': 0.022878479212522507, 'data_time': 0.00037871100357733667, 'model_time': 0.5926042450009845, 'learning_rate': 4.151413844992267e-06, 'epoch': 47.04})
+Step 19200, Loss: {'mse_loss': 0.01384043414145708, 'mee_loss': 0.07834558188915253, 'totoal_loss': 0.014623889699578285, 'data_time': 0.00038841599598526955, 'model_time': 0.5710615150164813, 'learning_rate': 4.091465339129985e-06, 'epoch': 47.29})
+Step 19300, Loss: {'mse_loss': 0.013173365034162998, 'mee_loss': 0.07987747341394424, 'totoal_loss': 0.013972139917314053, 'data_time': 0.00045033401693217456, 'model_time': 0.5594976989959832, 'learning_rate': 4.031680040371768e-06, 'epoch': 47.54})
+Step 19400, Loss: {'mse_loss': 0.010491135530173779, 'mee_loss': 0.06749068200588226, 'totoal_loss': 0.011166042648255825, 'data_time': 0.0003817160031758249, 'model_time': 0.5889519930060487, 'learning_rate': 3.972067389509344e-06, 'epoch': 47.78})
+Step 19500, Loss: {'mse_loss': 0.014868330210447311, 'mee_loss': 0.08241432160139084, 'totoal_loss': 0.015692472457885742, 'data_time': 0.02743166100117378, 'model_time': 0.5702265050204005, 'learning_rate': 3.912636800071335e-06, 'epoch': 48.03})
+Step 19600, Loss: {'mse_loss': 0.01828247867524624, 'mee_loss': 0.10733719915151596, 'totoal_loss': 0.01935585029423237, 'data_time': 0.026111329993000254, 'model_time': 0.650686382985441, 'learning_rate': 3.853397656836754e-06, 'epoch': 48.28})
+Step 19700, Loss: {'mse_loss': 0.011953280307352543, 'mee_loss': 0.07340607792139053, 'totoal_loss': 0.012687341310083866, 'data_time': 0.022768721013562754, 'model_time': 0.5798706540081184, 'learning_rate': 3.7943593143530404e-06, 'epoch': 48.52})
+Step 19800, Loss: {'mse_loss': 0.018124738708138466, 'mee_loss': 0.09848032146692276, 'totoal_loss': 0.019109541550278664, 'data_time': 0.02541273197857663, 'model_time': 0.5921887260046788, 'learning_rate': 3.735531095458867e-06, 'epoch': 48.77})
+Step 19900, Loss: {'mse_loss': 0.021952474489808083, 'mee_loss': 0.10503210872411728, 'totoal_loss': 0.02300279587507248, 'data_time': 0.00037170000723563135, 'model_time': 0.6344215139979497, 'learning_rate': 3.6769222898119562e-06, 'epoch': 49.01})
+Step 20000, Loss: {'mse_loss': 0.014377662912011147, 'mee_loss': 0.08242681622505188, 'totoal_loss': 0.01520193088799715, 'data_time': 0.0003771299961954355, 'model_time': 0.5951793660060503, 'learning_rate': 3.618542152422132e-06, 'epoch': 49.26})
+Step 20100, Loss: {'mse_loss': 0.022439898923039436, 'mee_loss': 0.11982257664203644, 'totoal_loss': 0.023638125509023666, 'data_time': 0.0003706140269059688, 'model_time': 0.5984498090110719, 'learning_rate': 3.560399902189855e-06, 'epoch': 49.51})
+Step 20200, Loss: {'mse_loss': 0.0134029695764184, 'mee_loss': 0.07320480793714523, 'totoal_loss': 0.014135017991065979, 'data_time': 0.0003591759887058288, 'model_time': 0.56932292599231, 'learning_rate': 3.502504720450441e-06, 'epoch': 49.75})
+Step 20300, Loss: {'mse_loss': 0.007542189210653305, 'mee_loss': 0.04878171160817146, 'totoal_loss': 0.008030006662011147, 'data_time': 0.7929963910137303, 'model_time': 0.7124816430150531, 'learning_rate': 3.4448657495242304e-06, 'epoch': 50.0})
+Step 20400, Loss: {'mse_loss': 0.030040692538022995, 'mee_loss': 0.1373613178730011, 'totoal_loss': 0.03141430392861366, 'data_time': 0.008544305979739875, 'model_time': 0.5575062849966343, 'learning_rate': 3.387492091272904e-06, 'epoch': 50.25})
+Step 20500, Loss: {'mse_loss': 0.008784190751612186, 'mee_loss': 0.057525623589754105, 'totoal_loss': 0.009359447285532951, 'data_time': 0.00892073501017876, 'model_time': 0.5736773219832685, 'learning_rate': 3.3303928056621955e-06, 'epoch': 50.49})
+Step 20600, Loss: {'mse_loss': 0.01010436937212944, 'mee_loss': 0.06445790827274323, 'totoal_loss': 0.010748948901891708, 'data_time': 0.009549484006129205, 'model_time': 0.5781194379960652, 'learning_rate': 3.2735769093312202e-06, 'epoch': 50.74})
+Step 20700, Loss: {'mse_loss': 0.021681807935237885, 'mee_loss': 0.08345143496990204, 'totoal_loss': 0.022516321390867233, 'data_time': 0.008111942996038124, 'model_time': 0.5440759600023739, 'learning_rate': 3.217053374168639e-06, 'epoch': 50.99})
+Step 20800, Loss: {'mse_loss': 0.006869014352560043, 'mee_loss': 0.04561907425522804, 'totoal_loss': 0.007325205020606518, 'data_time': 0.00034505900111980736, 'model_time': 0.6024622739932965, 'learning_rate': 3.1608311258958953e-06, 'epoch': 51.23})
+Step 20900, Loss: {'mse_loss': 0.018733400851488113, 'mee_loss': 0.1036616638302803, 'totoal_loss': 0.01977001689374447, 'data_time': 0.0004442789941094816, 'model_time': 0.8495440059923567, 'learning_rate': 3.10491904265774e-06, 'epoch': 51.48})
+Step 21000, Loss: {'mse_loss': 0.009222069755196571, 'mee_loss': 0.05914657562971115, 'totoal_loss': 0.009813535958528519, 'data_time': 0.0003801920101977885, 'model_time': 0.581115246983245, 'learning_rate': 3.0493259536202714e-06, 'epoch': 51.72})
+Step 21100, Loss: {'mse_loss': 0.022101527079939842, 'mee_loss': 0.10843683034181595, 'totoal_loss': 0.02318589575588703, 'data_time': 0.000397830008296296, 'model_time': 0.5587979849951807, 'learning_rate': 2.9940606375767038e-06, 'epoch': 51.97})
+Step 21200, Loss: {'mse_loss': 0.014667668379843235, 'mee_loss': 0.0828845351934433, 'totoal_loss': 0.015496513806283474, 'data_time': 0.02360010100528598, 'model_time': 0.5697325539949816, 'learning_rate': 2.939131821561094e-06, 'epoch': 52.22})
+Step 21300, Loss: {'mse_loss': 0.02032800391316414, 'mee_loss': 0.07643964141607285, 'totoal_loss': 0.021092399954795837, 'data_time': 0.029289299010997638, 'model_time': 0.5533641199872363, 'learning_rate': 2.8845481794702473e-06, 'epoch': 52.46})
+Step 21400, Loss: {'mse_loss': 0.02103254944086075, 'mee_loss': 0.10378702729940414, 'totoal_loss': 0.022070419043302536, 'data_time': 0.02378989601857029, 'model_time': 0.5715192499919794, 'learning_rate': 2.830318330694004e-06, 'epoch': 52.71})
+Step 21500, Loss: {'mse_loss': 0.014831277541816235, 'mee_loss': 0.07236368954181671, 'totoal_loss': 0.015554914250969887, 'data_time': 0.02374366798903793, 'model_time': 0.5540327540074941, 'learning_rate': 2.7764508387541378e-06, 'epoch': 52.96})
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+Step 27400, Loss: {'mse_loss': 0.016753671690821648, 'mee_loss': 0.09522996842861176, 'totoal_loss': 0.017705971375107765, 'data_time': 0.0004238580004312098, 'model_time': 0.5771082690043841, 'learning_rate': 5.07895763150622e-07, 'epoch': 67.49})
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+Step 27700, Loss: {'mse_loss': 0.005027669947594404, 'mee_loss': 0.034035637974739075, 'totoal_loss': 0.005368026439100504, 'data_time': 0.008352595003088936, 'model_time': 0.5597797340014949, 'learning_rate': 4.5220627854029224e-07, 'epoch': 68.23})
+Step 27800, Loss: {'mse_loss': 0.014357004314661026, 'mee_loss': 0.07593927532434464, 'totoal_loss': 0.01511639729142189, 'data_time': 0.009762900997884572, 'model_time': 0.5984426790091675, 'learning_rate': 4.351151010178311e-07, 'epoch': 68.47})
+Step 27900, Loss: {'mse_loss': 0.008975001983344555, 'mee_loss': 0.05391262471675873, 'totoal_loss': 0.009514127857983112, 'data_time': 0.00985089800087735, 'model_time': 0.5555876560101751, 'learning_rate': 4.1876451068778983e-07, 'epoch': 68.72})
+Step 28000, Loss: {'mse_loss': 0.019365975633263588, 'mee_loss': 0.09678612649440765, 'totoal_loss': 0.02033383771777153, 'data_time': 0.0092176919861231, 'model_time': 0.5959113849967252, 'learning_rate': 4.031570894979235e-07, 'epoch': 68.97})
+Step 28100, Loss: {'mse_loss': 0.008709024637937546, 'mee_loss': 0.05671663582324982, 'totoal_loss': 0.009276190772652626, 'data_time': 0.008399144979193807, 'model_time': 0.6550698500068393, 'learning_rate': 3.882953020409644e-07, 'epoch': 69.21})
+Step 28200, Loss: {'mse_loss': 0.0097433440387249, 'mee_loss': 0.059333015233278275, 'totoal_loss': 0.010336673818528652, 'data_time': 0.008071247983025387, 'model_time': 0.5967779799830168, 'learning_rate': 3.74181495165436e-07, 'epoch': 69.46})
+Step 28300, Loss: {'mse_loss': 0.015424797311425209, 'mee_loss': 0.06188206374645233, 'totoal_loss': 0.016043618321418762, 'data_time': 0.008735311013879254, 'model_time': 0.5654549520113505, 'learning_rate': 3.608178976050568e-07, 'epoch': 69.7})
+Step 28400, Loss: {'mse_loss': 0.014139873906970024, 'mee_loss': 0.0838363766670227, 'totoal_loss': 0.014978237450122833, 'data_time': 0.010326076007913798, 'model_time': 0.6492570879927371, 'learning_rate': 3.482066196267966e-07, 'epoch': 69.95})
+Step 28500, Loss: {'mse_loss': 0.013049512170255184, 'mee_loss': 0.08055953681468964, 'totoal_loss': 0.013855107128620148, 'data_time': 0.01605627400567755, 'model_time': 0.5551620899932459, 'learning_rate': 3.36349652697643e-07, 'epoch': 70.2})
+Step 28600, Loss: {'mse_loss': 0.010703652165830135, 'mee_loss': 0.06576570123434067, 'totoal_loss': 0.011361309327185154, 'data_time': 0.017490006022853777, 'model_time': 0.5708076949813403, 'learning_rate': 3.2524886917012403e-07, 'epoch': 70.44})
+Step 28700, Loss: {'mse_loss': 0.01543320994824171, 'mee_loss': 0.08923652023077011, 'totoal_loss': 0.01632557436823845, 'data_time': 0.015197361004538834, 'model_time': 0.5751774090167601, 'learning_rate': 3.149060219866433e-07, 'epoch': 70.69})
+Step 28800, Loss: {'mse_loss': 0.006526430137455463, 'mee_loss': 0.041536908596754074, 'totoal_loss': 0.006941799074411392, 'data_time': 0.017131471016909927, 'model_time': 0.5381044590030797, 'learning_rate': 3.053227444026695e-07, 'epoch': 70.94})
+Step 28900, Loss: {'mse_loss': 0.009563645347952843, 'mee_loss': 0.0535699687898159, 'totoal_loss': 0.01009934488683939, 'data_time': 0.0003577409952413291, 'model_time': 0.5695245359966066, 'learning_rate': 2.9650054972882544e-07, 'epoch': 71.18})
+Step 29000, Loss: {'mse_loss': 0.007173891179263592, 'mee_loss': 0.04723769798874855, 'totoal_loss': 0.007646268233656883, 'data_time': 0.00038290201337076724, 'model_time': 0.5749886030098423, 'learning_rate': 2.884408310919209e-07, 'epoch': 71.43})
+Step 29100, Loss: {'mse_loss': 0.007475470192730427, 'mee_loss': 0.04210054501891136, 'totoal_loss': 0.007896475493907928, 'data_time': 0.0004972259921487421, 'model_time': 0.5922436289838515, 'learning_rate': 2.8114486121495906e-07, 'epoch': 71.67})
+Step 29200, Loss: {'mse_loss': 0.01118290051817894, 'mee_loss': 0.06848312169313431, 'totoal_loss': 0.011867731809616089, 'data_time': 0.00036538197309710085, 'model_time': 0.5843982819933444, 'learning_rate': 2.746137922161617e-07, 'epoch': 71.92})
+Step 29300, Loss: {'mse_loss': 0.021644538268446922, 'mee_loss': 0.08197325468063354, 'totoal_loss': 0.022464271634817123, 'data_time': 0.029698908008867875, 'model_time': 0.6430539790017065, 'learning_rate': 2.68848655427034e-07, 'epoch': 72.17})
+Step 29400, Loss: {'mse_loss': 0.008128846064209938, 'mee_loss': 0.05352972447872162, 'totoal_loss': 0.008664143271744251, 'data_time': 0.022693740000249818, 'model_time': 0.5877191070176195, 'learning_rate': 2.638503612295071e-07, 'epoch': 72.41})
+Step 29500, Loss: {'mse_loss': 0.014177870936691761, 'mee_loss': 0.08242416381835938, 'totoal_loss': 0.015002112835645676, 'data_time': 0.023425081017194316, 'model_time': 0.5474184560007416, 'learning_rate': 2.5961969891217614e-07, 'epoch': 72.66})
+Step 29600, Loss: {'mse_loss': 0.008171956054866314, 'mee_loss': 0.05419265851378441, 'totoal_loss': 0.00871388241648674, 'data_time': 0.020763449021615088, 'model_time': 0.5909669650136493, 'learning_rate': 2.5615733654566483e-07, 'epoch': 72.91})
+Step 29700, Loss: {'mse_loss': 0.023143332451581955, 'mee_loss': 0.10248465090990067, 'totoal_loss': 0.02416817843914032, 'data_time': 0.008639819017844275, 'model_time': 0.6008563899958972, 'learning_rate': 2.5346382087712764e-07, 'epoch': 73.15})
+Step 29800, Loss: {'mse_loss': 0.017378434538841248, 'mee_loss': 0.09319241344928741, 'totoal_loss': 0.018310358747839928, 'data_time': 0.008903568988898769, 'model_time': 0.5688009859877639, 'learning_rate': 2.515395772439128e-07, 'epoch': 73.4})
+Step 29900, Loss: {'mse_loss': 0.009142748080193996, 'mee_loss': 0.05531875044107437, 'totoal_loss': 0.009695935994386673, 'data_time': 0.008178115007467568, 'model_time': 0.5646863099827897, 'learning_rate': 2.5038490950639644e-07, 'epoch': 73.65})
+Step 30000, Loss: {'mse_loss': 0.01123948022723198, 'mee_loss': 0.06896202266216278, 'totoal_loss': 0.011929100379347801, 'data_time': 0.008976535988040268, 'model_time': 0.558069503022125, 'learning_rate': 2.5e-07, 'epoch': 73.89})

