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libero_10_2B/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",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "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_10",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 30000,
+    "eval_interval": 30000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
+    },
+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
+    },
+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models/libero_10/starvla_qwen_gr00t"
+}

libero_10_2B/starvla_qwen_gr00t/dataset_statistics.json

@@ -0,0 +1,133 @@
+{
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+    "num_transitions": 100857,
+    "num_trajectories": 379
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+}

libero_10_2B/starvla_qwen_gr00t/final_model/pytorch_model.pt

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+oid sha256:95ae857e6117194cdb90b6dbeb749d709c2502b6cab831cf8d79480d79edcfde
+size 5188065554

libero_10_2B/starvla_qwen_gr00t/libero_eval_libero_10.log

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+Task: put both the cream cheese box and the butter in the basket
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+# episodes completed so far: 97
+# successes: 87 (89.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 98
+# successes: 88 (89.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 99
+# successes: 89 (89.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 100
+# successes: 90 (90.0%)
+Current task success rate: 0.98
+Current total success rate: 0.9
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 101
+# successes: 91 (90.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 102
+# successes: 92 (90.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 103
+# successes: 93 (90.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 104
+# successes: 94 (90.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 105
+# successes: 95 (90.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: False
+# episodes completed so far: 106
+# successes: 95 (89.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 107
+# successes: 96 (89.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 108
+# successes: 97 (89.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 109
+# successes: 98 (89.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 110
+# successes: 99 (90.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 111
+# successes: 100 (90.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 112
+# successes: 101 (90.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: False
+# 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: True
+# episodes completed so far: 121
+# successes: 109 (90.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 122
+# successes: 110 (90.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 123
+# successes: 111 (90.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 124
+# successes: 112 (90.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 125
+# successes: 113 (90.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 126
+# successes: 114 (90.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 127
+# successes: 115 (90.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 128
+# successes: 116 (90.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 129
+# successes: 117 (90.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 130
+# successes: 118 (90.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 131
+# successes: 119 (90.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 132
+# successes: 120 (90.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 133
+# successes: 121 (91.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: False
+# 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: 0.94
+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: True
+# episodes completed so far: 152
+# successes: 139 (91.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 153
+# successes: 140 (91.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 154
+# successes: 141 (91.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 155
+# successes: 142 (91.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 156
+# successes: 143 (91.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 157
+# successes: 144 (91.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 158
+# successes: 145 (91.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 159
+# successes: 146 (91.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 160
+# successes: 147 (91.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 161
+# successes: 148 (91.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 162
+# successes: 149 (92.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 163
+# successes: 150 (92.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 164
+# successes: 151 (92.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 165
+# successes: 152 (92.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 166
+# successes: 153 (92.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 167
+# successes: 154 (92.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 168
+# successes: 155 (92.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 169
+# successes: 156 (92.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 170
+# successes: 157 (92.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 171
+# successes: 158 (92.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 172
+# successes: 159 (92.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 173
+# successes: 160 (92.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 174
+# successes: 161 (92.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 175
+# successes: 162 (92.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 176
+# successes: 163 (92.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 177
+# successes: 164 (92.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 178
+# successes: 165 (92.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 179
+# successes: 166 (92.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 180
+# successes: 167 (92.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 181
+# successes: 168 (92.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 182
+# successes: 169 (92.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 183
+# successes: 170 (92.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 184
+# successes: 171 (92.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 185
+# successes: 172 (93.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 186
+# successes: 173 (93.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 187
+# successes: 174 (93.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 188
+# successes: 175 (93.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 189
+# successes: 176 (93.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 190
+# successes: 177 (93.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 191
+# successes: 178 (93.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 192
+# successes: 179 (93.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 193
+# successes: 180 (93.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 194
+# successes: 181 (93.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 195
+# successes: 182 (93.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 196
+# successes: 183 (93.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 197
+# successes: 184 (93.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 198
+# successes: 185 (93.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 199
+# successes: 186 (93.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 200
+# successes: 187 (93.5%)
+Current task success rate: 1.0
+Current total success rate: 0.935
+
+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: 188 (93.5%)
+
+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: 189 (93.6%)
+
+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: 190 (93.6%)
+
+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: 191 (93.6%)
+
+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: 205
+# successes: 192 (93.7%)
+
+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: 193 (93.7%)
+
+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: 194 (93.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: False
+# episodes completed so far: 208
+# successes: 194 (93.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 209
+# successes: 195 (93.3%)
+
+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: 195 (92.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 211
+# successes: 196 (92.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 212
+# successes: 197 (92.9%)
+
+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: 213
+# successes: 198 (93.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 214
+# successes: 199 (93.0%)
+
+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: 215
+# successes: 200 (93.0%)
+
+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: 216
+# successes: 201 (93.1%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: False
+# episodes completed so far: 217
+# successes: 201 (92.6%)
+
+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: 218
+# successes: 202 (92.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 219
+# successes: 203 (92.7%)
+
+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: 220
+# successes: 204 (92.7%)
+
+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: 221
+# successes: 205 (92.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: False
+# episodes completed so far: 222
+# successes: 205 (92.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 223
+# successes: 206 (92.4%)
+
+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: 224
+# successes: 207 (92.4%)
+
+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: 225
+# successes: 208 (92.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 226
+# successes: 209 (92.5%)
+
+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: 227
+# successes: 210 (92.5%)
+
+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: 228
+# successes: 211 (92.5%)
+
+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: 229
+# successes: 212 (92.6%)
+
+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: 230
+# successes: 213 (92.6%)
+
+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: 231
+# successes: 214 (92.6%)
+
+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: 232
+# successes: 215 (92.7%)
+
+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: 233
+# successes: 216 (92.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 234
