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libero_10_2B/starvla_qwen_oft/config.json

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+{
+  "run_id": "starvla_qwen_oft",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_10_2B",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": false,
+  "mee_weight": 0.01,
+  "framework": {
+    "name": "QwenOFT",
+    "qwenvl": {
+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
+    },
+    "dino": {
+      "dino_backbone": "dinov2_vits14"
+    },
+    "action_model": {
+      "action_model_type": "DiT-B",
+      "action_hidden_dim": 2,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 7,
+      "state_dim": 7,
+      "future_action_window_size": 7,
+      "action_horizon": 8,
+      "past_action_window_size": 0,
+      "repeated_diffusion_steps": 8,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 4,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
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+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    },
+    "reduce_in_full_precision": true
+  },
+  "datasets": {
+    "vlm_data": {
+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
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+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_10",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
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+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
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+  "trainer": {
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+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 30000,
+    "learning_rate": {
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+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
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+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
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+    "freeze_modules": null,
+    "loss_scale": {
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+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
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+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_10_2B/starvla_qwen_oft"
+}

libero_10_2B/starvla_qwen_oft/dataset_statistics.json

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libero_10_2B/starvla_qwen_oft/final_model/pytorch_model.pt

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libero_10_2B/starvla_qwen_oft/libero_10.log