libero_object_2B_mee1e-2/starvla_qwen_gr00t/config.json

@@ -0,0 +1,129 @@
+{
+  "run_id": "starvla_qwen_gr00t",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models/libero_object_2B_mee1e-2",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.01,
+  "framework": {
+    "name": "QwenGR00T",
+    "qwenvl": {
+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
+    },
+    "dino": {
+      "dino_backbone": "dinov2_vits14"
+    },
+    "action_model": {
+      "action_model_type": "DiT-B",
+      "action_hidden_dim": 2,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 7,
+      "state_dim": 7,
+      "future_action_window_size": 7,
+      "action_horizon": 8,
+      "past_action_window_size": 0,
+      "repeated_diffusion_steps": 8,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 4,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
+        "cross_attention_dim": 2048,
+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    },
+    "reduce_in_full_precision": true
+  },
+  "datasets": {
+    "vlm_data": {
+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_object",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 60000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
+    },
+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
+    },
+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models/libero_object_2B_mee1e-2/starvla_qwen_gr00t"
+}

libero_object_2B_mee1e-2/starvla_qwen_gr00t/dataset_statistics.json

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

libero_object_2B_mee1e-2/starvla_qwen_gr00t/final_model/pytorch_model.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2fffad95577fa5d7f5344111f1b18f426cdc7a57880aed1640bdcbb77a3a2ab5
+size 5188065554

libero_object_2B_mee1e-2/starvla_qwen_gr00t/libero_eval_libero_object.log

@@ -0,0 +1,2521 @@
+Task suite: libero_object
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 19
+# successes: 19 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 21
+# successes: 21 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 22
+# successes: 22 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 23
+# successes: 23 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 24
+# successes: 24 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 25
+# successes: 25 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 26
+# successes: 26 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 27
+# successes: 27 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 28
+# successes: 28 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 29
+# successes: 29 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 30
+# successes: 30 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 31
+# successes: 31 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 32
+# successes: 32 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 33
+# successes: 33 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 34
+# successes: 34 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 35
+# successes: 35 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 36
+# successes: 36 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 37
+# successes: 37 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 38
+# successes: 38 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 39
+# successes: 39 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 40
+# successes: 40 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 41
+# successes: 41 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 42
+# successes: 42 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 43
+# successes: 43 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 44
+# successes: 44 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 45
+# successes: 45 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 46
+# successes: 46 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 47
+# successes: 47 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 48
+# successes: 48 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 49
+# successes: 49 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 50
+# successes: 50 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+
+Task: pick up the cream cheese and place it in the basket
+Success: True
+# episodes completed so far: 51
+# successes: 51 (100.0%)
+
+Task: pick up the cream cheese and place it in the basket
+Success: True
+# episodes completed so far: 52
+# successes: 52 (100.0%)
+
+Task: pick up the cream cheese and place it in the basket
+Success: True
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+# successes: 393 (99.0%)
+
+Task: pick up the milk and place it in the basket
+Success: True
+# episodes completed so far: 398
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+
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+Success: True
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+# successes: 395 (99.0%)
+
+Task: pick up the milk and place it in the basket
+Success: True
+# episodes completed so far: 400
+# successes: 396 (99.0%)
+Current task success rate: 1.0
+Current total success rate: 0.99
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+Success: True
+# episodes completed so far: 401
+# successes: 397 (99.0%)
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+Success: True
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+
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+Success: True
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+Success: True
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+
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+Success: True
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+Success: True
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+
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+Success: True
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+
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+Task: pick up the chocolate pudding and place it in the basket
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+# successes: 436 (99.1%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 437 (99.1%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 442
+# successes: 438 (99.1%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 439 (99.1%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# 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%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: False
+# episodes completed so far: 447
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 443 (98.9%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 444 (98.9%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 450
+# successes: 445 (98.9%)
+Current task success rate: 0.98
+Current total success rate: 0.9888888888888889
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 451
+# successes: 446 (98.9%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+# successes: 447 (98.9%)
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+# successes: 449 (98.9%)
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+Task: pick up the orange juice and place it in the basket
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+# successes: 451 (98.9%)
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 490
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 491
+# successes: 486 (99.0%)
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 492
+# successes: 487 (99.0%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 493
+# successes: 488 (99.0%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 494
+# successes: 489 (99.0%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 495
+# successes: 490 (99.0%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 496
+# successes: 491 (99.0%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 497
+# successes: 492 (99.0%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 498
+# successes: 493 (99.0%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 499
+# successes: 494 (99.0%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 500
+# successes: 495 (99.0%)
+Current task success rate: 1.0
+Current total success rate: 0.99