+# successes: 217 (92.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 235
+# successes: 218 (92.8%)
+
+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: 236
+# successes: 219 (92.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 237
+# successes: 220 (92.8%)
+
+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: 238
+# successes: 221 (92.9%)
+
+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: 239
+# successes: 222 (92.9%)
+
+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: 240
+# successes: 223 (92.9%)
+
+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: 241
+# successes: 224 (92.9%)
+
+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: 242
+# successes: 224 (92.6%)
+
+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: 243
+# successes: 225 (92.6%)
+
+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: 244
+# successes: 226 (92.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 245
+# successes: 227 (92.7%)
+
+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: 246
+# successes: 228 (92.7%)
+
+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: 247
+# successes: 229 (92.7%)
+
+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: 248
+# successes: 230 (92.7%)
+
+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: 249
+# successes: 231 (92.8%)
+
+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: 250
+# successes: 232 (92.8%)
+Current task success rate: 0.9
+Current total success rate: 0.928
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 251
+# successes: 233 (92.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 252
+# successes: 234 (92.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 253
+# successes: 235 (92.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 254
+# successes: 236 (92.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 255
+# successes: 237 (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: 238 (93.0%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 282 (94.0%)
+Current task success rate: 1.0
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 301
+# successes: 283 (94.0%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 328 (93.7%)
+Current task success rate: 0.92
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 329 (93.7%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 394
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 400
+# successes: 375 (93.8%)
+Current task success rate: 0.94
+Current total success rate: 0.9375
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+Task: put both moka pots on the stove
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+# episodes completed so far: 401
+# successes: 376 (93.8%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 402
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# successes: 377 (93.1%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# episodes completed so far: 408
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+Task: put both moka pots on the stove
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+# episodes completed so far: 409
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+Task: put both moka pots on the stove
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+# episodes completed so far: 410
+# successes: 379 (92.4%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 411
+# successes: 379 (92.2%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 412
+# successes: 380 (92.2%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 413
+# successes: 381 (92.3%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 414
+# successes: 382 (92.3%)
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+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 415
+# successes: 383 (92.3%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 416
+# successes: 384 (92.3%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 417
+# successes: 385 (92.3%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 418
+# successes: 386 (92.3%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 419
+# successes: 387 (92.4%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 420
+# successes: 388 (92.4%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 421
+# successes: 389 (92.4%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 422
+# successes: 390 (92.4%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 423
+# successes: 391 (92.4%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 424
+# successes: 392 (92.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 425
+# successes: 393 (92.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 426
+# successes: 394 (92.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 427
+# successes: 395 (92.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 428
+# successes: 396 (92.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 429
+# successes: 397 (92.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 430
+# successes: 398 (92.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 431
+# successes: 399 (92.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 432
+# successes: 400 (92.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 433
+# successes: 401 (92.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 434
+# successes: 402 (92.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 435
+# successes: 403 (92.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 436
+# successes: 404 (92.7%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 437
+# successes: 404 (92.4%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 438
+# successes: 405 (92.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 439
+# successes: 406 (92.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 440
+# successes: 407 (92.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 441
+# successes: 408 (92.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 442
+# successes: 409 (92.5%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 443
+# successes: 410 (92.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 444
+# successes: 411 (92.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 445
+# successes: 412 (92.6%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 446
+# successes: 412 (92.4%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 447
+# successes: 412 (92.2%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 448
+# successes: 413 (92.2%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 449
+# successes: 414 (92.2%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 450
+# successes: 415 (92.2%)
+Current task success rate: 0.8
+Current total success rate: 0.9222222222222223
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 451
+# successes: 416 (92.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 452
+# successes: 417 (92.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: False
+# episodes completed so far: 453
+# successes: 417 (92.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 454
+# successes: 418 (92.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 455
+# successes: 419 (92.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 456
+# successes: 420 (92.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 457
+# successes: 421 (92.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 458
+# successes: 422 (92.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 459
+# successes: 423 (92.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 460
+# successes: 424 (92.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 461
+# successes: 425 (92.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 462
+# successes: 426 (92.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 463
+# successes: 427 (92.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 464
+# successes: 428 (92.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 465
+# successes: 429 (92.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 466
+# successes: 430 (92.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 467
+# successes: 431 (92.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 468
+# successes: 432 (92.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 469
+# successes: 433 (92.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 470
+# successes: 434 (92.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 471
+# successes: 435 (92.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 472
+# successes: 436 (92.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 473
+# successes: 437 (92.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 474
+# successes: 438 (92.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 475
+# successes: 439 (92.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 476
+# successes: 440 (92.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 477
+# successes: 441 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 478
+# successes: 442 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 479
+# successes: 443 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 480
+# successes: 444 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 481
+# successes: 445 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 482
+# successes: 446 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 483
+# successes: 447 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 484
+# successes: 448 (92.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 485
+# successes: 449 (92.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 486
+# successes: 450 (92.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 487
+# successes: 451 (92.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 488
+# successes: 452 (92.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 489
+# successes: 453 (92.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 490
+# successes: 454 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 491
+# successes: 455 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 492
+# successes: 456 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 493
+# successes: 457 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 494
+# successes: 458 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 495
+# successes: 459 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 496
+# successes: 460 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 497
+# successes: 461 (92.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 498
+# successes: 462 (92.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 499
+# successes: 463 (92.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 500
+# successes: 464 (92.8%)
+Current task success rate: 0.98
+Current total success rate: 0.928