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+Step 12300, Loss: {'mse_loss': 0.036068644374608994, 'totoal_loss': 0.036068644374608994, 'data_time': 0.01951669699337799, 'model_time': 0.741268540994497, 'learning_rate': 8.088660201261203e-06, 'epoch': 15.61})
+Step 12400, Loss: {'mse_loss': 0.03347725048661232, 'totoal_loss': 0.03347725048661232, 'data_time': 0.016288619008264504, 'model_time': 0.4860164999990957, 'learning_rate': 8.039786792405404e-06, 'epoch': 15.74})
+Step 12500, Loss: {'mse_loss': 0.030394066125154495, 'totoal_loss': 0.030394066125154495, 'data_time': 0.015551426011370495, 'model_time': 0.5701046449976275, 'learning_rate': 7.990453104925807e-06, 'epoch': 15.86})
+Step 12600, Loss: {'mse_loss': 0.028563501313328743, 'totoal_loss': 0.028563501313328743, 'data_time': 0.014996216996223666, 'model_time': 0.45356027499656193, 'learning_rate': 7.940666929183554e-06, 'epoch': 15.99})
+Step 12700, Loss: {'mse_loss': 0.024681735783815384, 'totoal_loss': 0.024681735783815384, 'data_time': 0.009008538007037714, 'model_time': 0.4974473109905375, 'learning_rate': 7.89043612699294e-06, 'epoch': 16.12})
+Step 12800, Loss: {'mse_loss': 0.025537367910146713, 'totoal_loss': 0.025537367910146713, 'data_time': 0.00902373700228054, 'model_time': 0.4792665529967053, 'learning_rate': 7.839768630379917e-06, 'epoch': 16.24})
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+Step 19200, Loss: {'mse_loss': 0.01836387626826763, 'totoal_loss': 0.01836387626826763, 'data_time': 0.0005115579988341779, 'model_time': 0.5258599349763244, 'learning_rate': 4.091465339129985e-06, 'epoch': 24.37})
+Step 19300, Loss: {'mse_loss': 0.021051134914159775, 'totoal_loss': 0.021051134914159775, 'data_time': 0.0004738900170195848, 'model_time': 0.508205525984522, 'learning_rate': 4.031680040371768e-06, 'epoch': 24.49})
+Step 19400, Loss: {'mse_loss': 0.020252373069524765, 'totoal_loss': 0.020252373069524765, 'data_time': 0.00038410097477026284, 'model_time': 0.5839428220060654, 'learning_rate': 3.972067389509344e-06, 'epoch': 24.62})
+Step 19500, Loss: {'mse_loss': 0.014976807869970798, 'totoal_loss': 0.014976807869970798, 'data_time': 0.0005179340078029782, 'model_time': 0.49463790201116353, 'learning_rate': 3.912636800071335e-06, 'epoch': 24.75})
+Step 19600, Loss: {'mse_loss': 0.019084185361862183, 'totoal_loss': 0.019084185361862183, 'data_time': 0.0004877070023212582, 'model_time': 0.5812996750173625, 'learning_rate': 3.853397656836754e-06, 'epoch': 24.87})
+Step 19700, Loss: {'mse_loss': 0.01551088783890009, 'totoal_loss': 0.01551088783890009, 'data_time': 1.5050627780146897, 'model_time': 0.4602162390074227, 'learning_rate': 3.7943593143530404e-06, 'epoch': 25.0})
+Step 19800, Loss: {'mse_loss': 0.021761778742074966, 'totoal_loss': 0.021761778742074966, 'data_time': 0.016708139010006562, 'model_time': 0.551755697990302, 'learning_rate': 3.735531095458867e-06, 'epoch': 25.13})
+Step 19900, Loss: {'mse_loss': 0.0163397416472435, 'totoal_loss': 0.0163397416472435, 'data_time': 0.017553290992509574, 'model_time': 0.5004322380118538, 'learning_rate': 3.6769222898119562e-06, 'epoch': 25.25})
+Step 20000, Loss: {'mse_loss': 0.016891229897737503, 'totoal_loss': 0.016891229897737503, 'data_time': 0.020138006017077714, 'model_time': 0.47448617199552245, 'learning_rate': 3.618542152422132e-06, 'epoch': 25.38})
+Step 20100, Loss: {'mse_loss': 0.021059023216366768, 'totoal_loss': 0.021059023216366768, 'data_time': 0.015472109022084624, 'model_time': 0.549381524004275, 'learning_rate': 3.560399902189855e-06, 'epoch': 25.51})
+Step 20200, Loss: {'mse_loss': 0.01197376661002636, 'totoal_loss': 0.01197376661002636, 'data_time': 0.017500471003586426, 'model_time': 0.4749199349898845, 'learning_rate': 3.502504720450441e-06, 'epoch': 25.63})
+Step 20300, Loss: {'mse_loss': 0.020290149375796318, 'totoal_loss': 0.020290149375796318, 'data_time': 0.01574242001515813, 'model_time': 0.5013858040038031, 'learning_rate': 3.4448657495242304e-06, 'epoch': 25.76})
+Step 20400, Loss: {'mse_loss': 0.01740317977964878, 'totoal_loss': 0.01740317977964878, 'data_time': 0.017867379006929696, 'model_time': 0.47146455201436765, 'learning_rate': 3.387492091272904e-06, 'epoch': 25.89})
+Step 20500, Loss: {'mse_loss': 0.017643535509705544, 'totoal_loss': 0.017643535509705544, 'data_time': 0.017315986013272777, 'model_time': 0.4807021069864277, 'learning_rate': 3.3303928056621955e-06, 'epoch': 26.02})
+Step 20600, Loss: {'mse_loss': 0.022140178829431534, 'totoal_loss': 0.022140178829431534, 'data_time': 0.017988252016948536, 'model_time': 0.4632375770015642, 'learning_rate': 3.2735769093312202e-06, 'epoch': 26.14})
+Step 20700, Loss: {'mse_loss': 0.015067906118929386, 'totoal_loss': 0.015067906118929386, 'data_time': 0.016346595977665856, 'model_time': 0.4930886299989652, 'learning_rate': 3.217053374168639e-06, 'epoch': 26.27})
+Step 20800, Loss: {'mse_loss': 0.016204744577407837, 'totoal_loss': 0.016204744577407837, 'data_time': 0.01466696200077422, 'model_time': 0.4901456499937922, 'learning_rate': 3.1608311258958953e-06, 'epoch': 26.4})
+Step 20900, Loss: {'mse_loss': 0.01978355646133423, 'totoal_loss': 0.01978355646133423, 'data_time': 0.015008293004939333, 'model_time': 0.48186179500771686, 'learning_rate': 3.10491904265774e-06, 'epoch': 26.52})
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+Step 29000, Loss: {'mse_loss': 0.010992751456797123, 'totoal_loss': 0.010992751456797123, 'data_time': 0.018232592003187165, 'model_time': 0.49143414400168695, 'learning_rate': 2.884408310919209e-07, 'epoch': 36.8})
+Step 29100, Loss: {'mse_loss': 0.009052683599293232, 'totoal_loss': 0.009052683599293232, 'data_time': 0.010615895997034386, 'model_time': 0.47732476601959206, 'learning_rate': 2.8114486121495906e-07, 'epoch': 36.93})
+Step 29200, Loss: {'mse_loss': 0.008084701374173164, 'totoal_loss': 0.008084701374173164, 'data_time': 0.007974946987815201, 'model_time': 0.47327812199364416, 'learning_rate': 2.746137922161617e-07, 'epoch': 37.06})
+Step 29300, Loss: {'mse_loss': 0.013225975446403027, 'totoal_loss': 0.013225975446403027, 'data_time': 0.0007741549925412983, 'model_time': 0.5415037000202574, 'learning_rate': 2.68848655427034e-07, 'epoch': 37.18})
+Step 29400, Loss: {'mse_loss': 0.011677343398332596, 'totoal_loss': 0.011677343398332596, 'data_time': 0.0004450650012586266, 'model_time': 0.49705978299607523, 'learning_rate': 2.638503612295071e-07, 'epoch': 37.31})
+Step 29500, Loss: {'mse_loss': 0.01706140674650669, 'totoal_loss': 0.01706140674650669, 'data_time': 0.0003696120111271739, 'model_time': 0.5055348549794871, 'learning_rate': 2.5961969891217614e-07, 'epoch': 37.44})
+Step 29600, Loss: {'mse_loss': 0.011178618296980858, 'totoal_loss': 0.011178618296980858, 'data_time': 0.0003779629769269377, 'model_time': 0.4852167569915764, 'learning_rate': 2.5615733654566483e-07, 'epoch': 37.56})
+Step 29700, Loss: {'mse_loss': 0.011852046474814415, 'totoal_loss': 0.011852046474814415, 'data_time': 0.0003941320173908025, 'model_time': 0.5057580460270401, 'learning_rate': 2.5346382087712764e-07, 'epoch': 37.69})
+Step 29800, Loss: {'mse_loss': 0.015117269940674305, 'totoal_loss': 0.015117269940674305, 'data_time': 0.0103147329937201, 'model_time': 0.5006688839930575, 'learning_rate': 2.515395772439128e-07, 'epoch': 37.82})
+Step 29900, Loss: {'mse_loss': 0.014643413946032524, 'totoal_loss': 0.014643413946032524, 'data_time': 0.0003800699778366834, 'model_time': 0.47620454398565926, 'learning_rate': 2.5038490950639644e-07, 'epoch': 37.94})
+Step 30000, Loss: {'mse_loss': 0.012789364904165268, 'totoal_loss': 0.012789364904165268, 'mse_score': 0.001430095306464604, 'data_time': 0.02004013702389784, 'model_time': 0.48306434199912474, 'learning_rate': 2.5e-07, 'epoch': 38.07})