libero_object_2B_mee1e-2/starvla_qwen_gr00t/libero_object.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.0983093976974487, 'mee_loss': 6.073287487030029, 'totoal_loss': 1.0983093976974487, 'data_time': 0.010749293025583029, 'model_time': 0.5711106240050867, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.19})
+Step 200, Loss: {'mse_loss': 1.0151535272598267, 'mee_loss': 6.0432281494140625, 'totoal_loss': 1.0151535272598267, 'data_time': 0.010000408976338804, 'model_time': 0.5856325919739902, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.38})
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+Step 1300, Loss: {'mse_loss': 0.12919127941131592, 'mee_loss': 1.7412118911743164, 'totoal_loss': 0.12919127941131592, 'data_time': 0.00039869104512035847, 'model_time': 0.5650247269077227, 'learning_rate': 2.6e-06, 'epoch': 2.5})
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+Step 1500, Loss: {'mse_loss': 0.11991248279809952, 'mee_loss': 1.4361528158187866, 'totoal_loss': 0.11991248279809952, 'data_time': 0.00045880593825131655, 'model_time': 0.5911159280221909, 'learning_rate': 3e-06, 'epoch': 2.88})
+Step 1600, Loss: {'mse_loss': 0.13697084784507751, 'mee_loss': 1.7785873413085938, 'totoal_loss': 0.13697084784507751, 'data_time': 0.0003856259863823652, 'model_time': 0.5700627280166373, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.07})
+Step 1700, Loss: {'mse_loss': 0.11179400980472565, 'mee_loss': 1.5443494319915771, 'totoal_loss': 0.11179400980472565, 'data_time': 0.00040765898302197456, 'model_time': 0.56650149601046, 'learning_rate': 3.4000000000000005e-06, 'epoch': 3.26})
+Step 1800, Loss: {'mse_loss': 0.08627860993146896, 'mee_loss': 1.3379915952682495, 'totoal_loss': 0.08627860993146896, 'data_time': 0.0004167009610682726, 'model_time': 0.5765922209247947, 'learning_rate': 3.6000000000000003e-06, 'epoch': 3.45})
+Step 1900, Loss: {'mse_loss': 0.10804516077041626, 'mee_loss': 1.3715755939483643, 'totoal_loss': 0.10804516077041626, 'data_time': 0.0004345859633758664, 'model_time': 0.5779818239388987, 'learning_rate': 3.8000000000000005e-06, 'epoch': 3.65})
+Step 2000, Loss: {'mse_loss': 0.10027394443750381, 'mee_loss': 1.264177680015564, 'totoal_loss': 0.10027394443750381, 'data_time': 0.00038933998439460993, 'model_time': 0.6054914670530707, 'learning_rate': 4.000000000000001e-06, 'epoch': 3.84})
+Step 2100, Loss: {'mse_loss': 0.08616889268159866, 'mee_loss': 1.3452672958374023, 'totoal_loss': 0.08616889268159866, 'data_time': 0.017351708956994116, 'model_time': 0.5925361149711534, 'learning_rate': 4.2000000000000004e-06, 'epoch': 4.03})
+Step 2200, Loss: {'mse_loss': 0.12981030344963074, 'mee_loss': 1.399371862411499, 'totoal_loss': 0.12981030344963074, 'data_time': 0.0158209620276466, 'model_time': 0.5725972279906273, 'learning_rate': 4.4e-06, 'epoch': 4.22})
+Step 2300, Loss: {'mse_loss': 0.11239801347255707, 'mee_loss': 1.3257173299789429, 'totoal_loss': 0.11239801347255707, 'data_time': 0.01617323001846671, 'model_time': 0.6507169459946454, 'learning_rate': 4.600000000000001e-06, 'epoch': 4.41})
+Step 2400, Loss: {'mse_loss': 0.08685722202062607, 'mee_loss': 1.223405361175537, 'totoal_loss': 0.08685722202062607, 'data_time': 0.01602345600258559, 'model_time': 0.5835142689757049, 'learning_rate': 4.800000000000001e-06, 'epoch': 4.61})
+Step 2500, Loss: {'mse_loss': 0.0962216705083847, 'mee_loss': 1.1282572746276855, 'totoal_loss': 0.0962216705083847, 'data_time': 0.014770695008337498, 'model_time': 0.578299897024408, 'learning_rate': 5e-06, 'epoch': 4.8})
+Step 2600, Loss: {'mse_loss': 0.08746746182441711, 'mee_loss': 1.143580436706543, 'totoal_loss': 0.08746746182441711, 'data_time': 0.016069383011199534, 'model_time': 0.5160357730928808, 'learning_rate': 5.2e-06, 'epoch': 4.99})
+Step 2700, Loss: {'mse_loss': 0.06609341502189636, 'mee_loss': 1.0264192819595337, 'totoal_loss': 0.06609341502189636, 'data_time': 0.00791358295828104, 'model_time': 0.6035729510476813, 'learning_rate': 5.400000000000001e-06, 'epoch': 5.18})
+Step 2800, Loss: {'mse_loss': 0.08433453738689423, 'mee_loss': 1.1211687326431274, 'totoal_loss': 0.08433453738689423, 'data_time': 0.008342659915797412, 'model_time': 0.5964465700089931, 'learning_rate': 5.600000000000001e-06, 'epoch': 5.37})
+Step 2900, Loss: {'mse_loss': 0.05603911727666855, 'mee_loss': 0.8779954314231873, 'totoal_loss': 0.05603911727666855, 'data_time': 0.0072813068982213736, 'model_time': 0.5804643210722134, 'learning_rate': 5.8e-06, 'epoch': 5.57})
+Step 3000, Loss: {'mse_loss': 0.07240664213895798, 'mee_loss': 1.1397994756698608, 'totoal_loss': 0.07240664213895798, 'data_time': 0.009020419092848897, 'model_time': 0.5877885979134589, 'learning_rate': 6e-06, 'epoch': 5.76})
+Step 3100, Loss: {'mse_loss': 0.08415702730417252, 'mee_loss': 1.136946678161621, 'totoal_loss': 0.08415702730417252, 'data_time': 0.011050704983063042, 'model_time': 0.6092882920056581, 'learning_rate': 6.200000000000001e-06, 'epoch': 5.95})
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+Step 5700, Loss: {'mse_loss': 0.06969252228736877, 'mee_loss': 0.8618108630180359, 'totoal_loss': 0.06969252228736877, 'data_time': 0.01521444006357342, 'model_time': 0.6601509809261188, 'learning_rate': 9.981151344572967e-06, 'epoch': 10.94})
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+Step 6700, Loss: {'mse_loss': 0.0419870987534523, 'mee_loss': 0.6560912132263184, 'totoal_loss': 0.0419870987534523, 'data_time': 0.015504761948250234, 'model_time': 0.6022312740096822, 'learning_rate': 9.889182102394944e-06, 'epoch': 12.86})
+Step 6800, Loss: {'mse_loss': 0.03218408674001694, 'mee_loss': 0.5161346197128296, 'totoal_loss': 0.03218408674001694, 'data_time': 0.011606721905991435, 'model_time': 0.5521405820036307, 'learning_rate': 9.875818504834564e-06, 'epoch': 13.05})
+Step 6900, Loss: {'mse_loss': 0.06597357988357544, 'mee_loss': 0.7277735471725464, 'totoal_loss': 0.06597357988357544, 'data_time': 0.007747694035060704, 'model_time': 0.5487235489999875, 'learning_rate': 9.861704697959036e-06, 'epoch': 13.24})
+Step 7000, Loss: {'mse_loss': 0.029359804466366768, 'mee_loss': 0.4720591902732849, 'totoal_loss': 0.029359804466366768, 'data_time': 0.010518223978579044, 'model_time': 0.6004826980642974, 'learning_rate': 9.846842910502077e-06, 'epoch': 13.44})
+Step 7100, Loss: {'mse_loss': 0.0398680679500103, 'mee_loss': 0.6266850829124451, 'totoal_loss': 0.0398680679500103, 'data_time': 0.007509783026762307, 'model_time': 0.5745976299513131, 'learning_rate': 9.831235489312212e-06, 'epoch': 13.63})
+Step 7200, Loss: {'mse_loss': 0.03070509061217308, 'mee_loss': 0.507469117641449, 'totoal_loss': 0.03070509061217308, 'data_time': 0.008347880095243454, 'model_time': 0.573415550054051, 'learning_rate': 9.814884898982168e-06, 'epoch': 13.82})
+Step 7300, Loss: {'mse_loss': 0.027359355241060257, 'mee_loss': 0.5047817230224609, 'totoal_loss': 0.027359355241060257, 'data_time': 0.0006403949810191989, 'model_time': 0.5914588100276887, 'learning_rate': 9.797793721459709e-06, 'epoch': 14.01})
+Step 7400, Loss: {'mse_loss': 0.028282247483730316, 'mee_loss': 0.49049490690231323, 'totoal_loss': 0.028282247483730316, 'data_time': 0.0003815799718722701, 'model_time': 0.6806178599363193, 'learning_rate': 9.779964655639886e-06, 'epoch': 14.2})
+Step 7500, Loss: {'mse_loss': 0.04355607181787491, 'mee_loss': 0.6656127572059631, 'totoal_loss': 0.04355607181787491, 'data_time': 0.00038136495277285576, 'model_time': 0.650001805042848, 'learning_rate': 9.761400516938874e-06, 'epoch': 14.4})
+Step 7600, Loss: {'mse_loss': 0.04283865541219711, 'mee_loss': 0.6447629332542419, 'totoal_loss': 0.04283865541219711, 'data_time': 0.0003945260541513562, 'model_time': 0.5632240289123729, 'learning_rate': 9.74210423684938e-06, 'epoch': 14.59})
+Step 7700, Loss: {'mse_loss': 0.05117321386933327, 'mee_loss': 0.5972400307655334, 'totoal_loss': 0.05117321386933327, 'data_time': 0.00037148594856262207, 'model_time': 0.5829874670598656, 'learning_rate': 9.722078862477715e-06, 'epoch': 14.78})
+Step 7800, Loss: {'mse_loss': 0.032283149659633636, 'mee_loss': 0.5666216611862183, 'totoal_loss': 0.032283149659633636, 'data_time': 0.0003982190974056721, 'model_time': 0.5873271429445595, 'learning_rate': 9.701327556062637e-06, 'epoch': 14.97})
+Step 7900, Loss: {'mse_loss': 0.036081649363040924, 'mee_loss': 0.6187784075737, 'totoal_loss': 0.036081649363040924, 'data_time': 0.008817148976959288, 'model_time': 0.5920724539319053, 'learning_rate': 9.679853594475985e-06, 'epoch': 15.16})
+Step 8000, Loss: {'mse_loss': 0.024478549137711525, 'mee_loss': 0.49710017442703247, 'totoal_loss': 0.024478549137711525, 'data_time': 0.008011248079128563, 'model_time': 0.5606581690954044, 'learning_rate': 9.657660368705225e-06, 'epoch': 15.36})
+Step 8100, Loss: {'mse_loss': 0.04472505301237106, 'mee_loss': 0.6641225814819336, 'totoal_loss': 0.04472505301237106, 'data_time': 0.007744504953734577, 'model_time': 0.5420888239750639, 'learning_rate': 9.634751383317983e-06, 'epoch': 15.55})
+Step 8200, Loss: {'mse_loss': 0.039805736392736435, 'mee_loss': 0.5270460844039917, 'totoal_loss': 0.039805736392736435, 'data_time': 0.008718747994862497, 'model_time': 0.573930281912908, 'learning_rate': 9.611130255908619e-06, 'epoch': 15.74})
+Step 8300, Loss: {'mse_loss': 0.025835532695055008, 'mee_loss': 0.4981384873390198, 'totoal_loss': 0.025835532695055008, 'data_time': 0.0075200030114501715, 'model_time': 0.6296486080391333, 'learning_rate': 9.586800716526974e-06, 'epoch': 15.93})
+Step 8400, Loss: {'mse_loss': 0.03592866659164429, 'mee_loss': 0.5039652585983276, 'totoal_loss': 0.03592866659164429, 'data_time': 0.008153687929734588, 'model_time': 0.5964043129933998, 'learning_rate': 9.561766607089355e-06, 'epoch': 16.12})
+Step 8500, Loss: {'mse_loss': 0.04588310047984123, 'mee_loss': 0.5040723085403442, 'totoal_loss': 0.04588310047984123, 'data_time': 0.009456729982048273, 'model_time': 0.6076981159858406, 'learning_rate': 9.536031880771846e-06, 'epoch': 16.31})
+Step 8600, Loss: {'mse_loss': 0.061440445482730865, 'mee_loss': 0.6741338968276978, 'totoal_loss': 0.061440445482730865, 'data_time': 0.008638537023216486, 'model_time': 0.5642049319576472, 'learning_rate': 9.50960060138606e-06, 'epoch': 16.51})
+Step 8700, Loss: {'mse_loss': 0.035420265048742294, 'mee_loss': 0.501417875289917, 'totoal_loss': 0.035420265048742294, 'data_time': 0.008411449962295592, 'model_time': 0.5569628769299015, 'learning_rate': 9.482476942737411e-06, 'epoch': 16.7})
+Step 8800, Loss: {'mse_loss': 0.03189114108681679, 'mee_loss': 0.5829228758811951, 'totoal_loss': 0.03189114108681679, 'data_time': 0.008928584051318467, 'model_time': 0.6094608189305291, 'learning_rate': 9.45466518796603e-06, 'epoch': 16.89})
+Step 8900, Loss: {'mse_loss': 0.027901625260710716, 'mee_loss': 0.44799578189849854, 'totoal_loss': 0.027901625260710716, 'data_time': 0.009151410078629851, 'model_time': 0.6062455009669065, 'learning_rate': 9.426169728870399e-06, 'epoch': 17.08})
+Step 9000, Loss: {'mse_loss': 0.050166670233011246, 'mee_loss': 0.5548402667045593, 'totoal_loss': 0.050166670233011246, 'data_time': 0.011350273038260639, 'model_time': 0.5964598479913548, 'learning_rate': 9.396995065213835e-06, 'epoch': 17.27})
+Step 9100, Loss: {'mse_loss': 0.024780122563242912, 'mee_loss': 0.47592398524284363, 'totoal_loss': 0.024780122563242912, 'data_time': 0.008987461915239692, 'model_time': 0.5625450350344181, 'learning_rate': 9.367145804013938e-06, 'epoch': 17.47})
+Step 9200, Loss: {'mse_loss': 0.035214729607105255, 'mee_loss': 0.416252076625824, 'totoal_loss': 0.035214729607105255, 'data_time': 0.008621962973847985, 'model_time': 0.5801481049275026, 'learning_rate': 9.336626658815071e-06, 'epoch': 17.66})
+Step 9300, Loss: {'mse_loss': 0.04371727630496025, 'mee_loss': 0.4839034676551819, 'totoal_loss': 0.04371727630496025, 'data_time': 0.009017596021294594, 'model_time': 0.5837747158948332, 'learning_rate': 9.305442448944056e-06, 'epoch': 17.85})
+Step 9400, Loss: {'mse_loss': 0.04590146616101265, 'mee_loss': 0.5650538802146912, 'totoal_loss': 0.04590146616101265, 'data_time': 0.015772396000102162, 'model_time': 0.5769328110618517, 'learning_rate': 9.273598098749124e-06, 'epoch': 18.04})
+Step 9500, Loss: {'mse_loss': 0.025405609980225563, 'mee_loss': 0.418052077293396, 'totoal_loss': 0.025405609980225563, 'data_time': 0.01665888901334256, 'model_time': 0.557925118948333, 'learning_rate': 9.241098636822324e-06, 'epoch': 18.23})
+Step 9600, Loss: {'mse_loss': 0.030028503388166428, 'mee_loss': 0.46067702770233154, 'totoal_loss': 0.030028503388166428, 'data_time': 0.014934392063878477, 'model_time': 0.5520253939321265, 'learning_rate': 9.207949195205442e-06, 'epoch': 18.43})
+Step 9700, Loss: {'mse_loss': 0.02282271347939968, 'mee_loss': 0.4037179946899414, 'totoal_loss': 0.02282271347939968, 'data_time': 0.014875754015520215, 'model_time': 0.5562538160011172, 'learning_rate': 9.174155008579588e-06, 'epoch': 18.62})
+Step 9800, Loss: {'mse_loss': 0.026448091492056847, 'mee_loss': 0.4027431309223175, 'totoal_loss': 0.026448091492056847, 'data_time': 0.017001718981191516, 'model_time': 0.5557738090865314, 'learning_rate': 9.139721413438583e-06, 'epoch': 18.81})
+Step 9900, Loss: {'mse_loss': 0.02025221660733223, 'mee_loss': 0.4041535258293152, 'totoal_loss': 0.02025221660733223, 'data_time': 1.8348071270156652, 'model_time': 0.9359954779502004, 'learning_rate': 9.104653847246273e-06, 'epoch': 19.0})
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+Step 14600, Loss: {'mse_loss': 0.014906466007232666, 'mee_loss': 0.26530933380126953, 'totoal_loss': 0.017559560015797615, 'data_time': 0.014431298011913896, 'model_time': 0.5547988670878112, 'learning_rate': 6.8625079087270976e-06, 'epoch': 28.02})
+Step 14700, Loss: {'mse_loss': 0.015291284769773483, 'mee_loss': 0.27965596318244934, 'totoal_loss': 0.01808784529566765, 'data_time': 0.018131330027244985, 'model_time': 0.5631656509358436, 'learning_rate': 6.8051342504757714e-06, 'epoch': 28.21})
+Step 14800, Loss: {'mse_loss': 0.017616361379623413, 'mee_loss': 0.31140607595443726, 'totoal_loss': 0.02073042280972004, 'data_time': 0.014606905984692276, 'model_time': 0.5885014579398558, 'learning_rate': 6.747495279549561e-06, 'epoch': 28.41})