libero_goal_2B/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_10_2B",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": false,
+  "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": 30000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
+    },
+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
+    },
+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models/libero_10_2B/starvla_qwen_gr00t"
+}

libero_goal_2B/starvla_qwen_gr00t/dataset_statistics.json

@@ -0,0 +1,133 @@
+{
+  "franka": {
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+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        false
+      ]
+    },
+    "state": {
+      "mean": [
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+        0.013597904704511166,
+        1.0694637298583984,
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+        0.30799180269241333,
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+        -0.042040832340717316
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+        -1.130668159723282,
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+        -0.040336399003863335
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+        0.4659483411908149,
+        0.040610933862626555,
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+    },
+    "num_transitions": 51851,
+    "num_trajectories": 428
+  }
+}

libero_goal_2B/starvla_qwen_gr00t/final_model/pytorch_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:952fd4636e29296fc7bbc6ddc668c6b116094b2fb3b7bc693cb5e014a433a22f
+size 5188065554

libero_goal_2B/starvla_qwen_gr00t/libero_eval_libero_goal.log

@@ -0,0 +1,2521 @@
+Task suite: libero_goal
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 15
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+Task: open the top drawer and put the bowl inside
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+# successes: 237 (96.3%)
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+# successes: 240 (96.4%)
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+Task: put the bowl on top of the cabinet
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+# successes: 241 (96.4%)
+Current task success rate: 1.0
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+Task: push the plate to the front of the stove
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+# successes: 242 (96.4%)
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+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: 288 (96.0%)
+Current task success rate: 0.94
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+Task: put the cream cheese in the bowl
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+# successes: 289 (96.0%)
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+# episodes completed so far: 350
+# successes: 333 (95.1%)
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+# successes: 334 (95.2%)
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+Task: turn on the stove
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+Task: turn on the stove
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+# successes: 368 (95.6%)
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+Task: turn on the stove
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+# episodes completed so far: 386
+# successes: 369 (95.6%)
+
+Task: turn on the stove
+Success: True
+# episodes completed so far: 387
+# successes: 370 (95.6%)
+
+Task: turn on the stove
+Success: True
+# episodes completed so far: 388
+# successes: 371 (95.6%)
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+Success: True
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+# successes: 372 (95.6%)
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+Success: True
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+# successes: 373 (95.6%)
+
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+Success: True
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+# successes: 374 (95.7%)
+
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+Success: True
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+# successes: 375 (95.7%)
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+Success: True
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+# successes: 376 (95.7%)
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+Success: True
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+# successes: 377 (95.7%)
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+Task: turn on the stove
+Success: True
+# episodes completed so far: 395
+# successes: 378 (95.7%)
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+Success: True
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+# successes: 379 (95.7%)
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+Success: True
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+Success: True
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+Success: True
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+# successes: 382 (95.7%)
+
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+Success: True
+# episodes completed so far: 400
+# successes: 383 (95.8%)
+Current task success rate: 1.0
+Current total success rate: 0.9575
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+Success: True
+# episodes completed so far: 401
+# successes: 384 (95.8%)
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+Success: True
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+# successes: 385 (95.8%)
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+Success: True
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+Success: True
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+Success: True
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+Success: True
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+Success: True
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+# successes: 390 (95.8%)
+
+Task: put the bowl on the plate
+Success: True
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+# successes: 391 (95.8%)
+
+Task: put the bowl on the plate
+Success: True
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+# successes: 392 (95.8%)
+
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+Success: True
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+# successes: 393 (95.9%)
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+Success: True
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+Success: True
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+Success: True
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+Success: True
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+Success: True
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+Success: True
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+# successes: 415 (95.8%)
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+Success: True
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+# successes: 416 (95.9%)
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+Success: True
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+# successes: 417 (95.9%)
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+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 436
+# successes: 418 (95.9%)
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+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 437
+# successes: 419 (95.9%)
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+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 438
+# successes: 420 (95.9%)
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+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 439
+# successes: 421 (95.9%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 440
+# successes: 422 (95.9%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 441
+# successes: 423 (95.9%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 442
+# successes: 424 (95.9%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 443
+# successes: 425 (95.9%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 444
+# successes: 426 (95.9%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 445
+# successes: 427 (96.0%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 446
+# successes: 428 (96.0%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 447
+# successes: 429 (96.0%)
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+Task: put the bowl on the plate
+Success: True
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+# successes: 430 (96.0%)
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+Task: put the bowl on the plate
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+# successes: 431 (96.0%)
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+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 450
+# successes: 432 (96.0%)
+Current task success rate: 0.98
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 451
+# successes: 433 (96.0%)
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+Task: put the wine bottle on the rack
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+# successes: 434 (96.0%)
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+Task: put the wine bottle on the rack
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+Task: put the wine bottle on the rack
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+Task: put the wine bottle on the rack
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+Task: put the wine bottle on the rack
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+Task: put the wine bottle on the rack
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+Task: put the wine bottle on the rack
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+# successes: 444 (95.9%)
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+Task: put the wine bottle on the rack
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+Task: put the wine bottle on the rack
+Success: True
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+# successes: 446 (95.9%)
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+Task: put the wine bottle on the rack
+Success: True
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+# successes: 447 (95.9%)
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+Task: put the wine bottle on the rack
+Success: True
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+Task: put the wine bottle on the rack
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+Task: put the wine bottle on the rack
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+# successes: 450 (95.9%)
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+Task: put the wine bottle on the rack
+Success: True
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+# successes: 451 (96.0%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 471
+# successes: 452 (96.0%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 472
+# successes: 453 (96.0%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 473
+# successes: 454 (96.0%)
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+Task: put the wine bottle on the rack
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+# successes: 455 (95.8%)
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+Task: put the wine bottle on the rack
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+# successes: 456 (95.8%)
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+# successes: 457 (95.8%)
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+Task: put the wine bottle on the rack
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+# successes: 458 (95.8%)
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+Task: put the wine bottle on the rack
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+# successes: 459 (95.8%)
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+Task: put the wine bottle on the rack
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+# successes: 460 (95.8%)
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+Task: put the wine bottle on the rack
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+# successes: 461 (95.8%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 482
+# successes: 462 (95.9%)
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+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 483
+# successes: 463 (95.9%)
+
+Task: put the wine bottle on the rack
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+# episodes completed so far: 484
+# successes: 464 (95.9%)
+
+Task: put the wine bottle on the rack
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+# episodes completed so far: 485
+# successes: 465 (95.9%)
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+Task: put the wine bottle on the rack
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+Task: put the wine bottle on the rack
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+# successes: 466 (95.7%)
+
+Task: put the wine bottle on the rack
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+# episodes completed so far: 488
+# successes: 467 (95.7%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 489
+# successes: 467 (95.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 490
+# successes: 468 (95.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 491
+# successes: 469 (95.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 492
+# successes: 470 (95.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 493
+# successes: 471 (95.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 494
+# successes: 472 (95.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 495
+# successes: 473 (95.6%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 496
+# successes: 474 (95.6%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 497
+# successes: 474 (95.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 498
+# successes: 475 (95.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 499
+# successes: 476 (95.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 500
+# successes: 477 (95.4%)
+Current task success rate: 0.9
+Current total success rate: 0.954

libero_goal_2B/starvla_qwen_gr00t/libero_goal.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.1326768398284912, 'data_time': 0.017766594999557128, 'model_time': 0.5620127220008726, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.25})
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+Step 3600, Loss: {'mse_loss': 0.06830605119466782, 'data_time': 0.021382165999966674, 'model_time': 0.5512275639994186, 'learning_rate': 7.2000000000000005e-06, 'epoch': 8.87})
+Step 3700, Loss: {'mse_loss': 0.05647776275873184, 'data_time': 0.011250322000705637, 'model_time': 0.5579131730009976, 'learning_rate': 7.4e-06, 'epoch': 9.11})
+Step 3800, Loss: {'mse_loss': 0.07110543549060822, 'data_time': 0.007502513999497751, 'model_time': 0.6431761660005577, 'learning_rate': 7.600000000000001e-06, 'epoch': 9.36})
+Step 3900, Loss: {'mse_loss': 0.05935972183942795, 'data_time': 0.01346394699976372, 'model_time': 0.5692222380002931, 'learning_rate': 7.800000000000002e-06, 'epoch': 9.61})
+Step 4000, Loss: {'mse_loss': 0.052670735865831375, 'data_time': 0.007035055999949691, 'model_time': 0.5580317149997427, 'learning_rate': 8.000000000000001e-06, 'epoch': 9.85})
+Step 4100, Loss: {'mse_loss': 0.0700938031077385, 'data_time': 0.02312405500015302, 'model_time': 0.5842547049996938, 'learning_rate': 8.2e-06, 'epoch': 10.1})
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libero_object_2B/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",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": false,
+  "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": {
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+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    },
+    "reduce_in_full_precision": true
+  },
+  "datasets": {
+    "vlm_data": {
+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_object",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 30000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
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+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
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+        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/starvla_qwen_gr00t"
+}

libero_object_2B/starvla_qwen_gr00t/dataset_statistics.json

@@ -0,0 +1,133 @@
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+    "num_transitions": 66605,
+    "num_trajectories": 454
+  }
+}