libero_10_2B/starvla_qwen_oft/libero_eval_libero_10.log

@@ -0,0 +1,2521 @@
+Task suite: libero_10
+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: turn on the stove and put the moka pot on it
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+# episodes completed so far: 146
+# successes: 137 (93.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 147
+# successes: 138 (93.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 148
+# successes: 139 (93.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 149
+# successes: 140 (94.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 150
+# successes: 141 (94.0%)
+Current task success rate: 0.94
+Current total success rate: 0.94
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 151
+# successes: 142 (94.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 152
+# successes: 143 (94.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 153
+# successes: 143 (93.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 154
+# successes: 144 (93.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 155
+# successes: 145 (93.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 156
+# successes: 146 (93.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 157
+# successes: 147 (93.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 158
+# successes: 148 (93.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 159
+# successes: 149 (93.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 160
+# successes: 150 (93.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 161
+# successes: 151 (93.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 162
+# successes: 151 (93.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 163
+# successes: 152 (93.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 164
+# successes: 153 (93.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 165
+# successes: 154 (93.3%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 166
+# successes: 154 (92.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 167
+# successes: 155 (92.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 168
+# successes: 156 (92.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 169
+# successes: 157 (92.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 170
+# successes: 158 (92.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 171
+# successes: 159 (93.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 172
+# successes: 160 (93.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 173
+# successes: 161 (93.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# 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: False
+# episodes completed so far: 175
+# successes: 161 (92.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 176
+# successes: 161 (91.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 177
+# successes: 161 (91.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 178
+# successes: 162 (91.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 179
+# successes: 162 (90.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 180
+# successes: 163 (90.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 181
+# successes: 164 (90.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 182
+# successes: 165 (90.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 183
+# successes: 165 (90.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 184
+# successes: 166 (90.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 185
+# successes: 166 (89.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 186
+# successes: 167 (89.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 187
+# successes: 168 (89.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 188
+# successes: 169 (89.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 189
+# successes: 170 (89.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 190
+# successes: 171 (90.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 191
+# successes: 172 (90.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 192
+# successes: 172 (89.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 193
+# successes: 173 (89.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 194
+# successes: 174 (89.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 195
+# successes: 175 (89.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 196
+# successes: 176 (89.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 197
+# successes: 177 (89.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 198
+# successes: 178 (89.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 199
+# successes: 179 (89.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 200
+# successes: 180 (90.0%)
+Current task success rate: 0.78
+Current total success rate: 0.9
+
+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: 201
+# successes: 181 (90.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 202
+# successes: 182 (90.1%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 203
+# successes: 183 (90.1%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 204
+# successes: 184 (90.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 205
+# successes: 185 (90.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 206
+# successes: 186 (90.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 207
+# successes: 187 (90.3%)
+
+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: 208
+# successes: 187 (89.9%)
+
+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: 209
+# successes: 188 (90.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: False
+# episodes completed so far: 210
+# successes: 188 (89.5%)
+
+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: 211
+# successes: 189 (89.6%)
+
+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: 212
+# successes: 190 (89.6%)
+
+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: 213
+# successes: 191 (89.7%)
+
+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: 214
+# successes: 192 (89.7%)
+
+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: 215
+# successes: 193 (89.8%)
+
+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: 216
+# successes: 193 (89.4%)
+
+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: 217
+# successes: 194 (89.4%)
+
+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: 218
+# successes: 195 (89.4%)
+
+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: 219
+# successes: 196 (89.5%)
+
+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: 220
+# successes: 197 (89.5%)
+
+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: 221
+# successes: 198 (89.6%)
+
+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: 222
+# successes: 199 (89.6%)
+
+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: 223
+# successes: 200 (89.7%)
+
+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: 224
+# successes: 201 (89.7%)
+
+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: 225
+# successes: 202 (89.8%)
+
+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: 226
+# successes: 203 (89.8%)
+
+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: 227
+# successes: 204 (89.9%)
+
+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: 228
+# successes: 205 (89.9%)
+
+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: 229
+# successes: 206 (90.0%)
+
+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: 230
+# successes: 207 (90.0%)
+
+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: 231
+# successes: 208 (90.0%)
+
+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: 232
+# successes: 209 (90.1%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 233
+# successes: 210 (90.1%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 234
+# successes: 211 (90.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 235
+# successes: 212 (90.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 236
+# successes: 213 (90.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 237
+# successes: 214 (90.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 238
+# successes: 215 (90.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 239
+# successes: 216 (90.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 240
+# successes: 217 (90.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 241
+# successes: 218 (90.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 242
+# successes: 219 (90.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 243
+# successes: 220 (90.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 244
+# successes: 221 (90.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 245
+# successes: 222 (90.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 246
+# successes: 223 (90.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 247
+# successes: 224 (90.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 248
+# successes: 225 (90.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 249
+# successes: 226 (90.8%)
+
+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: 250
+# successes: 226 (90.4%)
+Current task success rate: 0.92
+Current total success rate: 0.904
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 251
+# successes: 227 (90.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 252
+# successes: 228 (90.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 253
+# successes: 229 (90.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 254
+# successes: 230 (90.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 255
+# successes: 231 (90.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 256
+# successes: 232 (90.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 257
+# successes: 233 (90.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 258
+# successes: 234 (90.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 259
+# successes: 235 (90.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 260
+# successes: 236 (90.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 261
+# successes: 237 (90.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 262
+# successes: 238 (90.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 263
+# successes: 239 (90.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 264
+# successes: 240 (90.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 265
+# successes: 241 (90.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 266
+# successes: 242 (91.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 267
+# successes: 243 (91.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 268
+# successes: 244 (91.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 269
+# successes: 245 (91.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 270
+# successes: 246 (91.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 271
+# successes: 247 (91.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 272
+# successes: 248 (91.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 273
+# successes: 249 (91.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 274
+# successes: 250 (91.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 275
+# successes: 251 (91.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 276
+# successes: 252 (91.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 277
+# successes: 253 (91.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 278
+# successes: 254 (91.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 279
+# successes: 255 (91.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 280
+# successes: 256 (91.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 281
+# successes: 257 (91.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 282
+# successes: 258 (91.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 283
+# successes: 259 (91.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 284
+# successes: 260 (91.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 285
+# successes: 261 (91.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 286
+# successes: 262 (91.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 287
+# successes: 263 (91.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 288
+# successes: 264 (91.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 289
+# successes: 265 (91.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 290
+# successes: 266 (91.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 291
+# successes: 267 (91.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 292
+# successes: 268 (91.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 293
+# successes: 269 (91.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 294
+# successes: 270 (91.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 295
+# successes: 271 (91.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 296
+# successes: 272 (91.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 297
+# successes: 273 (91.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 298
+# successes: 274 (91.9%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 299
+# successes: 275 (92.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 300
+# successes: 276 (92.0%)
+Current task success rate: 1.0
+Current total success rate: 0.92
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 301
+# successes: 277 (92.0%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 302
+# successes: 278 (92.1%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 279 (92.1%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 280 (92.1%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 281 (92.1%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 282 (92.2%)
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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: 283 (92.2%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 284 (92.2%)
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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: 285 (92.2%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 286 (92.3%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 287 (92.3%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: False
+# episodes completed so far: 312
+# successes: 287 (92.0%)
+
+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: 313
+# successes: 287 (91.7%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 288 (91.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 289 (91.7%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 316