+Step 14900, Loss: {'mse_loss': 0.023566866293549538, 'mee_loss': 0.4175150692462921, 'totoal_loss': 0.027742017060518265, 'data_time': 0.016137244063429534, 'model_time': 0.5971726890420541, 'learning_rate': 6.6896000978101465e-06, 'epoch': 28.6})
+Step 15000, Loss: {'mse_loss': 0.017776520922780037, 'mee_loss': 0.3270327150821686, 'totoal_loss': 0.021046847105026245, 'data_time': 0.01838774303905666, 'model_time': 0.5753986219642684, 'learning_rate': 6.631457847577869e-06, 'epoch': 28.79})
+Step 15100, Loss: {'mse_loss': 0.015813034027814865, 'mee_loss': 0.3054802715778351, 'totoal_loss': 0.018867837265133858, 'data_time': 0.017355008982121944, 'model_time': 0.5720201990334317, 'learning_rate': 6.573077710188046e-06, 'epoch': 28.98})
+Step 15200, Loss: {'mse_loss': 0.009149150922894478, 'mee_loss': 0.23094162344932556, 'totoal_loss': 0.011458567343652248, 'data_time': 0.009454465005546808, 'model_time': 0.5660095040220767, 'learning_rate': 6.5144689045411345e-06, 'epoch': 29.17})
+Step 15300, Loss: {'mse_loss': 0.012683027423918247, 'mee_loss': 0.27857348322868347, 'totoal_loss': 0.015468762256205082, 'data_time': 0.012028718017973006, 'model_time': 0.588461306062527, 'learning_rate': 6.455640685646961e-06, 'epoch': 29.37})
+Step 15400, Loss: {'mse_loss': 0.013659192249178886, 'mee_loss': 0.26613274216651917, 'totoal_loss': 0.016320519149303436, 'data_time': 0.009524108027108014, 'model_time': 0.5505120808957145, 'learning_rate': 6.396602343163248e-06, 'epoch': 29.56})
+Step 15500, Loss: {'mse_loss': 0.022662388160824776, 'mee_loss': 0.30818501114845276, 'totoal_loss': 0.02574423886835575, 'data_time': 0.012708008056506515, 'model_time': 0.6086892010644078, 'learning_rate': 6.337363199928669e-06, 'epoch': 29.75})
+Step 15600, Loss: {'mse_loss': 0.015110667794942856, 'mee_loss': 0.31468653678894043, 'totoal_loss': 0.01825753226876259, 'data_time': 0.015551603049971163, 'model_time': 0.6751691730460152, 'learning_rate': 6.277932610490659e-06, 'epoch': 29.94})
+Step 15700, Loss: {'mse_loss': 0.01276716310530901, 'mee_loss': 0.2687208354473114, 'totoal_loss': 0.015454371459782124, 'data_time': 0.007913629058748484, 'model_time': 0.6171160669764504, 'learning_rate': 6.218319959628234e-06, 'epoch': 30.13})
+Step 15800, Loss: {'mse_loss': 0.0217136163264513, 'mee_loss': 0.3313203454017639, 'totoal_loss': 0.025026820600032806, 'data_time': 0.009810375981032848, 'model_time': 0.557154040900059, 'learning_rate': 6.158534660870018e-06, 'epoch': 30.33})
+Step 15900, Loss: {'mse_loss': 0.03407850116491318, 'mee_loss': 0.3544817864894867, 'totoal_loss': 0.037623319774866104, 'data_time': 0.009890605928376317, 'model_time': 0.592891140957363, 'learning_rate': 6.0985861550077345e-06, 'epoch': 30.52})
+Step 16000, Loss: {'mse_loss': 0.018336255103349686, 'mee_loss': 0.2744453251361847, 'totoal_loss': 0.021080708131194115, 'data_time': 0.008905643015168607, 'model_time': 0.5619972650893033, 'learning_rate': 6.0384839086054095e-06, 'epoch': 30.71})
+Step 16100, Loss: {'mse_loss': 0.0108519671484828, 'mee_loss': 0.24026323854923248, 'totoal_loss': 0.013254599645733833, 'data_time': 0.008927204995416105, 'model_time': 0.67446003400255, 'learning_rate': 5.978237412504472e-06, 'epoch': 30.9})
+Step 16200, Loss: {'mse_loss': 0.01219993270933628, 'mee_loss': 0.2689058184623718, 'totoal_loss': 0.014888990670442581, 'data_time': 0.0004336639540269971, 'model_time': 0.5928727289428934, 'learning_rate': 5.917856180325059e-06, 'epoch': 31.09})
+Step 16300, Loss: {'mse_loss': 0.016694344580173492, 'mee_loss': 0.2819034159183502, 'totoal_loss': 0.01951337791979313, 'data_time': 0.0007451659766957164, 'model_time': 0.5602322099730372, 'learning_rate': 5.857349746963692e-06, 'epoch': 31.29})
+Step 16400, Loss: {'mse_loss': 0.016526315361261368, 'mee_loss': 0.28834494948387146, 'totoal_loss': 0.01940976455807686, 'data_time': 0.0006729708984494209, 'model_time': 0.5621795919723809, 'learning_rate': 5.796727667087611e-06, 'epoch': 31.48})
+Step 16500, Loss: {'mse_loss': 0.01783585175871849, 'mee_loss': 0.3393278121948242, 'totoal_loss': 0.021229129284620285, 'data_time': 0.00038762297481298447, 'model_time': 0.5687654709909111, 'learning_rate': 5.735999513625984e-06, 'epoch': 31.67})
+Step 16600, Loss: {'mse_loss': 0.015080663375556469, 'mee_loss': 0.24055598676204681, 'totoal_loss': 0.017486223950982094, 'data_time': 0.00042787508573383093, 'model_time': 0.6507593030110002, 'learning_rate': 5.675174876258223e-06, 'epoch': 31.86})
+Step 16700, Loss: {'mse_loss': 0.013545484282076359, 'mee_loss': 0.23940418660640717, 'totoal_loss': 0.01593952625989914, 'data_time': 0.015279488055966794, 'model_time': 0.5520535749383271, 'learning_rate': 5.614263359899673e-06, 'epoch': 32.05})
+Step 16800, Loss: {'mse_loss': 0.019352441653609276, 'mee_loss': 0.27952203154563904, 'totoal_loss': 0.022147662937641144, 'data_time': 0.015189672005362809, 'model_time': 0.5834429070819169, 'learning_rate': 5.553274583184875e-06, 'epoch': 32.25})
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+Step 20200, Loss: {'mse_loss': 0.009844297543168068, 'mee_loss': 0.19013652205467224, 'totoal_loss': 0.011745662428438663, 'data_time': 0.0004307529889047146, 'model_time': 0.5701497979462147, 'learning_rate': 3.502504720450441e-06, 'epoch': 38.77})
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+Step 20600, Loss: {'mse_loss': 0.008768330328166485, 'mee_loss': 0.20300331711769104, 'totoal_loss': 0.010798363015055656, 'data_time': 0.008507733000442386, 'model_time': 0.5742836489807814, 'learning_rate': 3.2735769093312202e-06, 'epoch': 39.54})
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+Step 20800, Loss: {'mse_loss': 0.007072536274790764, 'mee_loss': 0.1659799963235855, 'totoal_loss': 0.008732336573302746, 'data_time': 0.008362715016119182, 'model_time': 0.6252118709962815, 'learning_rate': 3.1608311258958953e-06, 'epoch': 39.92})
+Step 20900, Loss: {'mse_loss': 0.017184384167194366, 'mee_loss': 0.27924516797065735, 'totoal_loss': 0.019976835697889328, 'data_time': 0.010636452003382146, 'model_time': 0.5875607240013778, 'learning_rate': 3.10491904265774e-06, 'epoch': 40.12})
+Step 21000, Loss: {'mse_loss': 0.012235645204782486, 'mee_loss': 0.23048652708530426, 'totoal_loss': 0.01454051025211811, 'data_time': 0.008394631091505289, 'model_time': 0.5999626970151439, 'learning_rate': 3.0493259536202714e-06, 'epoch': 40.31})
+Step 21100, Loss: {'mse_loss': 0.02229997329413891, 'mee_loss': 0.29506295919418335, 'totoal_loss': 0.025250602513551712, 'data_time': 0.00899900496006012, 'model_time': 0.5769087029621005, 'learning_rate': 2.9940606375767038e-06, 'epoch': 40.5})
+Step 21200, Loss: {'mse_loss': 0.009621920995414257, 'mee_loss': 0.21126563847064972, 'totoal_loss': 0.011734576895833015, 'data_time': 0.008859111927449703, 'model_time': 0.6509153229417279, 'learning_rate': 2.939131821561094e-06, 'epoch': 40.69})
+Step 21300, Loss: {'mse_loss': 0.015262679196894169, 'mee_loss': 0.28004544973373413, 'totoal_loss': 0.0180631335824728, 'data_time': 0.009901024983264506, 'model_time': 0.5721142810070887, 'learning_rate': 2.8845481794702473e-06, 'epoch': 40.88})
+Step 21400, Loss: {'mse_loss': 0.02009613625705242, 'mee_loss': 0.30252477526664734, 'totoal_loss': 0.023121383041143417, 'data_time': 0.008577089058235288, 'model_time': 0.6763385999947786, 'learning_rate': 2.830318330694004e-06, 'epoch': 41.07})
+Step 21500, Loss: {'mse_loss': 0.008930987678468227, 'mee_loss': 0.20635874569416046, 'totoal_loss': 0.01099457498639822, 'data_time': 0.011032504960894585, 'model_time': 0.6562105290358886, 'learning_rate': 2.7764508387541378e-06, 'epoch': 41.27})
+Step 21600, Loss: {'mse_loss': 0.013271266594529152, 'mee_loss': 0.22594387829303741, 'totoal_loss': 0.015530705451965332, 'data_time': 0.011089222971349955, 'model_time': 0.5863637990551069, 'learning_rate': 2.7229542099520797e-06, 'epoch': 41.46})
+Step 21700, Loss: {'mse_loss': 0.014357978478074074, 'mee_loss': 0.27560219168663025, 'totoal_loss': 0.017114000394940376, 'data_time': 0.008225852041505277, 'model_time': 0.5934302899986506, 'learning_rate': 2.669836892025666e-06, 'epoch': 41.65})
+Step 21800, Loss: {'mse_loss': 0.0061753662303090096, 'mee_loss': 0.15812267363071442, 'totoal_loss': 0.007756592705845833, 'data_time': 0.008815655019134283, 'model_time': 0.5548844410805032, 'learning_rate': 2.6171072728151557e-06, 'epoch': 41.84})
+Step 21900, Loss: {'mse_loss': 0.014605437405407429, 'mee_loss': 0.1703549325466156, 'totoal_loss': 0.016308987513184547, 'data_time': 0.0003922020550817251, 'model_time': 0.5456901870202273, 'learning_rate': 2.5647736789386828e-06, 'epoch': 42.03})
+Step 22000, Loss: {'mse_loss': 0.01976081356406212, 'mee_loss': 0.284574031829834, 'totoal_loss': 0.02260655350983143, 'data_time': 0.0004021169152110815, 'model_time': 0.5841756669105962, 'learning_rate': 2.5128443744773904e-06, 'epoch': 42.23})
+Step 22100, Loss: {'mse_loss': 0.010602446272969246, 'mee_loss': 0.19672441482543945, 'totoal_loss': 0.012569690123200417, 'data_time': 0.0003813660005107522, 'model_time': 0.5682862258981913, 'learning_rate': 2.4613275596704386e-06, 'epoch': 42.42})
+Step 22200, Loss: {'mse_loss': 0.014816011302173138, 'mee_loss': 0.2729291319847107, 'totoal_loss': 0.0175453033298254, 'data_time': 0.00040054204873740673, 'model_time': 0.5568775159772485, 'learning_rate': 2.4102313696200853e-06, 'epoch': 42.61})
+Step 22300, Loss: {'mse_loss': 0.01676301285624504, 'mee_loss': 0.25428804755210876, 'totoal_loss': 0.019305892288684845, 'data_time': 0.0005392730236053467, 'model_time': 0.6754369810223579, 'learning_rate': 2.359563873007063e-06, 'epoch': 42.8})
+Step 22400, Loss: {'mse_loss': 0.010477060452103615, 'mee_loss': 0.21390028297901154, 'totoal_loss': 0.012616063468158245, 'data_time': 0.0003159010084345937, 'model_time': 0.5248194810701534, 'learning_rate': 2.3093330708164465e-06, 'epoch': 42.99})
+Step 22500, Loss: {'mse_loss': 0.0179448164999485, 'mee_loss': 0.23367257416248322, 'totoal_loss': 0.020281542092561722, 'data_time': 0.014474266907200217, 'model_time': 0.5784923500614241, 'learning_rate': 2.2595468950741943e-06, 'epoch': 43.19})
+Step 22600, Loss: {'mse_loss': 0.009555940516293049, 'mee_loss': 0.1898230016231537, 'totoal_loss': 0.011454170569777489, 'data_time': 0.014485808089375496, 'model_time': 0.5625767819583416, 'learning_rate': 2.2102132075945974e-06, 'epoch': 43.38})
+Step 22700, Loss: {'mse_loss': 0.01167434174567461, 'mee_loss': 0.20395946502685547, 'totoal_loss': 0.013713936321437359, 'data_time': 0.015451334998942912, 'model_time': 0.5553501909598708, 'learning_rate': 2.1613397987388e-06, 'epoch': 43.57})
+Step 22800, Loss: {'mse_loss': 0.01779048517346382, 'mee_loss': 0.20336461067199707, 'totoal_loss': 0.019824130460619926, 'data_time': 0.015084218000993133, 'model_time': 0.5534162839176133, 'learning_rate': 2.1129343861846207e-06, 'epoch': 43.76})
+Step 22900, Loss: {'mse_loss': 0.007564610801637173, 'mee_loss': 0.1817140132188797, 'totoal_loss': 0.009381750598549843, 'data_time': 0.01609120098873973, 'model_time': 0.5565319410525262, 'learning_rate': 2.065004613707836e-06, 'epoch': 43.95})
+Step 23000, Loss: {'mse_loss': 0.013154166750609875, 'mee_loss': 0.243759423494339, 'totoal_loss': 0.015591761097311974, 'data_time': 0.01788205502089113, 'model_time': 0.5667805240955204, 'learning_rate': 2.0175580499751375e-06, 'epoch': 44.15})
+Step 23100, Loss: {'mse_loss': 0.013624598272144794, 'mee_loss': 0.21063309907913208, 'totoal_loss': 0.015730928629636765, 'data_time': 0.02069673198275268, 'model_time': 0.5692610489204526, 'learning_rate': 1.9706021873489604e-06, 'epoch': 44.34})
+Step 23200, Loss: {'mse_loss': 0.00786628108471632, 'mee_loss': 0.18727488815784454, 'totoal_loss': 0.00973903015255928, 'data_time': 0.0167098599486053, 'model_time': 0.6653142679715529, 'learning_rate': 1.924144440704338e-06, 'epoch': 44.53})
+Step 23300, Loss: {'mse_loss': 0.010609093122184277, 'mee_loss': 0.21819312870502472, 'totoal_loss': 0.012791024520993233, 'data_time': 0.014316182001493871, 'model_time': 0.5843691560439765, 'learning_rate': 1.8781921462580238e-06, 'epoch': 44.72})
+Step 23400, Loss: {'mse_loss': 0.007494651712477207, 'mee_loss': 0.17657509446144104, 'totoal_loss': 0.009260402992367744, 'data_time': 0.01863144093658775, 'model_time': 0.5732882809825242, 'learning_rate': 1.8327525604100058e-06, 'epoch': 44.91})
+Step 23500, Loss: {'mse_loss': 0.014677668921649456, 'mee_loss': 0.21245931088924408, 'totoal_loss': 0.016802262514829636, 'data_time': 0.009829226997680962, 'model_time': 0.5634259739890695, 'learning_rate': 1.7878328585976426e-06, 'epoch': 45.11})
+Step 23600, Loss: {'mse_loss': 0.012316670268774033, 'mee_loss': 0.21713507175445557, 'totoal_loss': 0.014488020911812782, 'data_time': 0.012075620936229825, 'model_time': 0.5571369740646333, 'learning_rate': 1.7434401341625765e-06, 'epoch': 45.3})
+Step 23700, Loss: {'mse_loss': 0.014994877390563488, 'mee_loss': 0.30585670471191406, 'totoal_loss': 0.018053444102406502, 'data_time': 0.008745350991375744, 'model_time': 0.5946563320467249, 'learning_rate': 1.6995813972306108e-06, 'epoch': 45.49})
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+Step 29500, Loss: {'mse_loss': 0.013039391487836838, 'mee_loss': 0.24992430210113525, 'totoal_loss': 0.015538634732365608, 'data_time': 0.008836808963678777, 'model_time': 0.5895949018886313, 'learning_rate': 2.5961969891217614e-07, 'epoch': 56.62})
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+Step 29800, Loss: {'mse_loss': 0.011829645372927189, 'mee_loss': 0.21302109956741333, 'totoal_loss': 0.013959856703877449, 'data_time': 0.011643935926258564, 'model_time': 0.5858995539601892, 'learning_rate': 2.515395772439128e-07, 'epoch': 57.2})
+Step 29900, Loss: {'mse_loss': 0.005541265942156315, 'mee_loss': 0.12210150808095932, 'totoal_loss': 0.006762281060218811, 'data_time': 0.009109257953241467, 'model_time': 0.5583480760687962, 'learning_rate': 2.5038490950639644e-07, 'epoch': 57.39})
+Step 30000, Loss: {'mse_loss': 0.0056372713297605515, 'mee_loss': 0.1391414850950241, 'totoal_loss': 0.007028685882687569, 'data_time': 0.009985974058508873, 'model_time': 0.5726891639642417, 'learning_rate': 2.5e-07, 'epoch': 57.58})