libero_object_2B/starvla_qwen_gr00t/final_model/pytorch_model.pt

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+oid sha256:3a6863b294265312f258bbee73dc15a7cf00d4144c6651c89ab3ee8b38e18e9a
+size 5188065554

libero_object_2B/starvla_qwen_gr00t/libero_eval_libero_object.log

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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+# successes: 332 (98.2%)
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+Task: pick up the butter and place it in the basket
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+Task: pick up the butter and place it in the basket
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+Task: pick up the butter and place it in the basket
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+Task: pick up the butter and place it in the basket
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+Current task success rate: 1.0
+Current total success rate: 0.9828571428571429
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+Task: pick up the orange juice and place it in the basket
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+# successes: 493 (98.8%)
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+Task: pick up the orange juice and place it in the basket
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+# episodes completed so far: 500
+# successes: 494 (98.8%)
+Current task success rate: 1.0
+Current total success rate: 0.988

libero_object_2B/starvla_qwen_gr00t/libero_object.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.094376802444458, 'totoal_loss': 1.094376802444458, 'data_time': 0.008213031105697155, 'model_time': 0.5890683699399233, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.19})
+Step 200, Loss: {'mse_loss': 1.0255259275436401, 'totoal_loss': 1.0255259275436401, 'data_time': 0.0134470509365201, 'model_time': 0.5867405948229134, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.38})
+Step 300, Loss: {'mse_loss': 0.7815388441085815, 'totoal_loss': 0.7815388441085815, 'data_time': 0.00771895470097661, 'model_time': 0.6739147482439876, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.58})
+Step 400, Loss: {'mse_loss': 0.5409587621688843, 'totoal_loss': 0.5409587621688843, 'data_time': 0.007453436031937599, 'model_time': 0.6602335646748543, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.77})
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+Step 600, Loss: {'mse_loss': 0.31038355827331543, 'totoal_loss': 0.31038355827331543, 'data_time': 0.012920842040330172, 'model_time': 0.6721808989532292, 'learning_rate': 1.2000000000000002e-06, 'epoch': 1.15})
+Step 700, Loss: {'mse_loss': 0.27117782831192017, 'totoal_loss': 0.27117782831192017, 'data_time': 0.007645881734788418, 'model_time': 0.5536418943665922, 'learning_rate': 1.4000000000000001e-06, 'epoch': 1.34})
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+Step 900, Loss: {'mse_loss': 0.14129753410816193, 'totoal_loss': 0.14129753410816193, 'data_time': 0.012667774222791195, 'model_time': 0.5901878396980464, 'learning_rate': 1.8000000000000001e-06, 'epoch': 1.73})
+Step 1000, Loss: {'mse_loss': 0.14683257043361664, 'totoal_loss': 0.14683257043361664, 'data_time': 0.0081115597859025, 'model_time': 0.5951292500831187, 'learning_rate': 2.0000000000000003e-06, 'epoch': 1.92})
+Step 1100, Loss: {'mse_loss': 0.10591378808021545, 'totoal_loss': 0.10591378808021545, 'data_time': 0.00038953637704253197, 'model_time': 0.6494010300375521, 'learning_rate': 2.2e-06, 'epoch': 2.11})
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+Step 1400, Loss: {'mse_loss': 0.11201518774032593, 'totoal_loss': 0.11201518774032593, 'data_time': 0.0003648041747510433, 'model_time': 0.6017508655786514, 'learning_rate': 2.8000000000000003e-06, 'epoch': 2.69})
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+Step 1600, Loss: {'mse_loss': 0.1170087531208992, 'totoal_loss': 0.1170087531208992, 'data_time': 0.008514855988323689, 'model_time': 0.5903369882144034, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.07})
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+Step 3000, Loss: {'mse_loss': 0.07203453034162521, 'totoal_loss': 0.07203453034162521, 'data_time': 0.006904179695993662, 'model_time': 0.687826510053128, 'learning_rate': 6e-06, 'epoch': 5.76})
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+Step 3600, Loss: {'mse_loss': 0.05344545096158981, 'totoal_loss': 0.05344545096158981, 'data_time': 0.012074274942278862, 'model_time': 0.5528299119323492, 'learning_rate': 7.2000000000000005e-06, 'epoch': 6.91})
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+Step 4000, Loss: {'mse_loss': 0.061947617679834366, 'totoal_loss': 0.061947617679834366, 'data_time': 0.0003963327035307884, 'model_time': 0.5772636830806732, 'learning_rate': 8.000000000000001e-06, 'epoch': 7.68})
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+Step 4400, Loss: {'mse_loss': 0.09597106277942657, 'totoal_loss': 0.09597106277942657, 'data_time': 0.00716837402433157, 'model_time': 0.6277848700992763, 'learning_rate': 8.8e-06, 'epoch': 8.45})
+Step 4500, Loss: {'mse_loss': 0.07349035888910294, 'totoal_loss': 0.07349035888910294, 'data_time': 0.011770667973905802, 'model_time': 0.617016137111932, 'learning_rate': 9e-06, 'epoch': 8.64})
+Step 4600, Loss: {'mse_loss': 0.0474083311855793, 'totoal_loss': 0.0474083311855793, 'data_time': 0.0115248360671103, 'model_time': 0.5914700827561319, 'learning_rate': 9.200000000000002e-06, 'epoch': 8.83})
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+Step 4900, Loss: {'mse_loss': 0.04277641326189041, 'totoal_loss': 0.04277641326189041, 'data_time': 0.0003917049616575241, 'model_time': 0.5630543367005885, 'learning_rate': 9.800000000000001e-06, 'epoch': 9.4})
+Step 5000, Loss: {'mse_loss': 0.05660995841026306, 'totoal_loss': 0.05660995841026306, 'data_time': 0.00039449380710721016, 'model_time': 0.6358463130891323, 'learning_rate': 1e-05, 'epoch': 9.6})
+Step 5100, Loss: {'mse_loss': 0.053685132414102554, 'totoal_loss': 0.053685132414102554, 'data_time': 0.0003841659054160118, 'model_time': 0.556657113134861, 'learning_rate': 9.999615090493604e-06, 'epoch': 9.79})
+Step 5200, Loss: {'mse_loss': 0.037259429693222046, 'totoal_loss': 0.037259429693222046, 'data_time': 0.00038490304723381996, 'model_time': 0.6779139791615307, 'learning_rate': 9.998460422756089e-06, 'epoch': 9.98})
+Step 5300, Loss: {'mse_loss': 0.05177972465753555, 'totoal_loss': 0.05177972465753555, 'data_time': 0.0004905490204691887, 'model_time': 0.5753681831993163, 'learning_rate': 9.996536179122874e-06, 'epoch': 10.17})
+Step 5400, Loss: {'mse_loss': 0.057553499937057495, 'totoal_loss': 0.057553499937057495, 'data_time': 0.0005635358393192291, 'model_time': 0.5667025190778077, 'learning_rate': 9.993842663454337e-06, 'epoch': 10.36})
+Step 5500, Loss: {'mse_loss': 0.0428854338824749, 'totoal_loss': 0.0428854338824749, 'data_time': 0.0003483099862933159, 'model_time': 0.5673194318078458, 'learning_rate': 9.990380301087824e-06, 'epoch': 10.56})
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+Step 6000, Loss: {'mse_loss': 0.05234389752149582, 'totoal_loss': 0.05234389752149582, 'data_time': 0.015506217256188393, 'model_time': 0.6527702999301255, 'learning_rate': 9.961559168908081e-06, 'epoch': 11.52})
+Step 6100, Loss: {'mse_loss': 0.035707987844944, 'totoal_loss': 0.035707987844944, 'data_time': 0.017444005236029625, 'model_time': 0.6063872608356178, 'learning_rate': 9.953499450271174e-06, 'epoch': 11.71})
+Step 6200, Loss: {'mse_loss': 0.05774225667119026, 'totoal_loss': 0.05774225667119026, 'data_time': 0.02082790294662118, 'model_time': 0.5536196418106556, 'learning_rate': 9.944677255597332e-06, 'epoch': 11.9})