+# successes: 290 (91.8%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: False
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+# successes: 290 (91.5%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 318
+# successes: 291 (91.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 319
+# successes: 292 (91.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 293 (91.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 321
+# successes: 294 (91.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 295 (91.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 296 (91.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 297 (91.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 299 (91.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: False
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+# successes: 299 (91.2%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 329
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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: 300 (90.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 301 (90.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 301 (90.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 302 (90.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 303 (90.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 304 (90.2%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 338
+# successes: 305 (90.2%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 306 (90.3%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 340
+# successes: 307 (90.3%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 341
+# successes: 308 (90.3%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 342
+# successes: 309 (90.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 343
+# successes: 310 (90.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 344
+# successes: 311 (90.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 345
+# successes: 312 (90.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 346
+# successes: 313 (90.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 347
+# successes: 314 (90.5%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 348
+# successes: 315 (90.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
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+# successes: 316 (90.5%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 350
+# successes: 317 (90.6%)
+Current task success rate: 0.82
+Current total success rate: 0.9057142857142857
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 351
+# successes: 318 (90.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 352
+# successes: 319 (90.6%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 353
+# successes: 320 (90.7%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 354
+# successes: 321 (90.7%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 355
+# successes: 322 (90.7%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 356
+# successes: 323 (90.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 357
+# successes: 324 (90.8%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 358
+# successes: 325 (90.8%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 359
+# successes: 326 (90.8%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 360
+# successes: 327 (90.8%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 328 (90.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 362
+# successes: 329 (90.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 363
+# successes: 330 (90.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 364
+# successes: 331 (90.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 334 (91.0%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+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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+# successes: 343 (91.0%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 344 (91.0%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 379
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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: 384
+# successes: 350 (91.1%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 385
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 353 (91.2%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 354 (91.2%)
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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: 389
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 390
+# successes: 356 (91.3%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 357 (91.3%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 393
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 394
+# successes: 360 (91.4%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 360 (91.1%)
+
+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
+Success: True
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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: 365 (91.2%)
+Current task success rate: 0.96
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+Task: put both moka pots on the stove
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+# episodes completed so far: 401
+# successes: 366 (91.3%)
+
+Task: put both moka pots on the stove
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+# successes: 367 (91.3%)
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+Task: put both moka pots on the stove
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+# successes: 368 (91.3%)
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+Task: put both moka pots on the stove
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+# successes: 369 (91.3%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# episodes completed so far: 406
+# successes: 371 (91.4%)
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+Task: put both moka pots on the stove
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+# successes: 372 (91.4%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 408
+# successes: 373 (91.4%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 409
+# successes: 374 (91.4%)
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+Task: put both moka pots on the stove
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+# successes: 374 (91.2%)
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+Task: put both moka pots on the stove
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+# successes: 375 (91.2%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 412
+# successes: 376 (91.3%)
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+Task: put both moka pots on the stove
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+# successes: 376 (91.0%)
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+Task: put both moka pots on the stove
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+# successes: 377 (91.1%)
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+Task: put both moka pots on the stove
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+# successes: 378 (91.1%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# successes: 380 (91.1%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+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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+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: 386 (90.8%)
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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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+Task: put both moka pots on the stove
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+# successes: 390 (90.9%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# successes: 393 (91.0%)
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+Task: put both moka pots on the stove
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+# successes: 394 (91.0%)
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+Task: put both moka pots on the stove
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+# successes: 395 (91.0%)
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+Task: put both moka pots on the stove
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+# successes: 396 (91.0%)
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+Task: put both moka pots on the stove
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+# successes: 397 (91.1%)
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+Task: put both moka pots on the stove
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+# successes: 398 (91.1%)
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+Task: put both moka pots on the stove
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+# successes: 398 (90.9%)
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+Task: put both moka pots on the stove
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+# successes: 399 (90.9%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 440
+# successes: 400 (90.9%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 441
+# successes: 401 (90.9%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 442
+# successes: 402 (91.0%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 443
+# successes: 403 (91.0%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 444
+# successes: 404 (91.0%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 445
+# successes: 405 (91.0%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 446
+# successes: 405 (90.8%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 447
+# successes: 406 (90.8%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 448
+# successes: 406 (90.6%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 449
+# successes: 407 (90.6%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 450
+# successes: 408 (90.7%)
+Current task success rate: 0.86
+Current total success rate: 0.9066666666666666
+
+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 451
+# successes: 409 (90.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 452
+# successes: 410 (90.7%)
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+Task: put the yellow and white mug in the microwave and close it
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+# successes: 411 (90.7%)
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+Task: put the yellow and white mug in the microwave and close it
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+# successes: 412 (90.7%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 455
+# successes: 413 (90.8%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 456
+# successes: 414 (90.8%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 457
+# successes: 415 (90.8%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 458
+# successes: 416 (90.8%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 459
+# successes: 417 (90.8%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 460
+# successes: 418 (90.9%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 461
+# successes: 419 (90.9%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 462
+# successes: 420 (90.9%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 463
+# successes: 421 (90.9%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 464
+# successes: 422 (90.9%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 465
+# successes: 423 (91.0%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 466
+# successes: 424 (91.0%)
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+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 467
+# successes: 425 (91.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 468
+# successes: 426 (91.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 469
+# successes: 427 (91.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 470
+# successes: 428 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 471
+# successes: 429 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 472
+# successes: 430 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 473
+# successes: 431 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 474
+# successes: 432 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 475
+# successes: 433 (91.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 476
+# successes: 434 (91.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 477
+# successes: 435 (91.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 478
+# successes: 436 (91.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 479
+# successes: 437 (91.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: False
+# episodes completed so far: 480
+# successes: 437 (91.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 481
+# successes: 438 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 482
+# successes: 439 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 483
+# successes: 440 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 484
+# successes: 441 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 485
+# successes: 442 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 486
+# successes: 443 (91.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 487
+# successes: 444 (91.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 488
+# successes: 445 (91.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 489
+# successes: 446 (91.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 490
+# successes: 447 (91.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 491
+# successes: 448 (91.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 492
+# successes: 449 (91.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: False
+# episodes completed so far: 493
+# successes: 449 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 494
+# successes: 450 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 495
+# successes: 451 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 496
+# successes: 452 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 497
+# successes: 453 (91.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 498
+# successes: 454 (91.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 499
+# successes: 455 (91.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 500
+# successes: 456 (91.2%)
+Current task success rate: 0.96
+Current total success rate: 0.912