libero_spatial_2B_mee1e-2/starvla_qwen_gr00t/config.json

@@ -0,0 +1,129 @@
+{
+  "run_id": "starvla_qwen_gr00t",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models/libero_spatial_2B_mee1e-2",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.01,
+  "framework": {
+    "name": "QwenGR00T",
+    "qwenvl": {
+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
+    },
+    "dino": {
+      "dino_backbone": "dinov2_vits14"
+    },
+    "action_model": {
+      "action_model_type": "DiT-B",
+      "action_hidden_dim": 2,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 7,
+      "state_dim": 7,
+      "future_action_window_size": 7,
+      "action_horizon": 8,
+      "past_action_window_size": 0,
+      "repeated_diffusion_steps": 8,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 4,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
+        "cross_attention_dim": 2048,
+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    },
+    "reduce_in_full_precision": true
+  },
+  "datasets": {
+    "vlm_data": {
+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_spatial",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 60000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
+    },
+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
+    },
+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models/libero_spatial_2B_mee1e-2/starvla_qwen_gr00t"
+}

libero_spatial_2B_mee1e-2/starvla_qwen_gr00t/dataset_statistics.json

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libero_spatial_2B_mee1e-2/starvla_qwen_gr00t/final_model/pytorch_model.pt

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libero_spatial_2B_mee1e-2/starvla_qwen_gr00t/libero_eval_libero_spatial.log

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+Task suite: libero_spatial
+
+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# episodes completed so far: 98
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+
+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# successes: 99 (100.0%)
+
+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# episodes completed so far: 100
+# successes: 100 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+
+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 101
+# successes: 101 (100.0%)
+
+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 102 (100.0%)
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 150 (100.0%)
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+# successes: 151 (100.0%)
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+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: 199 (99.5%)
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+# successes: 200 (99.5%)
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+# successes: 249 (99.6%)
+Current task success rate: 1.0
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+# successes: 250 (99.6%)
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+# successes: 251 (99.6%)
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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 on the stove 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: 405 (98.8%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 411
+# successes: 406 (98.8%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 412
+# successes: 407 (98.8%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 413
+# successes: 408 (98.8%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 414
+# successes: 409 (98.8%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 415
+# successes: 410 (98.8%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: False
+# episodes completed so far: 416
+# successes: 410 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 417
+# successes: 411 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 418
+# successes: 412 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 419
+# successes: 413 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 420
+# successes: 414 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 421
+# successes: 415 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 422
+# successes: 416 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 423
+# successes: 417 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 424
+# successes: 418 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 425
+# successes: 419 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 426
+# successes: 420 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 427
+# successes: 421 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 428
+# successes: 422 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 429
+# successes: 423 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 430
+# successes: 424 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 431
+# successes: 425 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 432
+# successes: 426 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 433
+# successes: 427 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 434
+# successes: 428 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 435
+# successes: 429 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 436
+# successes: 430 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 437
+# successes: 431 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 438
+# successes: 432 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 439
+# successes: 433 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 440
+# successes: 434 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 441
+# successes: 435 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 442
+# successes: 436 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 443
+# successes: 437 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 444
+# successes: 438 (98.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 445
+# successes: 439 (98.7%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 446
+# successes: 440 (98.7%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 447
+# successes: 441 (98.7%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 448
+# successes: 442 (98.7%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 449
+# successes: 443 (98.7%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 450
+# successes: 444 (98.7%)
+Current task success rate: 0.98
+Current total success rate: 0.9866666666666667
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 451
+# successes: 445 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 452
+# successes: 446 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 453
+# successes: 447 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 454
+# successes: 448 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 455
+# successes: 449 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 456
+# successes: 450 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 457
+# successes: 451 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 458
+# successes: 452 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 459
+# successes: 453 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 460
+# successes: 454 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 461
+# successes: 455 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 462
+# successes: 456 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 463
+# successes: 457 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 464
+# successes: 458 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 465
+# successes: 459 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 466
+# successes: 460 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 467
+# successes: 461 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 468
+# successes: 462 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 469
+# successes: 463 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 470
+# successes: 464 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 471
+# successes: 465 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 472
+# successes: 466 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 473
+# successes: 467 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 474
+# successes: 468 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 475
+# successes: 469 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 476
+# successes: 470 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 477
+# successes: 471 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 478
+# successes: 472 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 479
+# successes: 473 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 480
+# successes: 474 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 481
+# successes: 475 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 482
+# successes: 476 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 483
+# successes: 477 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 484
+# successes: 478 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 485
+# successes: 479 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 486
+# successes: 480 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 487
+# successes: 481 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 488
+# successes: 482 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 489
+# successes: 483 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 490
+# successes: 484 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 491
+# successes: 485 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 492
+# successes: 486 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 493
+# successes: 487 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 494
+# successes: 488 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 495
+# successes: 489 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 496
+# successes: 490 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 497
+# successes: 491 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 498
+# successes: 492 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 499
+# successes: 493 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 500
+# successes: 494 (98.8%)
+Current task success rate: 1.0
+Current total success rate: 0.988