+Step 6300, Loss: {'mse_loss': 0.07689887285232544, 'totoal_loss': 0.07689887285232544, 'data_time': 0.01530974404886365, 'model_time': 0.5772024402394891, 'learning_rate': 9.935093978013357e-06, 'epoch': 12.09})
+Step 6400, Loss: {'mse_loss': 0.06222250312566757, 'totoal_loss': 0.06222250312566757, 'data_time': 0.009333823807537556, 'model_time': 0.8753188331611454, 'learning_rate': 9.924751130829878e-06, 'epoch': 12.28})
+Step 6500, Loss: {'mse_loss': 0.05312928184866905, 'totoal_loss': 0.05312928184866905, 'data_time': 0.011100105941295624, 'model_time': 0.683984843082726, 'learning_rate': 9.91365034730236e-06, 'epoch': 12.48})
+Step 6600, Loss: {'mse_loss': 0.037770092487335205, 'totoal_loss': 0.037770092487335205, 'data_time': 0.008304320275783539, 'model_time': 0.5644933902658522, 'learning_rate': 9.901793380373204e-06, 'epoch': 12.67})
+Step 6700, Loss: {'mse_loss': 0.04339093714952469, 'totoal_loss': 0.04339093714952469, 'data_time': 0.008852197788655758, 'model_time': 0.5838643447495997, 'learning_rate': 9.889182102394944e-06, 'epoch': 12.86})
+Step 6800, Loss: {'mse_loss': 0.02938445657491684, 'totoal_loss': 0.02938445657491684, 'data_time': 0.009557627141475677, 'model_time': 0.6200441010296345, 'learning_rate': 9.875818504834564e-06, 'epoch': 13.05})
+Step 6900, Loss: {'mse_loss': 0.06408506631851196, 'totoal_loss': 0.06408506631851196, 'data_time': 0.00862257881090045, 'model_time': 0.5660183290019631, 'learning_rate': 9.861704697959036e-06, 'epoch': 13.24})
+Step 7000, Loss: {'mse_loss': 0.02805459126830101, 'totoal_loss': 0.02805459126830101, 'data_time': 0.007614810019731522, 'model_time': 0.5749947801232338, 'learning_rate': 9.846842910502077e-06, 'epoch': 13.44})
+Step 7100, Loss: {'mse_loss': 0.03997435420751572, 'totoal_loss': 0.03997435420751572, 'data_time': 0.008017475716769695, 'model_time': 0.5708237290382385, 'learning_rate': 9.831235489312212e-06, 'epoch': 13.63})
+Step 7200, Loss: {'mse_loss': 0.03167317062616348, 'totoal_loss': 0.03167317062616348, 'data_time': 0.007858959957957268, 'model_time': 0.6074348040856421, 'learning_rate': 9.814884898982168e-06, 'epoch': 13.82})
+Step 7300, Loss: {'mse_loss': 0.025282656773924828, 'totoal_loss': 0.025282656773924828, 'data_time': 0.0005227369256317616, 'model_time': 0.6013361951336265, 'learning_rate': 9.797793721459709e-06, 'epoch': 14.01})
+Step 7400, Loss: {'mse_loss': 0.028617050498723984, 'totoal_loss': 0.028617050498723984, 'data_time': 0.0004838821478188038, 'model_time': 0.5948810642585158, 'learning_rate': 9.779964655639886e-06, 'epoch': 14.2})
+Step 7500, Loss: {'mse_loss': 0.04016764834523201, 'totoal_loss': 0.04016764834523201, 'data_time': 0.0005549523048102856, 'model_time': 0.652890901081264, 'learning_rate': 9.761400516938874e-06, 'epoch': 14.4})
+Step 7600, Loss: {'mse_loss': 0.041050657629966736, 'totoal_loss': 0.041050657629966736, 'data_time': 0.0004783007316291332, 'model_time': 0.6445268550887704, 'learning_rate': 9.74210423684938e-06, 'epoch': 14.59})
+Step 7700, Loss: {'mse_loss': 0.04976119473576546, 'totoal_loss': 0.04976119473576546, 'data_time': 0.00043188827112317085, 'model_time': 0.573930200189352, 'learning_rate': 9.722078862477715e-06, 'epoch': 14.78})
+Step 7800, Loss: {'mse_loss': 0.027897734194993973, 'totoal_loss': 0.027897734194993973, 'data_time': 0.0006091021932661533, 'model_time': 0.60159897711128, 'learning_rate': 9.701327556062637e-06, 'epoch': 14.97})
+Step 7900, Loss: {'mse_loss': 0.03841684013605118, 'totoal_loss': 0.03841684013605118, 'data_time': 0.00037765875458717346, 'model_time': 0.61660047294572, 'learning_rate': 9.679853594475985e-06, 'epoch': 15.16})
+Step 8000, Loss: {'mse_loss': 0.027033841237425804, 'totoal_loss': 0.027033841237425804, 'data_time': 0.00037253880873322487, 'model_time': 0.583811174146831, 'learning_rate': 9.657660368705225e-06, 'epoch': 15.36})
+Step 8100, Loss: {'mse_loss': 0.04553966224193573, 'totoal_loss': 0.04553966224193573, 'data_time': 0.0003566741943359375, 'model_time': 0.605241070035845, 'learning_rate': 9.634751383317983e-06, 'epoch': 15.55})
+Step 8200, Loss: {'mse_loss': 0.03877447918057442, 'totoal_loss': 0.03877447918057442, 'data_time': 0.0003867358900606632, 'model_time': 0.5800898377783597, 'learning_rate': 9.611130255908619e-06, 'epoch': 15.74})
+Step 8300, Loss: {'mse_loss': 0.029899094253778458, 'totoal_loss': 0.029899094253778458, 'data_time': 0.00039334315806627274, 'model_time': 0.5959532256238163, 'learning_rate': 9.586800716526974e-06, 'epoch': 15.93})
+Step 8400, Loss: {'mse_loss': 0.038909927010536194, 'totoal_loss': 0.038909927010536194, 'data_time': 0.014927982818335295, 'model_time': 0.5943376878276467, 'learning_rate': 9.561766607089355e-06, 'epoch': 16.12})
+Step 8500, Loss: {'mse_loss': 0.045807283371686935, 'totoal_loss': 0.045807283371686935, 'data_time': 0.015362000092864037, 'model_time': 0.5904662949033082, 'learning_rate': 9.536031880771846e-06, 'epoch': 16.31})
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+Step 16300, Loss: {'mse_loss': 0.018427755683660507, 'totoal_loss': 0.018427755683660507, 'data_time': 0.0011530928313732147, 'model_time': 0.6588642187416553, 'learning_rate': 5.857349746963692e-06, 'epoch': 31.29})
+Step 16400, Loss: {'mse_loss': 0.01512489840388298, 'totoal_loss': 0.01512489840388298, 'data_time': 0.00044316379353404045, 'model_time': 0.885762867052108, 'learning_rate': 5.796727667087611e-06, 'epoch': 31.48})
+Step 16500, Loss: {'mse_loss': 0.01877501606941223, 'totoal_loss': 0.01877501606941223, 'data_time': 0.0003923177719116211, 'model_time': 0.5777436108328402, 'learning_rate': 5.735999513625984e-06, 'epoch': 31.67})
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+Step 23700, Loss: {'mse_loss': 0.01580137386918068, 'totoal_loss': 0.01580137386918068, 'data_time': 0.007337396964430809, 'model_time': 0.5916330199688673, 'learning_rate': 1.6995813972306108e-06, 'epoch': 45.49})
+Step 23800, Loss: {'mse_loss': 0.014805549755692482, 'totoal_loss': 0.014805549755692482, 'data_time': 0.009015211835503578, 'model_time': 0.5863300473429263, 'learning_rate': 1.656263573604734e-06, 'epoch': 45.68})
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+Step 24100, Loss: {'mse_loss': 0.023719074204564095, 'totoal_loss': 0.023719074204564095, 'data_time': 0.0003685201518237591, 'model_time': 0.5766078308224678, 'learning_rate': 1.5296235528789028e-06, 'epoch': 46.26})
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+Step 24300, Loss: {'mse_loss': 0.018810957670211792, 'totoal_loss': 0.018810957670211792, 'data_time': 0.0004029800184071064, 'model_time': 0.5823682760819793, 'learning_rate': 1.4480245189114938e-06, 'epoch': 46.64})
+Step 24400, Loss: {'mse_loss': 0.027438456192612648, 'totoal_loss': 0.027438456192612648, 'data_time': 0.00041319988667964935, 'model_time': 0.6149426908232272, 'learning_rate': 1.408092758819191e-06, 'epoch': 46.83})
+Step 24500, Loss: {'mse_loss': 0.0072642420418560505, 'totoal_loss': 0.0072642420418560505, 'data_time': 0.009157862048596144, 'model_time': 0.5576752149499953, 'learning_rate': 1.368747941468028e-06, 'epoch': 47.02})
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libero_spatial_2B/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",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": false,
+  "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": 30000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
+    },
+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
+    },
+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models/libero_spatial_2B/starvla_qwen_gr00t"
+}