libero_goal_2B/starvla_qwen_oft/config.json

@@ -0,0 +1,129 @@
+{
+  "run_id": "starvla_qwen_oft",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_goal_2B",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": false,
+  "mee_weight": 0.01,
+  "framework": {
+    "name": "QwenOFT",
+    "qwenvl": {
+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
+    },
+    "dino": {
+      "dino_backbone": "dinov2_vits14"
+    },
+    "action_model": {
+      "action_model_type": "DiT-B",
+      "action_hidden_dim": 2,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 7,
+      "state_dim": 7,
+      "future_action_window_size": 7,
+      "action_horizon": 8,
+      "past_action_window_size": 0,
+      "repeated_diffusion_steps": 8,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 4,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
+        "cross_attention_dim": 2048,
+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    },
+    "reduce_in_full_precision": true
+  },
+  "datasets": {
+    "vlm_data": {
+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_goal",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 30000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
+    },
+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
+    },
+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_goal_2B/starvla_qwen_oft"
+}

libero_goal_2B/starvla_qwen_oft/dataset_statistics.json

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

libero_goal_2B/starvla_qwen_oft/final_model/pytorch_model.pt

@@ -0,0 +1,3 @@
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+size 4961646354

libero_goal_2B/starvla_qwen_oft/libero_eval_libero_goal.log

@@ -0,0 +1,2521 @@
+Task suite: libero_goal
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# successes: 7 (100.0%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# successes: 12 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# successes: 13 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 14
+# successes: 14 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 15
+# successes: 15 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 18
+# successes: 18 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 19
+# successes: 19 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 20
+# successes: 20 (100.0%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# successes: 21 (95.5%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# successes: 24 (96.0%)
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+Task: open the middle drawer of the cabinet
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+# successes: 25 (96.2%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 27
+# successes: 26 (96.3%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 28
+# successes: 27 (96.4%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 29
+# successes: 28 (96.6%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 30
+# successes: 29 (96.7%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 31
+# successes: 30 (96.8%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 40
+# successes: 39 (97.5%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 41
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 42
+# successes: 41 (97.6%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 43
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 45
+# successes: 44 (97.8%)
+
+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 46
+# successes: 45 (97.8%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# successes: 48 (98.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 50
+# successes: 49 (98.0%)
+Current task success rate: 0.98
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+Task: put the bowl on the stove
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+# episodes completed so far: 51
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 57
+# successes: 56 (98.2%)
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+Task: put the bowl on the stove
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+# episodes completed so far: 58
+# successes: 57 (98.3%)
+
+Task: put the bowl on the stove
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+# episodes completed so far: 59
+# successes: 58 (98.3%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 60
+# successes: 59 (98.3%)
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+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 61
+# successes: 60 (98.4%)
+
+Task: put the bowl on the stove
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+# episodes completed so far: 62
+# successes: 61 (98.4%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 63
+# successes: 62 (98.4%)
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+Task: put the bowl on the stove
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+# episodes completed so far: 64
+# successes: 63 (98.4%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 65
+# successes: 64 (98.5%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 66
+# successes: 65 (98.5%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 67
+# successes: 66 (98.5%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 68
+# successes: 67 (98.5%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 69
+# successes: 68 (98.6%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 70
+# successes: 69 (98.6%)
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+# successes: 181 (92.8%)
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+# successes: 185 (92.0%)
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 245
+# successes: 226 (92.2%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 246
+# successes: 227 (92.3%)
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+Task: put the bowl on top of the cabinet
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+# successes: 228 (92.3%)
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+Task: put the bowl on top of the cabinet
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+# successes: 229 (92.3%)
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+Task: put the bowl on top of the cabinet
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+# successes: 230 (92.4%)
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 250
+# successes: 231 (92.4%)
+Current task success rate: 0.94
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 251
+# successes: 232 (92.4%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 252
+# successes: 233 (92.5%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 253
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+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 444
+# successes: 423 (95.3%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 445
+# successes: 424 (95.3%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 446
+# successes: 425 (95.3%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 447
+# successes: 426 (95.3%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 448
+# successes: 427 (95.3%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 449
+# successes: 428 (95.3%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 450
+# successes: 429 (95.3%)
+Current task success rate: 0.98
+Current total success rate: 0.9533333333333334
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 451
+# successes: 430 (95.3%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 452
+# successes: 430 (95.1%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 453
+# successes: 431 (95.1%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 454
+# successes: 432 (95.2%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 455
+# successes: 433 (95.2%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 456
+# successes: 433 (95.0%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 457
+# successes: 434 (95.0%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 458
+# successes: 434 (94.8%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 459
+# successes: 435 (94.8%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 460
+# successes: 436 (94.8%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 461
+# successes: 437 (94.8%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 462
+# successes: 438 (94.8%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 463
+# successes: 439 (94.8%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 464
+# successes: 439 (94.6%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 465
+# successes: 440 (94.6%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 466
+# successes: 440 (94.4%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 467
+# successes: 440 (94.2%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 468
+# successes: 441 (94.2%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 469
+# successes: 442 (94.2%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 470
+# successes: 443 (94.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 471
+# successes: 444 (94.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 472
+# successes: 445 (94.3%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 473
+# successes: 445 (94.1%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 474
+# successes: 446 (94.1%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 475
+# successes: 447 (94.1%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 476
+# successes: 448 (94.1%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 477
+# successes: 449 (94.1%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 478
+# successes: 450 (94.1%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 479
+# successes: 451 (94.2%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 480
+# successes: 452 (94.2%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 481
+# successes: 452 (94.0%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 482
+# successes: 453 (94.0%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 483
+# successes: 454 (94.0%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 484
+# successes: 455 (94.0%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 485
+# successes: 456 (94.0%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 486
+# successes: 457 (94.0%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 487
+# successes: 457 (93.8%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 488
+# successes: 458 (93.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 489
+# successes: 459 (93.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 490
+# successes: 460 (93.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 491
+# successes: 461 (93.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 492
+# successes: 462 (93.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 493
+# successes: 463 (93.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 494
+# successes: 464 (93.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 495
+# successes: 465 (93.9%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 496
+# successes: 466 (94.0%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 497
+# successes: 466 (93.8%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 498
+# successes: 467 (93.8%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 499
+# successes: 468 (93.8%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 500
+# successes: 468 (93.6%)
+Current task success rate: 0.78
+Current total success rate: 0.936