libero_spatial_2B_mee1e-2/starvla_qwen_gr00t/libero_spatial.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.0758683681488037, 'mee_loss': 6.055531978607178, 'totoal_loss': 1.0758683681488037, 'data_time': 0.027076425030827522, 'model_time': 0.5813802529592067, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.24})
+Step 200, Loss: {'mse_loss': 0.9879419207572937, 'mee_loss': 5.988887786865234, 'totoal_loss': 0.9879419207572937, 'data_time': 0.028397163841873407, 'model_time': 0.5584901350084692, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.48})
+Step 300, Loss: {'mse_loss': 0.7840947508811951, 'mee_loss': 5.607921600341797, 'totoal_loss': 0.7840947508811951, 'data_time': 0.025780426105484366, 'model_time': 0.9159303191117942, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.73})
+Step 400, Loss: {'mse_loss': 0.576138973236084, 'mee_loss': 4.719447612762451, 'totoal_loss': 0.576138973236084, 'data_time': 0.023460977943614125, 'model_time': 0.5873527899384499, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.97})
+Step 500, Loss: {'mse_loss': 0.4917943775653839, 'mee_loss': 4.458734035491943, 'totoal_loss': 0.4917943775653839, 'data_time': 0.010470689972862601, 'model_time': 0.5888639099430293, 'learning_rate': 1.0000000000000002e-06, 'epoch': 1.21})
+Step 600, Loss: {'mse_loss': 0.3770563304424286, 'mee_loss': 3.6384541988372803, 'totoal_loss': 0.3770563304424286, 'data_time': 0.008115054108202457, 'model_time': 0.6068113129585981, 'learning_rate': 1.2000000000000002e-06, 'epoch': 1.45})
+Step 700, Loss: {'mse_loss': 0.29249393939971924, 'mee_loss': 3.0224924087524414, 'totoal_loss': 0.29249393939971924, 'data_time': 0.009164463030174375, 'model_time': 0.5853656348772347, 'learning_rate': 1.4000000000000001e-06, 'epoch': 1.69})
+Step 800, Loss: {'mse_loss': 0.2372097671031952, 'mee_loss': 2.664010524749756, 'totoal_loss': 0.2372097671031952, 'data_time': 0.008514012908563018, 'model_time': 0.5888673269655555, 'learning_rate': 1.6000000000000001e-06, 'epoch': 1.94})
+Step 900, Loss: {'mse_loss': 0.16247215867042542, 'mee_loss': 1.9716569185256958, 'totoal_loss': 0.16247215867042542, 'data_time': 0.00038901600055396557, 'model_time': 0.6123941529076546, 'learning_rate': 1.8000000000000001e-06, 'epoch': 2.18})
+Step 1000, Loss: {'mse_loss': 0.15893952548503876, 'mee_loss': 2.177579402923584, 'totoal_loss': 0.15893952548503876, 'data_time': 0.00037786480970680714, 'model_time': 0.6063503690529615, 'learning_rate': 2.0000000000000003e-06, 'epoch': 2.42})
+Step 1100, Loss: {'mse_loss': 0.13482075929641724, 'mee_loss': 1.9338374137878418, 'totoal_loss': 0.13482075929641724, 'data_time': 0.00040374300442636013, 'model_time': 0.608121566940099, 'learning_rate': 2.2e-06, 'epoch': 2.66})
+Step 1200, Loss: {'mse_loss': 0.12093021720647812, 'mee_loss': 1.8024213314056396, 'totoal_loss': 0.12093021720647812, 'data_time': 0.00036582001484930515, 'model_time': 0.8401439781300724, 'learning_rate': 2.4000000000000003e-06, 'epoch': 2.91})
+Step 1300, Loss: {'mse_loss': 0.18532593548297882, 'mee_loss': 2.018615245819092, 'totoal_loss': 0.18532593548297882, 'data_time': 0.011641420191153884, 'model_time': 0.5662197980564088, 'learning_rate': 2.6e-06, 'epoch': 3.15})
+Step 1400, Loss: {'mse_loss': 0.15474864840507507, 'mee_loss': 1.971847653388977, 'totoal_loss': 0.15474864840507507, 'data_time': 0.012879707152023911, 'model_time': 0.5722207161597908, 'learning_rate': 2.8000000000000003e-06, 'epoch': 3.39})
+Step 1500, Loss: {'mse_loss': 0.15272045135498047, 'mee_loss': 1.9438302516937256, 'totoal_loss': 0.15272045135498047, 'data_time': 0.01191165903583169, 'model_time': 0.6004587388597429, 'learning_rate': 3e-06, 'epoch': 3.63})
+Step 1600, Loss: {'mse_loss': 0.15050473809242249, 'mee_loss': 1.8443859815597534, 'totoal_loss': 0.15050473809242249, 'data_time': 0.009508098009973764, 'model_time': 0.591589838033542, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.87})
+Step 1700, Loss: {'mse_loss': 0.16754083335399628, 'mee_loss': 1.8758352994918823, 'totoal_loss': 0.16754083335399628, 'data_time': 0.024771364172920585, 'model_time': 0.598837363999337, 'learning_rate': 3.4000000000000005e-06, 'epoch': 4.12})
+Step 1800, Loss: {'mse_loss': 0.14188438653945923, 'mee_loss': 1.7367832660675049, 'totoal_loss': 0.14188438653945923, 'data_time': 0.02796100010164082, 'model_time': 0.565170211950317, 'learning_rate': 3.6000000000000003e-06, 'epoch': 4.36})
+Step 1900, Loss: {'mse_loss': 0.13226906955242157, 'mee_loss': 1.7694039344787598, 'totoal_loss': 0.13226906955242157, 'data_time': 0.023978909011930227, 'model_time': 0.5541681568138301, 'learning_rate': 3.8000000000000005e-06, 'epoch': 4.6})
+Step 2000, Loss: {'mse_loss': 0.12447725236415863, 'mee_loss': 1.627791404724121, 'totoal_loss': 0.12447725236415863, 'data_time': 0.02390349004417658, 'model_time': 0.5876647341065109, 'learning_rate': 4.000000000000001e-06, 'epoch': 4.84})
+Step 2100, Loss: {'mse_loss': 0.13537321984767914, 'mee_loss': 1.8028067350387573, 'totoal_loss': 0.13537321984767914, 'data_time': 0.008174689020961523, 'model_time': 0.5737800830975175, 'learning_rate': 4.2000000000000004e-06, 'epoch': 5.08})
+Step 2200, Loss: {'mse_loss': 0.17541815340518951, 'mee_loss': 1.73512601852417, 'totoal_loss': 0.17541815340518951, 'data_time': 0.011165191186591983, 'model_time': 0.5704352101311088, 'learning_rate': 4.4e-06, 'epoch': 5.33})
+Step 2300, Loss: {'mse_loss': 0.11231465637683868, 'mee_loss': 1.3916337490081787, 'totoal_loss': 0.11231465637683868, 'data_time': 0.010632843943312764, 'model_time': 0.5806300148833543, 'learning_rate': 4.600000000000001e-06, 'epoch': 5.57})
+Step 2400, Loss: {'mse_loss': 0.08655156195163727, 'mee_loss': 1.1785367727279663, 'totoal_loss': 0.08655156195163727, 'data_time': 0.012330176075920463, 'model_time': 0.575920247938484, 'learning_rate': 4.800000000000001e-06, 'epoch': 5.81})
+Step 2500, Loss: {'mse_loss': 0.10366334766149521, 'mee_loss': 1.1636652946472168, 'totoal_loss': 0.10366334766149521, 'data_time': 0.00044105411507189274, 'model_time': 0.5752451368607581, 'learning_rate': 5e-06, 'epoch': 6.05})
+Step 2600, Loss: {'mse_loss': 0.09049814194440842, 'mee_loss': 1.2774717807769775, 'totoal_loss': 0.09049814194440842, 'data_time': 0.00038351211696863174, 'model_time': 0.6005222259555012, 'learning_rate': 5.2e-06, 'epoch': 6.3})
+Step 2700, Loss: {'mse_loss': 0.0805065780878067, 'mee_loss': 1.200352430343628, 'totoal_loss': 0.0805065780878067, 'data_time': 0.0004740678705275059, 'model_time': 0.565399246988818, 'learning_rate': 5.400000000000001e-06, 'epoch': 6.54})
+Step 2800, Loss: {'mse_loss': 0.09537819027900696, 'mee_loss': 1.339877963066101, 'totoal_loss': 0.09537819027900696, 'data_time': 0.00039553409442305565, 'model_time': 0.5705047019291669, 'learning_rate': 5.600000000000001e-06, 'epoch': 6.78})
+Step 2900, Loss: {'mse_loss': 0.08668000996112823, 'mee_loss': 1.1627227067947388, 'totoal_loss': 0.08668000996112823, 'data_time': 0.0003782908897846937, 'model_time': 0.5634456870611757, 'learning_rate': 5.8e-06, 'epoch': 7.02})
+Step 3000, Loss: {'mse_loss': 0.07416696846485138, 'mee_loss': 1.1006245613098145, 'totoal_loss': 0.07416696846485138, 'data_time': 0.0006851409561932087, 'model_time': 0.5671387170441449, 'learning_rate': 6e-06, 'epoch': 7.26})
+Step 3100, Loss: {'mse_loss': 0.06176331639289856, 'mee_loss': 0.9749689102172852, 'totoal_loss': 0.06176331639289856, 'data_time': 0.00038979994133114815, 'model_time': 0.658983170054853, 'learning_rate': 6.200000000000001e-06, 'epoch': 7.51})
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+Step 7600, Loss: {'mse_loss': 0.05361993610858917, 'mee_loss': 0.8118776679039001, 'totoal_loss': 0.05361993610858917, 'data_time': 0.015602855011820793, 'model_time': 0.5726374939549714, 'learning_rate': 9.74210423684938e-06, 'epoch': 18.4})
+Step 7700, Loss: {'mse_loss': 0.053137682378292084, 'mee_loss': 0.7144720554351807, 'totoal_loss': 0.053137682378292084, 'data_time': 0.018817794043570757, 'model_time': 0.5607111719436944, 'learning_rate': 9.722078862477715e-06, 'epoch': 18.64})
+Step 7800, Loss: {'mse_loss': 0.03686739131808281, 'mee_loss': 0.6362420916557312, 'totoal_loss': 0.03686739131808281, 'data_time': 0.017419065115973353, 'model_time': 0.6299167741090059, 'learning_rate': 9.701327556062637e-06, 'epoch': 18.89})
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+Step 8000, Loss: {'mse_loss': 0.04757050424814224, 'mee_loss': 0.7149602770805359, 'totoal_loss': 0.04757050424814224, 'data_time': 0.0004937031771987677, 'model_time': 0.5747652421705425, 'learning_rate': 9.657660368705225e-06, 'epoch': 19.37})
+Step 8100, Loss: {'mse_loss': 0.035358767956495285, 'mee_loss': 0.5453157424926758, 'totoal_loss': 0.035358767956495285, 'data_time': 0.00042679905891418457, 'model_time': 0.5992523250170052, 'learning_rate': 9.634751383317983e-06, 'epoch': 19.61})
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+Step 8300, Loss: {'mse_loss': 0.032283976674079895, 'mee_loss': 0.5934637784957886, 'totoal_loss': 0.032283976674079895, 'data_time': 0.008659126004204154, 'model_time': 0.6306686580646783, 'learning_rate': 9.586800716526974e-06, 'epoch': 20.1})
+Step 8400, Loss: {'mse_loss': 0.035633549094200134, 'mee_loss': 0.5281537175178528, 'totoal_loss': 0.035633549094200134, 'data_time': 0.01348607218824327, 'model_time': 0.57858094596304, 'learning_rate': 9.561766607089355e-06, 'epoch': 20.34})
+Step 8500, Loss: {'mse_loss': 0.06409250944852829, 'mee_loss': 0.848259687423706, 'totoal_loss': 0.06409250944852829, 'data_time': 0.009540161117911339, 'model_time': 0.5975528520066291, 'learning_rate': 9.536031880771846e-06, 'epoch': 20.58})