libero_spatial_2B/starvla_qwen_gr00t/dataset_statistics.json

@@ -0,0 +1,133 @@
+{
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+  }
+}

libero_spatial_2B/starvla_qwen_gr00t/final_model/pytorch_model.pt

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+oid sha256:4aae855a6f6453ba6e55e4f504a339ecb96c5e3130a02824bd00e94fa7982523
+size 5188065554

libero_spatial_2B/starvla_qwen_gr00t/libero_eval_libero_spatial.log

@@ -0,0 +1,2521 @@
+Task suite: libero_spatial
+
+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
+Success: True
+# episodes completed so far: 2
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Current task success rate: 1.0
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# successes: 51 (100.0%)
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl 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 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 in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl next to the cookie box and place it on the plate
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+Task: pick up the black bowl next to the cookie box and place it on the plate
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+Task: pick up the black bowl next to the cookie box and place it on the plate
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+Task: pick up the black bowl next to the cookie box and place it on the plate
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+Task: pick up the black bowl next to the cookie box and place it on the plate
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+Task: pick up the black bowl 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 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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+Task: pick up the black bowl next to the plate and place it on the plate
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+Task: pick up the black bowl next to the plate and place it on the plate
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+Task: pick up the black bowl next to the plate and place it on the plate
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+Task: pick up the black bowl next to the plate and place it on the plate
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+# successes: 442 (98.2%)
+Current task success rate: 0.96
+Current total success rate: 0.9822222222222222
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 451
+# successes: 443 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 452
+# successes: 444 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 453
+# successes: 445 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 454
+# successes: 446 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 455
+# successes: 447 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 456
+# successes: 448 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 457
+# successes: 449 (98.2%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 458
+# successes: 450 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 459
+# successes: 451 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 460
+# successes: 452 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 461
+# successes: 453 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 462
+# successes: 454 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 463
+# successes: 455 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 464
+# successes: 456 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 465
+# successes: 457 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 466
+# successes: 458 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 467
+# successes: 459 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 468
+# successes: 460 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 469
+# successes: 461 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 470
+# successes: 462 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 471
+# successes: 463 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 472
+# successes: 464 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 473
+# successes: 465 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 474
+# successes: 466 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 475
+# successes: 467 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 476
+# successes: 468 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 477
+# successes: 469 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 478
+# successes: 470 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 479
+# successes: 471 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 480
+# successes: 472 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 481
+# successes: 473 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 482
+# successes: 474 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 483
+# successes: 475 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 484
+# successes: 476 (98.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 485
+# successes: 477 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 486
+# successes: 478 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 487
+# successes: 479 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 488
+# successes: 480 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 489
+# successes: 481 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 490
+# successes: 482 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 491
+# successes: 483 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 492
+# successes: 484 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 493
+# successes: 485 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 494
+# successes: 486 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 495
+# successes: 487 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 496
+# successes: 488 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 497
+# successes: 489 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 498
+# successes: 490 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 499
+# successes: 491 (98.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 500
+# successes: 492 (98.4%)
+Current task success rate: 1.0
+Current total success rate: 0.984