libero_goal_2B/starvla_qwen_oft/libero_goal.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 0.2649403512477875, 'totoal_loss': 0.2649403512477875, 'data_time': 0.008582420879974961, 'model_time': 0.5658477491233498, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.25})
+Step 200, Loss: {'mse_loss': 0.22862136363983154, 'totoal_loss': 0.22862136363983154, 'data_time': 0.010676149977371097, 'model_time': 0.548805152066052, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.49})
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+Step 500, Loss: {'mse_loss': 0.1951092779636383, 'totoal_loss': 0.1951092779636383, 'data_time': 0.011986757861450315, 'model_time': 0.4866907380055636, 'learning_rate': 1.0000000000000002e-06, 'epoch': 1.23})
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+Step 3400, Loss: {'mse_loss': 0.0833270400762558, 'totoal_loss': 0.0833270400762558, 'data_time': 0.016329830046743155, 'model_time': 0.4853401950094849, 'learning_rate': 6.800000000000001e-06, 'epoch': 8.37})
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+Step 4300, Loss: {'mse_loss': 0.06761719286441803, 'totoal_loss': 0.06761719286441803, 'data_time': 0.014631547965109348, 'model_time': 0.47218803595751524, 'learning_rate': 8.6e-06, 'epoch': 10.59})
+Step 4400, Loss: {'mse_loss': 0.0741281509399414, 'totoal_loss': 0.0741281509399414, 'data_time': 0.019006212940439582, 'model_time': 0.45981389191001654, 'learning_rate': 8.8e-06, 'epoch': 10.84})
+Step 4500, Loss: {'mse_loss': 0.0881810262799263, 'totoal_loss': 0.0881810262799263, 'data_time': 0.009150299010798335, 'model_time': 0.46971687604673207, 'learning_rate': 9e-06, 'epoch': 11.08})
+Step 4600, Loss: {'mse_loss': 0.07063886523246765, 'totoal_loss': 0.07063886523246765, 'data_time': 0.011696563102304935, 'model_time': 0.47924215300008655, 'learning_rate': 9.200000000000002e-06, 'epoch': 11.33})
+Step 4700, Loss: {'mse_loss': 0.07055720686912537, 'totoal_loss': 0.07055720686912537, 'data_time': 0.009365933015942574, 'model_time': 0.7596466408576816, 'learning_rate': 9.4e-06, 'epoch': 11.58})
+Step 4800, Loss: {'mse_loss': 0.061041638255119324, 'totoal_loss': 0.061041638255119324, 'data_time': 0.008146201027557254, 'model_time': 0.460018556099385, 'learning_rate': 9.600000000000001e-06, 'epoch': 11.82})
+Step 4900, Loss: {'mse_loss': 0.05911262705922127, 'totoal_loss': 0.05911262705922127, 'data_time': 0.015467280987650156, 'model_time': 0.5161423350218683, 'learning_rate': 9.800000000000001e-06, 'epoch': 12.07})
+Step 5000, Loss: {'mse_loss': 0.05776870250701904, 'totoal_loss': 0.05776870250701904, 'data_time': 0.016958393156528473, 'model_time': 0.49067059298977256, 'learning_rate': 1e-05, 'epoch': 12.32})
+Step 5100, Loss: {'mse_loss': 0.06612560153007507, 'totoal_loss': 0.06612560153007507, 'data_time': 0.015934627037495375, 'model_time': 0.47763548186048865, 'learning_rate': 9.999615090493604e-06, 'epoch': 12.56})
+Step 5200, Loss: {'mse_loss': 0.06628063321113586, 'totoal_loss': 0.06628063321113586, 'data_time': 0.014762846985831857, 'model_time': 0.48641139385290444, 'learning_rate': 9.998460422756089e-06, 'epoch': 12.81})
+Step 5300, Loss: {'mse_loss': 0.0657360628247261, 'totoal_loss': 0.0657360628247261, 'data_time': 0.011624209815636277, 'model_time': 0.5477351299487054, 'learning_rate': 9.996536179122874e-06, 'epoch': 13.05})
+Step 5400, Loss: {'mse_loss': 0.05232962593436241, 'totoal_loss': 0.05232962593436241, 'data_time': 0.008116412907838821, 'model_time': 0.4631494930945337, 'learning_rate': 9.993842663454337e-06, 'epoch': 13.3})
+Step 5500, Loss: {'mse_loss': 0.061741482466459274, 'totoal_loss': 0.061741482466459274, 'data_time': 0.008926012087613344, 'model_time': 0.4728181450627744, 'learning_rate': 9.990380301087824e-06, 'epoch': 13.55})
+Step 5600, Loss: {'mse_loss': 0.06448490172624588, 'totoal_loss': 0.06448490172624588, 'data_time': 0.009405724005773664, 'model_time': 0.5152508160099387, 'learning_rate': 9.986149638770493e-06, 'epoch': 13.79})
+Step 5700, Loss: {'mse_loss': 0.051273904740810394, 'totoal_loss': 0.051273904740810394, 'data_time': 0.00866274582222104, 'model_time': 0.4892129448708147, 'learning_rate': 9.981151344572967e-06, 'epoch': 14.04})
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+Step 20700, Loss: {'mse_loss': 0.010152844712138176, 'totoal_loss': 0.010152844712138176, 'data_time': 0.00026616710238158703, 'model_time': 0.4450073898769915, 'learning_rate': 3.217053374168639e-06, 'epoch': 50.99})
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+Step 21000, Loss: {'mse_loss': 0.017889274284243584, 'totoal_loss': 0.017889274284243584, 'data_time': 0.01191890798509121, 'model_time': 0.4844697369262576, 'learning_rate': 3.0493259536202714e-06, 'epoch': 51.72})
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+Step 21300, Loss: {'mse_loss': 0.01950538158416748, 'totoal_loss': 0.01950538158416748, 'data_time': 0.012180796824395657, 'model_time': 0.551661335863173, 'learning_rate': 2.8845481794702473e-06, 'epoch': 52.46})
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+Step 21500, Loss: {'mse_loss': 0.01900656335055828, 'totoal_loss': 0.01900656335055828, 'data_time': 0.01203448511660099, 'model_time': 0.5564167709089816, 'learning_rate': 2.7764508387541378e-06, 'epoch': 52.96})
+Step 21600, Loss: {'mse_loss': 0.012575188651680946, 'totoal_loss': 0.012575188651680946, 'data_time': 0.0003950148820877075, 'model_time': 0.5076379210222512, 'learning_rate': 2.7229542099520797e-06, 'epoch': 53.2})
+Step 21700, Loss: {'mse_loss': 0.02307669259607792, 'totoal_loss': 0.02307669259607792, 'data_time': 0.0003935650456696749, 'model_time': 0.49409288191236556, 'learning_rate': 2.669836892025666e-06, 'epoch': 53.45})
+Step 21800, Loss: {'mse_loss': 0.019938845187425613, 'totoal_loss': 0.019938845187425613, 'data_time': 0.00041096704080700874, 'model_time': 0.5554071099031717, 'learning_rate': 2.6171072728151557e-06, 'epoch': 53.69})
+Step 21900, Loss: {'mse_loss': 0.01500219851732254, 'totoal_loss': 0.01500219851732254, 'data_time': 0.0005059128161519766, 'model_time': 0.5720019820146263, 'learning_rate': 2.5647736789386828e-06, 'epoch': 53.94})
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libero_object_2B/starvla_qwen_oft/config.json