+Step 8600, Loss: {'mse_loss': 0.024421382695436478, 'mee_loss': 0.5054440498352051, 'totoal_loss': 0.024421382695436478, 'data_time': 0.012369837844744325, 'model_time': 0.5710821459069848, 'learning_rate': 9.50960060138606e-06, 'epoch': 20.82})
+Step 8700, Loss: {'mse_loss': 0.024353880435228348, 'mee_loss': 0.49690139293670654, 'totoal_loss': 0.024353880435228348, 'data_time': 0.008553578983992338, 'model_time': 0.599404671927914, 'learning_rate': 9.482476942737411e-06, 'epoch': 21.07})
+Step 8800, Loss: {'mse_loss': 0.030952181667089462, 'mee_loss': 0.5921468734741211, 'totoal_loss': 0.030952181667089462, 'data_time': 0.009557340061292052, 'model_time': 0.5928252260200679, 'learning_rate': 9.45466518796603e-06, 'epoch': 21.31})
+Step 8900, Loss: {'mse_loss': 0.07006527483463287, 'mee_loss': 0.7996528744697571, 'totoal_loss': 0.07006527483463287, 'data_time': 0.012339720036834478, 'model_time': 0.5927786550018936, 'learning_rate': 9.426169728870399e-06, 'epoch': 21.55})
+Step 9000, Loss: {'mse_loss': 0.04197872057557106, 'mee_loss': 0.6054989099502563, 'totoal_loss': 0.04197872057557106, 'data_time': 0.007660518167540431, 'model_time': 0.5815881181042641, 'learning_rate': 9.396995065213835e-06, 'epoch': 21.79})
+Step 9100, Loss: {'mse_loss': 0.031336285173892975, 'mee_loss': 0.5795716047286987, 'totoal_loss': 0.031336285173892975, 'data_time': 0.014670456992462277, 'model_time': 0.5867989179678261, 'learning_rate': 9.367145804013938e-06, 'epoch': 22.03})
+Step 9200, Loss: {'mse_loss': 0.03626279532909393, 'mee_loss': 0.6494237780570984, 'totoal_loss': 0.03626279532909393, 'data_time': 0.009648693958297372, 'model_time': 0.5845270468853414, 'learning_rate': 9.336626658815071e-06, 'epoch': 22.28})
+Step 9300, Loss: {'mse_loss': 0.03504587709903717, 'mee_loss': 0.5975172519683838, 'totoal_loss': 0.03504587709903717, 'data_time': 0.00864644511602819, 'model_time': 0.578972582006827, 'learning_rate': 9.305442448944056e-06, 'epoch': 22.52})
+Step 9400, Loss: {'mse_loss': 0.038180217146873474, 'mee_loss': 0.5746762752532959, 'totoal_loss': 0.038180217146873474, 'data_time': 0.009043247904628515, 'model_time': 0.5882377210073173, 'learning_rate': 9.273598098749124e-06, 'epoch': 22.76})
+Step 9500, Loss: {'mse_loss': 0.041192226111888885, 'mee_loss': 0.6366855502128601, 'totoal_loss': 0.041192226111888885, 'data_time': 1.8807132821530104, 'model_time': 0.8663184221368283, 'learning_rate': 9.241098636822324e-06, 'epoch': 23.0})
+Step 9600, Loss: {'mse_loss': 0.03686051815748215, 'mee_loss': 0.6063916087150574, 'totoal_loss': 0.03686051815748215, 'data_time': 0.0004885171074420214, 'model_time': 0.6206312731374055, 'learning_rate': 9.207949195205442e-06, 'epoch': 23.24})
+Step 9700, Loss: {'mse_loss': 0.034559935331344604, 'mee_loss': 0.508173942565918, 'totoal_loss': 0.034559935331344604, 'data_time': 0.00041601783595979214, 'model_time': 0.5997883111704141, 'learning_rate': 9.174155008579588e-06, 'epoch': 23.49})
+Step 9800, Loss: {'mse_loss': 0.0694754496216774, 'mee_loss': 0.7766851186752319, 'totoal_loss': 0.0694754496216774, 'data_time': 0.00036635901778936386, 'model_time': 0.6080220560543239, 'learning_rate': 9.139721413438583e-06, 'epoch': 23.73})
+Step 9900, Loss: {'mse_loss': 0.03814701735973358, 'mee_loss': 0.5781083703041077, 'totoal_loss': 0.03814701735973358, 'data_time': 0.0008722180500626564, 'model_time': 0.5824779169633985, 'learning_rate': 9.104653847246273e-06, 'epoch': 23.97})
+Step 10000, Loss: {'mse_loss': 0.02714872546494007, 'mee_loss': 0.4953920543193817, 'totoal_loss': 0.03210264444351196, 'data_time': 0.016090488992631435, 'model_time': 0.6332418678794056, 'learning_rate': 9.068957847577869e-06, 'epoch': 24.21})
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+Step 14700, Loss: {'mse_loss': 0.016833651810884476, 'mee_loss': 0.30793440341949463, 'totoal_loss': 0.019912995398044586, 'data_time': 0.009534416953101754, 'model_time': 0.5790654849261045, 'learning_rate': 6.8051342504757714e-06, 'epoch': 35.59})
+Step 14800, Loss: {'mse_loss': 0.026633838191628456, 'mee_loss': 0.44827914237976074, 'totoal_loss': 0.031116629019379616, 'data_time': 0.00969215901568532, 'model_time': 0.5603052179794759, 'learning_rate': 6.747495279549561e-06, 'epoch': 35.84})
+Step 14900, Loss: {'mse_loss': 0.03225521743297577, 'mee_loss': 0.5020837783813477, 'totoal_loss': 0.03727605566382408, 'data_time': 0.010950098978355527, 'model_time': 0.6166582489386201, 'learning_rate': 6.6896000978101465e-06, 'epoch': 36.08})
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+Step 15100, Loss: {'mse_loss': 0.011395358480513096, 'mee_loss': 0.25909358263015747, 'totoal_loss': 0.013986294157803059, 'data_time': 0.01667908881790936, 'model_time': 0.6293944478966296, 'learning_rate': 6.573077710188046e-06, 'epoch': 36.56})
+Step 15200, Loss: {'mse_loss': 0.016541197896003723, 'mee_loss': 0.3375871777534485, 'totoal_loss': 0.019917069002985954, 'data_time': 0.017663261154666543, 'model_time': 0.5542065550107509, 'learning_rate': 6.5144689045411345e-06, 'epoch': 36.8})
+Step 15300, Loss: {'mse_loss': 0.038636885583400726, 'mee_loss': 0.3856295943260193, 'totoal_loss': 0.04249318316578865, 'data_time': 0.012240719050168991, 'model_time': 0.5996973789297044, 'learning_rate': 6.455640685646961e-06, 'epoch': 37.05})
+Step 15400, Loss: {'mse_loss': 0.019169503822922707, 'mee_loss': 0.3382115662097931, 'totoal_loss': 0.02255161851644516, 'data_time': 0.01117405598051846, 'model_time': 0.5813585328869522, 'learning_rate': 6.396602343163248e-06, 'epoch': 37.29})
+Step 15500, Loss: {'mse_loss': 0.02163848467171192, 'mee_loss': 0.3996347188949585, 'totoal_loss': 0.025634832680225372, 'data_time': 0.012746918015182018, 'model_time': 0.5962270479649305, 'learning_rate': 6.337363199928669e-06, 'epoch': 37.53})
+Step 15600, Loss: {'mse_loss': 0.017757371068000793, 'mee_loss': 0.33470645546913147, 'totoal_loss': 0.021104436367750168, 'data_time': 0.010746922111138701, 'model_time': 0.6033656299114227, 'learning_rate': 6.277932610490659e-06, 'epoch': 37.77})
+Step 15700, Loss: {'mse_loss': 0.022161342203617096, 'mee_loss': 0.3948129415512085, 'totoal_loss': 0.026109471917152405, 'data_time': 0.01510003418661654, 'model_time': 0.6625017870683223, 'learning_rate': 6.218319959628234e-06, 'epoch': 38.01})
+Step 15800, Loss: {'mse_loss': 0.026785336434841156, 'mee_loss': 0.3955268859863281, 'totoal_loss': 0.030740605667233467, 'data_time': 0.011945971986278892, 'model_time': 0.6399777440819889, 'learning_rate': 6.158534660870018e-06, 'epoch': 38.26})
+Step 15900, Loss: {'mse_loss': 0.03197643533349037, 'mee_loss': 0.3757949471473694, 'totoal_loss': 0.0357343852519989, 'data_time': 0.01097255782224238, 'model_time': 0.5594387950841337, 'learning_rate': 6.0985861550077345e-06, 'epoch': 38.5})
+Step 16000, Loss: {'mse_loss': 0.03508908301591873, 'mee_loss': 0.31596729159355164, 'totoal_loss': 0.038248755037784576, 'data_time': 0.006744618061929941, 'model_time': 0.5592839170712978, 'learning_rate': 6.0384839086054095e-06, 'epoch': 38.74})
+Step 16100, Loss: {'mse_loss': 0.021419579163193703, 'mee_loss': 0.3465631604194641, 'totoal_loss': 0.024885211139917374, 'data_time': 0.012712752213701606, 'model_time': 0.5387627810705453, 'learning_rate': 5.978237412504472e-06, 'epoch': 38.98})
+Step 16200, Loss: {'mse_loss': 0.01993320696055889, 'mee_loss': 0.3664296865463257, 'totoal_loss': 0.02359750308096409, 'data_time': 0.00985651882365346, 'model_time': 0.6476690808776766, 'learning_rate': 5.917856180325059e-06, 'epoch': 39.23})
+Step 16300, Loss: {'mse_loss': 0.01350037008523941, 'mee_loss': 0.2985634505748749, 'totoal_loss': 0.01648600399494171, 'data_time': 0.009524214081466198, 'model_time': 0.564344173995778, 'learning_rate': 5.857349746963692e-06, 'epoch': 39.47})
+Step 16400, Loss: {'mse_loss': 0.030915895476937294, 'mee_loss': 0.45015817880630493, 'totoal_loss': 0.035417478531599045, 'data_time': 0.01107535301707685, 'model_time': 0.5527225569821894, 'learning_rate': 5.796727667087611e-06, 'epoch': 39.71})
+Step 16500, Loss: {'mse_loss': 0.01740182563662529, 'mee_loss': 0.3309006989002228, 'totoal_loss': 0.020710833370685577, 'data_time': 0.01289507606998086, 'model_time': 0.5552558149211109, 'learning_rate': 5.735999513625984e-06, 'epoch': 39.95})
+Step 16600, Loss: {'mse_loss': 0.014250030741095543, 'mee_loss': 0.31469178199768066, 'totoal_loss': 0.017396949231624603, 'data_time': 0.028976475121453404, 'model_time': 0.5775530179962516, 'learning_rate': 5.675174876258223e-06, 'epoch': 40.19})
+Step 16700, Loss: {'mse_loss': 0.023419879376888275, 'mee_loss': 0.33410021662712097, 'totoal_loss': 0.026760881766676903, 'data_time': 0.023877393919974566, 'model_time': 0.5603364470880479, 'learning_rate': 5.614263359899673e-06, 'epoch': 40.44})
+Step 16800, Loss: {'mse_loss': 0.018021762371063232, 'mee_loss': 0.31468263268470764, 'totoal_loss': 0.02116858959197998, 'data_time': 0.024643857032060623, 'model_time': 0.615113602951169, 'learning_rate': 5.553274583184875e-06, 'epoch': 40.68})
+Step 16900, Loss: {'mse_loss': 0.038734328001737595, 'mee_loss': 0.4397565424442291, 'totoal_loss': 0.04313189536333084, 'data_time': 0.02590484614484012, 'model_time': 0.5838681780733168, 'learning_rate': 5.492218176948673e-06, 'epoch': 40.92})
+Step 17000, Loss: {'mse_loss': 0.02695383131504059, 'mee_loss': 0.3841666281223297, 'totoal_loss': 0.030795497819781303, 'data_time': 0.010357782943174243, 'model_time': 0.6518942869734019, 'learning_rate': 5.431103782705404e-06, 'epoch': 41.16})
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+Step 21800, Loss: {'mse_loss': 0.015171920880675316, 'mee_loss': 0.29202306270599365, 'totoal_loss': 0.01809215173125267, 'data_time': 0.010260399198159575, 'model_time': 0.5635872990824282, 'learning_rate': 2.6171072728151557e-06, 'epoch': 52.78})