libero_spatial_2B/starvla_qwen_gr00t/libero_spatial.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 1.0739035606384277, 'totoal_loss': 1.0739035606384277, 'data_time': 0.00918191997334361, 'model_time': 0.5738226301036775, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.24})
+Step 200, Loss: {'mse_loss': 1.0066990852355957, 'totoal_loss': 1.0066990852355957, 'data_time': 0.008866500109434128, 'model_time': 0.5800249218009412, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.48})
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+Step 3000, Loss: {'mse_loss': 0.07054725289344788, 'totoal_loss': 0.07054725289344788, 'data_time': 0.00919017381966114, 'model_time': 0.5919564156793058, 'learning_rate': 6e-06, 'epoch': 7.26})
+Step 3100, Loss: {'mse_loss': 0.06204778328537941, 'totoal_loss': 0.06204778328537941, 'data_time': 0.012033446226269007, 'model_time': 0.5721489833667874, 'learning_rate': 6.200000000000001e-06, 'epoch': 7.51})
+Step 3200, Loss: {'mse_loss': 0.07344017922878265, 'totoal_loss': 0.07344017922878265, 'data_time': 0.008341910783201456, 'model_time': 0.5678952499292791, 'learning_rate': 6.4000000000000006e-06, 'epoch': 7.75})
+Step 3300, Loss: {'mse_loss': 0.09134677797555923, 'totoal_loss': 0.09134677797555923, 'data_time': 0.007663816213607788, 'model_time': 0.5300686489790678, 'learning_rate': 6.600000000000001e-06, 'epoch': 7.99})
+Step 3400, Loss: {'mse_loss': 0.08827023953199387, 'totoal_loss': 0.08827023953199387, 'data_time': 0.015372647903859615, 'model_time': 0.5777461300604045, 'learning_rate': 6.800000000000001e-06, 'epoch': 8.23})
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+Step 4100, Loss: {'mse_loss': 0.057008158415555954, 'totoal_loss': 0.057008158415555954, 'data_time': 0.00787329999729991, 'model_time': 0.5674905120395124, 'learning_rate': 8.2e-06, 'epoch': 9.93})
+Step 4200, Loss: {'mse_loss': 0.06687762588262558, 'totoal_loss': 0.06687762588262558, 'data_time': 0.0005594701506197453, 'model_time': 0.5786948250606656, 'learning_rate': 8.400000000000001e-06, 'epoch': 10.17})
+Step 4300, Loss: {'mse_loss': 0.06526948511600494, 'totoal_loss': 0.06526948511600494, 'data_time': 0.0003929091617465019, 'model_time': 0.5879017496481538, 'learning_rate': 8.6e-06, 'epoch': 10.41})
+Step 4400, Loss: {'mse_loss': 0.07004386186599731, 'totoal_loss': 0.07004386186599731, 'data_time': 0.0005022920668125153, 'model_time': 0.5957421879284084, 'learning_rate': 8.8e-06, 'epoch': 10.65})
+Step 4500, Loss: {'mse_loss': 0.07240715622901917, 'totoal_loss': 0.07240715622901917, 'data_time': 0.00036801397800445557, 'model_time': 0.5670918002724648, 'learning_rate': 9e-06, 'epoch': 10.9})
+Step 4600, Loss: {'mse_loss': 0.06540289521217346, 'totoal_loss': 0.06540289521217346, 'data_time': 0.0003948579542338848, 'model_time': 0.5836041872389615, 'learning_rate': 9.200000000000002e-06, 'epoch': 11.14})
+Step 4700, Loss: {'mse_loss': 0.06107351556420326, 'totoal_loss': 0.06107351556420326, 'data_time': 0.0003750259056687355, 'model_time': 0.6685239872895181, 'learning_rate': 9.4e-06, 'epoch': 11.38})
+Step 4800, Loss: {'mse_loss': 0.06700556725263596, 'totoal_loss': 0.06700556725263596, 'data_time': 0.00036720000207424164, 'model_time': 0.5646289298310876, 'learning_rate': 9.600000000000001e-06, 'epoch': 11.62})
+Step 4900, Loss: {'mse_loss': 0.05973176285624504, 'totoal_loss': 0.05973176285624504, 'data_time': 0.00036814576014876366, 'model_time': 0.6649999679066241, 'learning_rate': 9.800000000000001e-06, 'epoch': 11.86})
+Step 5000, Loss: {'mse_loss': 0.07194202393293381, 'totoal_loss': 0.07194202393293381, 'data_time': 0.016474027186632156, 'model_time': 0.5559934037737548, 'learning_rate': 1e-05, 'epoch': 12.11})
+Step 5100, Loss: {'mse_loss': 0.048861660063266754, 'totoal_loss': 0.048861660063266754, 'data_time': 0.016156574245542288, 'model_time': 0.5866749119013548, 'learning_rate': 9.999615090493604e-06, 'epoch': 12.35})
+Step 5200, Loss: {'mse_loss': 0.0557451993227005, 'totoal_loss': 0.0557451993227005, 'data_time': 0.01926101604476571, 'model_time': 0.5601959601044655, 'learning_rate': 9.998460422756089e-06, 'epoch': 12.59})
+Step 5300, Loss: {'mse_loss': 0.06710746139287949, 'totoal_loss': 0.06710746139287949, 'data_time': 0.016081283800303936, 'model_time': 0.5645382548682392, 'learning_rate': 9.996536179122874e-06, 'epoch': 12.83})
+Step 5400, Loss: {'mse_loss': 0.05908578634262085, 'totoal_loss': 0.05908578634262085, 'data_time': 0.007779557257890701, 'model_time': 0.5709940590895712, 'learning_rate': 9.993842663454337e-06, 'epoch': 13.08})
+Step 5500, Loss: {'mse_loss': 0.07659433037042618, 'totoal_loss': 0.07659433037042618, 'data_time': 0.008211813867092133, 'model_time': 0.6540005910210311, 'learning_rate': 9.990380301087824e-06, 'epoch': 13.32})
+Step 5600, Loss: {'mse_loss': 0.0586576983332634, 'totoal_loss': 0.0586576983332634, 'data_time': 0.008029810152947903, 'model_time': 0.5841134581714869, 'learning_rate': 9.986149638770493e-06, 'epoch': 13.56})
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+Step 19600, Loss: {'mse_loss': 0.02519349381327629, 'totoal_loss': 0.02519349381327629, 'data_time': 0.011596826370805502, 'model_time': 0.6032147943042219, 'learning_rate': 3.853397656836754e-06, 'epoch': 47.46})
+Step 19700, Loss: {'mse_loss': 0.023594291880726814, 'totoal_loss': 0.023594291880726814, 'data_time': 0.00827981112524867, 'model_time': 0.5945143671706319, 'learning_rate': 3.7943593143530404e-06, 'epoch': 47.7})