@@ -0,0 +1,129 @@
+{
+  "run_id": "starvla_qwen_oft",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_3/libero_object_2B_mee0e-2",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
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+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.0,
+  "framework": {
+    "name": "QwenOFT",
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+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
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+    "dino": {
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+      "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",
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+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
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+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_object",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
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+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 60000,
+    "learning_rate": {
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+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
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+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
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+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
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+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_3/libero_object_2B_mee0e-2/starvla_qwen_oft"
+}

libero_object_2B/starvla_qwen_oft/dataset_statistics.json

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libero_object_2B/starvla_qwen_oft/final_model/pytorch_model.pt

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+Task: pick up the bbq sauce and place it in the basket
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+# successes: 436 (98.2%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 445
+# successes: 437 (98.2%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 446
+# successes: 438 (98.2%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 447
+# successes: 439 (98.2%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 448
+# successes: 440 (98.2%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 449
+# successes: 441 (98.2%)
+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 450
+# successes: 442 (98.2%)
+Current task success rate: 0.92
+Current total success rate: 0.9822222222222222
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 451
+# successes: 443 (98.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 452
+# successes: 444 (98.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 453
+# successes: 445 (98.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 454
+# successes: 446 (98.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 455
+# successes: 447 (98.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 456
+# successes: 448 (98.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 457
+# successes: 449 (98.2%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 458
+# successes: 450 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 459
+# successes: 451 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 460
+# successes: 452 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 461
+# successes: 453 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 462
+# successes: 454 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 463
+# successes: 455 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 464
+# successes: 456 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 465
+# successes: 457 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 466
+# successes: 458 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 467
+# successes: 459 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 468
+# successes: 460 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 469
+# successes: 461 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 470
+# successes: 462 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 471
+# successes: 463 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 472
+# successes: 464 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 473
+# successes: 465 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 474
+# successes: 466 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 475
+# successes: 467 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 476
+# successes: 468 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 477
+# successes: 469 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 478
+# successes: 470 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 479
+# successes: 471 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 480
+# successes: 472 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 481
+# successes: 473 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 482
+# successes: 474 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 483
+# successes: 475 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 484
+# successes: 476 (98.3%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 485
+# successes: 477 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 486
+# successes: 478 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 487
+# successes: 479 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 488
+# successes: 480 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 489
+# successes: 481 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 490
+# successes: 482 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 491
+# successes: 483 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 492
+# successes: 484 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 493
+# successes: 485 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 494
+# successes: 486 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 495
+# successes: 487 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 496
+# successes: 488 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 497
+# successes: 489 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 498
+# successes: 490 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 499
+# successes: 491 (98.4%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 500
+# successes: 492 (98.4%)
+Current task success rate: 1.0
+Current total success rate: 0.984