+Step 21900, Loss: {'mse_loss': 0.010520041920244694, 'mee_loss': 0.21596281230449677, 'totoal_loss': 0.012679670006036758, 'data_time': 0.012718756916001439, 'model_time': 0.5681711800862104, 'learning_rate': 2.5647736789386828e-06, 'epoch': 53.03})
+Step 22000, Loss: {'mse_loss': 0.018400277942419052, 'mee_loss': 0.2421332597732544, 'totoal_loss': 0.02082161046564579, 'data_time': 0.009154891828075051, 'model_time': 0.5783927119337022, 'learning_rate': 2.5128443744773904e-06, 'epoch': 53.27})
+Step 22100, Loss: {'mse_loss': 0.010532175190746784, 'mee_loss': 0.22625033557415009, 'totoal_loss': 0.012794679030776024, 'data_time': 0.008808364858850837, 'model_time': 0.5466413670219481, 'learning_rate': 2.4613275596704386e-06, 'epoch': 53.51})
+Step 22200, Loss: {'mse_loss': 0.019129419699311256, 'mee_loss': 0.3586159646511078, 'totoal_loss': 0.022715579718351364, 'data_time': 0.009054426103830338, 'model_time': 0.8417518290225416, 'learning_rate': 2.4102313696200853e-06, 'epoch': 53.75})
+Step 22300, Loss: {'mse_loss': 0.01556459255516529, 'mee_loss': 0.28141939640045166, 'totoal_loss': 0.018378786742687225, 'data_time': 0.008392035029828548, 'model_time': 0.518709798110649, 'learning_rate': 2.359563873007063e-06, 'epoch': 54.0})
+Step 22400, Loss: {'mse_loss': 0.01746666058897972, 'mee_loss': 0.28715911507606506, 'totoal_loss': 0.020338252186775208, 'data_time': 0.007477587088942528, 'model_time': 0.5730415729340166, 'learning_rate': 2.3093330708164465e-06, 'epoch': 54.24})
+Step 22500, Loss: {'mse_loss': 0.027106013149023056, 'mee_loss': 0.28956902027130127, 'totoal_loss': 0.030001703649759293, 'data_time': 0.00789694907143712, 'model_time': 0.5613810250069946, 'learning_rate': 2.2595468950741943e-06, 'epoch': 54.48})
+Step 22600, Loss: {'mse_loss': 0.012337456457316875, 'mee_loss': 0.25417736172676086, 'totoal_loss': 0.014879230409860611, 'data_time': 0.011962293880060315, 'model_time': 0.5819205299485475, 'learning_rate': 2.2102132075945974e-06, 'epoch': 54.72})
+Step 22700, Loss: {'mse_loss': 0.013250550255179405, 'mee_loss': 0.2471781224012375, 'totoal_loss': 0.015722330659627914, 'data_time': 0.00928588886745274, 'model_time': 0.5541468008887023, 'learning_rate': 2.1613397987388e-06, 'epoch': 54.96})
+Step 22800, Loss: {'mse_loss': 0.01268034614622593, 'mee_loss': 0.2114919126033783, 'totoal_loss': 0.014795265160501003, 'data_time': 0.008955236990004778, 'model_time': 0.5972015969455242, 'learning_rate': 2.1129343861846207e-06, 'epoch': 55.21})
+Step 22900, Loss: {'mse_loss': 0.008616087958216667, 'mee_loss': 0.19558560848236084, 'totoal_loss': 0.01057194359600544, 'data_time': 0.006941655883565545, 'model_time': 0.5680300761014223, 'learning_rate': 2.065004613707836e-06, 'epoch': 55.45})
+Step 23000, Loss: {'mse_loss': 0.014512109570205212, 'mee_loss': 0.27408477663993835, 'totoal_loss': 0.017252957448363304, 'data_time': 0.012101774103939533, 'model_time': 0.5558130948338658, 'learning_rate': 2.0175580499751375e-06, 'epoch': 55.69})
+Step 23100, Loss: {'mse_loss': 0.027217304334044456, 'mee_loss': 0.2956255376338959, 'totoal_loss': 0.030173558741807938, 'data_time': 0.010683027096092701, 'model_time': 0.5584106110036373, 'learning_rate': 1.9706021873489604e-06, 'epoch': 55.93})
+Step 23200, Loss: {'mse_loss': 0.010447132401168346, 'mee_loss': 0.2249779850244522, 'totoal_loss': 0.01269691251218319, 'data_time': 0.01279396191239357, 'model_time': 0.5790223870426416, 'learning_rate': 1.924144440704338e-06, 'epoch': 56.17})
+Step 23300, Loss: {'mse_loss': 0.012206296436488628, 'mee_loss': 0.24380232393741608, 'totoal_loss': 0.01464431919157505, 'data_time': 0.009205261012539268, 'model_time': 0.594345091143623, 'learning_rate': 1.8781921462580238e-06, 'epoch': 56.42})
+Step 23400, Loss: {'mse_loss': 0.015313280746340752, 'mee_loss': 0.3010839819908142, 'totoal_loss': 0.018324119970202446, 'data_time': 0.00836897105909884, 'model_time': 0.573942082002759, 'learning_rate': 1.8327525604100058e-06, 'epoch': 56.66})
+Step 23500, Loss: {'mse_loss': 0.007961062714457512, 'mee_loss': 0.17734557390213013, 'totoal_loss': 0.009734518826007843, 'data_time': 0.009799272986128926, 'model_time': 0.672299605095759, 'learning_rate': 1.7878328585976426e-06, 'epoch': 56.9})
+Step 23600, Loss: {'mse_loss': 0.014386731199920177, 'mee_loss': 0.27306118607521057, 'totoal_loss': 0.017117343842983246, 'data_time': 0.00903120799921453, 'model_time': 0.5765899480320513, 'learning_rate': 1.7434401341625765e-06, 'epoch': 57.14})
+Step 23700, Loss: {'mse_loss': 0.011923168785870075, 'mee_loss': 0.2478381097316742, 'totoal_loss': 0.014401549473404884, 'data_time': 0.012856931192800403, 'model_time': 0.5538311379496008, 'learning_rate': 1.6995813972306108e-06, 'epoch': 57.38})
+Step 23800, Loss: {'mse_loss': 0.015170094557106495, 'mee_loss': 0.2816511392593384, 'totoal_loss': 0.017986606806516647, 'data_time': 0.009769699070602655, 'model_time': 0.5633973330259323, 'learning_rate': 1.656263573604734e-06, 'epoch': 57.63})
+Step 23900, Loss: {'mse_loss': 0.01663270965218544, 'mee_loss': 0.31755489110946655, 'totoal_loss': 0.01980825886130333, 'data_time': 0.014627161901444197, 'model_time': 0.5853369820397347, 'learning_rate': 1.613493503671454e-06, 'epoch': 57.87})
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+Step 27800, Loss: {'mse_loss': 0.011331392452120781, 'mee_loss': 0.24662505090236664, 'totoal_loss': 0.013797642663121223, 'data_time': 0.007448408054187894, 'model_time': 0.5668580841738731, 'learning_rate': 4.351151010178311e-07, 'epoch': 67.31})
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+Step 28500, Loss: {'mse_loss': 0.007061236537992954, 'mee_loss': 0.17268098890781403, 'totoal_loss': 0.008788046427071095, 'data_time': 0.010553034022450447, 'model_time': 0.6277718939818442, 'learning_rate': 3.36349652697643e-07, 'epoch': 69.01})
+Step 28600, Loss: {'mse_loss': 0.014604167081415653, 'mee_loss': 0.23627550899982452, 'totoal_loss': 0.0169669222086668, 'data_time': 0.007997750071808696, 'model_time': 0.5622751577757299, 'learning_rate': 3.2524886917012403e-07, 'epoch': 69.25})
+Step 28700, Loss: {'mse_loss': 0.008412102237343788, 'mee_loss': 0.18367275595664978, 'totoal_loss': 0.010248829610645771, 'data_time': 0.008540787035599351, 'model_time': 0.5957966889254749, 'learning_rate': 3.149060219866433e-07, 'epoch': 69.49})
+Step 28800, Loss: {'mse_loss': 0.01922721229493618, 'mee_loss': 0.2357938289642334, 'totoal_loss': 0.02158515155315399, 'data_time': 0.007401301059871912, 'model_time': 0.5651360100600868, 'learning_rate': 3.053227444026695e-07, 'epoch': 69.73})
+Step 28900, Loss: {'mse_loss': 0.007240512873977423, 'mee_loss': 0.16009403765201569, 'totoal_loss': 0.008841453120112419, 'data_time': 0.007655373075976968, 'model_time': 0.5642894459888339, 'learning_rate': 2.9650054972882544e-07, 'epoch': 69.98})
+Step 29000, Loss: {'mse_loss': 0.011229444295167923, 'mee_loss': 0.22346195578575134, 'totoal_loss': 0.0134640634059906, 'data_time': 0.011526759015396237, 'model_time': 0.5499813980422914, 'learning_rate': 2.884408310919209e-07, 'epoch': 70.22})
+Step 29100, Loss: {'mse_loss': 0.010427855886518955, 'mee_loss': 0.2006022185087204, 'totoal_loss': 0.012433878146111965, 'data_time': 0.008978154044598341, 'model_time': 0.5879142719786614, 'learning_rate': 2.8114486121495906e-07, 'epoch': 70.46})
+Step 29200, Loss: {'mse_loss': 0.013760180212557316, 'mee_loss': 0.23551718890666962, 'totoal_loss': 0.016115352511405945, 'data_time': 0.013476003892719746, 'model_time': 0.5728340840432793, 'learning_rate': 2.746137922161617e-07, 'epoch': 70.7})
+Step 29300, Loss: {'mse_loss': 0.024706264957785606, 'mee_loss': 0.24809221923351288, 'totoal_loss': 0.02718718722462654, 'data_time': 0.010089719900861382, 'model_time': 0.5897898271214217, 'learning_rate': 2.68848655427034e-07, 'epoch': 70.94})
+Step 29400, Loss: {'mse_loss': 0.010258803144097328, 'mee_loss': 0.19582924246788025, 'totoal_loss': 0.012217095121741295, 'data_time': 0.02120791794732213, 'model_time': 0.5686350639443845, 'learning_rate': 2.638503612295071e-07, 'epoch': 71.19})
+Step 29500, Loss: {'mse_loss': 0.013557547703385353, 'mee_loss': 0.2301129698753357, 'totoal_loss': 0.01585867814719677, 'data_time': 0.016723910113796592, 'model_time': 0.5495342721696943, 'learning_rate': 2.5961969891217614e-07, 'epoch': 71.43})
+Step 29600, Loss: {'mse_loss': 0.016341567039489746, 'mee_loss': 0.27239543199539185, 'totoal_loss': 0.01906552165746689, 'data_time': 0.01727632712572813, 'model_time': 0.5459677560720593, 'learning_rate': 2.5615733654566483e-07, 'epoch': 71.67})
+Step 29700, Loss: {'mse_loss': 0.013162904419004917, 'mee_loss': 0.21707701683044434, 'totoal_loss': 0.015333674848079681, 'data_time': 0.015581302111968398, 'model_time': 0.5692275979090482, 'learning_rate': 2.5346382087712764e-07, 'epoch': 71.91})
+Step 29800, Loss: {'mse_loss': 0.013583364896476269, 'mee_loss': 0.25629308819770813, 'totoal_loss': 0.01614629477262497, 'data_time': 0.010759504977613688, 'model_time': 0.5699399968143553, 'learning_rate': 2.515395772439128e-07, 'epoch': 72.15})
+Step 29900, Loss: {'mse_loss': 0.007404807955026627, 'mee_loss': 0.17521117627620697, 'totoal_loss': 0.00915692001581192, 'data_time': 0.009399445028975606, 'model_time': 0.5661706591490656, 'learning_rate': 2.5038490950639644e-07, 'epoch': 72.4})
+Step 30000, Loss: {'mse_loss': 0.011477521620690823, 'mee_loss': 0.22044938802719116, 'totoal_loss': 0.013682015240192413, 'data_time': 0.010024884017184377, 'model_time': 0.5783124829176813, 'learning_rate': 2.5e-07, 'epoch': 72.64})