+Step 19800, Loss: {'mse_loss': 0.01552434079349041, 'totoal_loss': 0.01552434079349041, 'data_time': 0.009706346783787012, 'model_time': 0.5687389499507844, 'learning_rate': 3.735531095458867e-06, 'epoch': 47.94})
+Step 19900, Loss: {'mse_loss': 0.01128323469310999, 'totoal_loss': 0.01128323469310999, 'data_time': 0.009060592390596867, 'model_time': 0.6509774043224752, 'learning_rate': 3.6769222898119562e-06, 'epoch': 48.18})
+Step 20000, Loss: {'mse_loss': 0.017224323004484177, 'totoal_loss': 0.017224323004484177, 'data_time': 0.008245916105806828, 'model_time': 0.6161501170136034, 'learning_rate': 3.618542152422132e-06, 'epoch': 48.43})
+Step 20100, Loss: {'mse_loss': 0.021123696118593216, 'totoal_loss': 0.021123696118593216, 'data_time': 0.007990309968590736, 'model_time': 0.5906902416609228, 'learning_rate': 3.560399902189855e-06, 'epoch': 48.67})
+Step 20200, Loss: {'mse_loss': 0.011661439202725887, 'totoal_loss': 0.011661439202725887, 'data_time': 0.011975723784416914, 'model_time': 0.6699560228735209, 'learning_rate': 3.502504720450441e-06, 'epoch': 48.91})
+Step 20300, Loss: {'mse_loss': 0.010072714649140835, 'totoal_loss': 0.010072714649140835, 'data_time': 0.010345406830310822, 'model_time': 0.6390434019267559, 'learning_rate': 3.4448657495242304e-06, 'epoch': 49.15})
+Step 20400, Loss: {'mse_loss': 0.020273340865969658, 'totoal_loss': 0.020273340865969658, 'data_time': 0.008589754812419415, 'model_time': 0.5690901200287044, 'learning_rate': 3.387492091272904e-06, 'epoch': 49.39})
+Step 20500, Loss: {'mse_loss': 0.008421545848250389, 'totoal_loss': 0.008421545848250389, 'data_time': 0.007779620122164488, 'model_time': 0.5767138400115073, 'learning_rate': 3.3303928056621955e-06, 'epoch': 49.64})
+Step 20600, Loss: {'mse_loss': 0.008624452166259289, 'totoal_loss': 0.008624452166259289, 'data_time': 0.008173897862434387, 'model_time': 0.5653181811794639, 'learning_rate': 3.2735769093312202e-06, 'epoch': 49.88})
+Step 20700, Loss: {'mse_loss': 0.01252681203186512, 'totoal_loss': 0.01252681203186512, 'data_time': 0.00800361717119813, 'model_time': 0.586270781699568, 'learning_rate': 3.217053374168639e-06, 'epoch': 50.12})
+Step 20800, Loss: {'mse_loss': 0.00850534439086914, 'totoal_loss': 0.00850534439086914, 'data_time': 0.011006640270352364, 'model_time': 0.5620856047607958, 'learning_rate': 3.1608311258958953e-06, 'epoch': 50.36})
+Step 20900, Loss: {'mse_loss': 0.01764865219593048, 'totoal_loss': 0.01764865219593048, 'data_time': 0.007531414274126291, 'model_time': 0.6426259172149003, 'learning_rate': 3.10491904265774e-06, 'epoch': 50.61})
+Step 21000, Loss: {'mse_loss': 0.025020720437169075, 'totoal_loss': 0.025020720437169075, 'data_time': 0.009318524971604347, 'model_time': 0.6132821161299944, 'learning_rate': 3.0493259536202714e-06, 'epoch': 50.85})
+Step 21100, Loss: {'mse_loss': 0.022584890946745872, 'totoal_loss': 0.022584890946745872, 'data_time': 0.0003966987133026123, 'model_time': 0.5902921757660806, 'learning_rate': 2.9940606375767038e-06, 'epoch': 51.09})
+Step 21200, Loss: {'mse_loss': 0.017262496054172516, 'totoal_loss': 0.017262496054172516, 'data_time': 0.00037600286304950714, 'model_time': 0.6002171202562749, 'learning_rate': 2.939131821561094e-06, 'epoch': 51.33})
+Step 21300, Loss: {'mse_loss': 0.010260703973472118, 'totoal_loss': 0.010260703973472118, 'data_time': 0.000467667356133461, 'model_time': 0.5787225631065667, 'learning_rate': 2.8845481794702473e-06, 'epoch': 51.57})
+Step 21400, Loss: {'mse_loss': 0.016263455152511597, 'totoal_loss': 0.016263455152511597, 'data_time': 0.00038357311859726906, 'model_time': 0.5841509811580181, 'learning_rate': 2.830318330694004e-06, 'epoch': 51.82})
+Step 21500, Loss: {'mse_loss': 0.014494325034320354, 'totoal_loss': 0.014494325034320354, 'data_time': 0.008466993924230337, 'model_time': 0.8544170628301799, 'learning_rate': 2.7764508387541378e-06, 'epoch': 52.06})
+Step 21600, Loss: {'mse_loss': 0.022190405055880547, 'totoal_loss': 0.022190405055880547, 'data_time': 0.007945904042571783, 'model_time': 0.5740559389814734, 'learning_rate': 2.7229542099520797e-06, 'epoch': 52.3})
+Step 21700, Loss: {'mse_loss': 0.012261033989489079, 'totoal_loss': 0.012261033989489079, 'data_time': 0.00974997878074646, 'model_time': 0.5766754169017076, 'learning_rate': 2.669836892025666e-06, 'epoch': 52.54})
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+Step 29600, Loss: {'mse_loss': 0.01753118634223938, 'totoal_loss': 0.01753118634223938, 'data_time': 0.0003950451500713825, 'model_time': 0.5764966532588005, 'learning_rate': 2.5615733654566483e-07, 'epoch': 71.67})
+Step 29700, Loss: {'mse_loss': 0.012765614315867424, 'totoal_loss': 0.012765614315867424, 'data_time': 0.00038041314110159874, 'model_time': 0.6436221757903695, 'learning_rate': 2.5346382087712764e-07, 'epoch': 71.91})
+Step 29800, Loss: {'mse_loss': 0.01407900732010603, 'totoal_loss': 0.01407900732010603, 'data_time': 0.015348945278674364, 'model_time': 0.5935171493329108, 'learning_rate': 2.515395772439128e-07, 'epoch': 72.15})
+Step 29900, Loss: {'mse_loss': 0.007718535605818033, 'totoal_loss': 0.007718535605818033, 'data_time': 0.015639682300388813, 'model_time': 0.6051133093424141, 'learning_rate': 2.5038490950639644e-07, 'epoch': 72.4})
+Step 30000, Loss: {'mse_loss': 0.012249262072145939, 'totoal_loss': 0.012249262072145939, 'mse_score': 0.001927131786942482, 'data_time': 0.01854270836338401, 'model_time': 0.5881017097271979, 'learning_rate': 2.5e-07, 'epoch': 72.64})