libero_object_2B/starvla_qwen_oft/libero_object.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 0.22103580832481384, 'mee_loss': 1.660862922668457, 'totoal_loss': 0.22103580832481384, 'data_time': 0.010678338934667408, 'model_time': 0.5707858459791169, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.19})
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+Step 2900, Loss: {'mse_loss': 0.08015486598014832, 'mee_loss': 0.29198434948921204, 'totoal_loss': 0.08015486598014832, 'data_time': 0.00872144103050232, 'model_time': 0.5697552569909021, 'learning_rate': 5.8e-06, 'epoch': 5.57})
+Step 3000, Loss: {'mse_loss': 0.10806888341903687, 'mee_loss': 0.510853111743927, 'totoal_loss': 0.10806888341903687, 'data_time': 0.008543969946913421, 'model_time': 0.5127479269867763, 'learning_rate': 6e-06, 'epoch': 5.76})
+Step 3100, Loss: {'mse_loss': 0.08706454187631607, 'mee_loss': 0.4125366508960724, 'totoal_loss': 0.08706454187631607, 'data_time': 0.008532862993888557, 'model_time': 0.5563058820553124, 'learning_rate': 6.200000000000001e-06, 'epoch': 5.95})
+Step 3200, Loss: {'mse_loss': 0.08684257417917252, 'mee_loss': 0.3958175480365753, 'totoal_loss': 0.08684257417917252, 'data_time': 0.00044414191506803036, 'model_time': 0.48216238897293806, 'learning_rate': 6.4000000000000006e-06, 'epoch': 6.14})
+Step 3300, Loss: {'mse_loss': 0.0678066834807396, 'mee_loss': 0.21022407710552216, 'totoal_loss': 0.0678066834807396, 'data_time': 0.00038756895810365677, 'model_time': 0.47138296999037266, 'learning_rate': 6.600000000000001e-06, 'epoch': 6.33})
+Step 3400, Loss: {'mse_loss': 0.0956898182630539, 'mee_loss': 0.4462190270423889, 'totoal_loss': 0.0956898182630539, 'data_time': 0.0005097320536151528, 'model_time': 0.5852154600434005, 'learning_rate': 6.800000000000001e-06, 'epoch': 6.53})
+Step 3500, Loss: {'mse_loss': 0.07128877937793732, 'mee_loss': 0.265878289937973, 'totoal_loss': 0.07128877937793732, 'data_time': 0.0006683298852294683, 'model_time': 0.48295366601087153, 'learning_rate': 7e-06, 'epoch': 6.72})
+Step 3600, Loss: {'mse_loss': 0.06864033639431, 'mee_loss': 0.2228153944015503, 'totoal_loss': 0.06864033639431, 'data_time': 0.008430381072685122, 'model_time': 0.5813505109399557, 'learning_rate': 7.2000000000000005e-06, 'epoch': 6.91})
+Step 3700, Loss: {'mse_loss': 0.07846735417842865, 'mee_loss': 0.35466814041137695, 'totoal_loss': 0.07846735417842865, 'data_time': 0.017379302065819502, 'model_time': 0.48585627996362746, 'learning_rate': 7.4e-06, 'epoch': 7.1})
+Step 3800, Loss: {'mse_loss': 0.07822701334953308, 'mee_loss': 0.2452048808336258, 'totoal_loss': 0.07822701334953308, 'data_time': 0.015240628970786929, 'model_time': 0.48535657895263284, 'learning_rate': 7.600000000000001e-06, 'epoch': 7.29})
+Step 3900, Loss: {'mse_loss': 0.0650847926735878, 'mee_loss': 0.24479137361049652, 'totoal_loss': 0.0650847926735878, 'data_time': 0.021114476025104523, 'model_time': 0.44786792097147554, 'learning_rate': 7.800000000000002e-06, 'epoch': 7.49})
+Step 4000, Loss: {'mse_loss': 0.07371465116739273, 'mee_loss': 0.26168060302734375, 'totoal_loss': 0.07371465116739273, 'data_time': 0.017040899023413658, 'model_time': 0.48534609691705555, 'learning_rate': 8.000000000000001e-06, 'epoch': 7.68})
+Step 4100, Loss: {'mse_loss': 0.07372670620679855, 'mee_loss': 0.21224357187747955, 'totoal_loss': 0.07372670620679855, 'data_time': 0.014164766063913703, 'model_time': 0.4802863720105961, 'learning_rate': 8.2e-06, 'epoch': 7.87})
+Step 4200, Loss: {'mse_loss': 0.07656310498714447, 'mee_loss': 0.3232932686805725, 'totoal_loss': 0.07656310498714447, 'data_time': 0.014167926972731948, 'model_time': 0.4988361920695752, 'learning_rate': 8.400000000000001e-06, 'epoch': 8.06})
+Step 4300, Loss: {'mse_loss': 0.06072977930307388, 'mee_loss': 0.22818124294281006, 'totoal_loss': 0.06072977930307388, 'data_time': 0.009894507005810738, 'model_time': 0.5002402610844001, 'learning_rate': 8.6e-06, 'epoch': 8.25})
+Step 4400, Loss: {'mse_loss': 0.06789009273052216, 'mee_loss': 0.22772832214832306, 'totoal_loss': 0.06789009273052216, 'data_time': 0.008363208966329694, 'model_time': 0.5038460029754788, 'learning_rate': 8.8e-06, 'epoch': 8.45})
+Step 4500, Loss: {'mse_loss': 0.08092599362134933, 'mee_loss': 0.3142160475254059, 'totoal_loss': 0.08092599362134933, 'data_time': 0.010960560059174895, 'model_time': 0.4817231099586934, 'learning_rate': 9e-06, 'epoch': 8.64})
+Step 4600, Loss: {'mse_loss': 0.06419926136732101, 'mee_loss': 0.24709738790988922, 'totoal_loss': 0.06419926136732101, 'data_time': 0.010053694946691394, 'model_time': 0.4791861070552841, 'learning_rate': 9.200000000000002e-06, 'epoch': 8.83})
+Step 4700, Loss: {'mse_loss': 0.0816379114985466, 'mee_loss': 0.39110276103019714, 'totoal_loss': 0.0816379114985466, 'data_time': 0.012461783015169203, 'model_time': 0.49818769400008023, 'learning_rate': 9.4e-06, 'epoch': 9.02})
+Step 4800, Loss: {'mse_loss': 0.047887273132801056, 'mee_loss': 0.1416158527135849, 'totoal_loss': 0.047887273132801056, 'data_time': 0.009786417009308934, 'model_time': 0.45289823703933507, 'learning_rate': 9.600000000000001e-06, 'epoch': 9.21})
+Step 4900, Loss: {'mse_loss': 0.05853164568543434, 'mee_loss': 0.21937492489814758, 'totoal_loss': 0.05853164568543434, 'data_time': 0.011688714032061398, 'model_time': 0.45831694605294615, 'learning_rate': 9.800000000000001e-06, 'epoch': 9.4})
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+Step 9900, Loss: {'mse_loss': 0.03084014356136322, 'mee_loss': 0.06915349513292313, 'totoal_loss': 0.03084014356136322, 'data_time': 1.9487271460238844, 'model_time': 0.8205386729678139, 'learning_rate': 9.104653847246273e-06, 'epoch': 19.0})
+Step 10000, Loss: {'mse_loss': 0.025732925161719322, 'mee_loss': 0.040653277188539505, 'totoal_loss': 0.025732925161719322, 'data_time': 0.00041666801553219557, 'model_time': 0.524865934974514, 'learning_rate': 9.068957847577869e-06, 'epoch': 19.19})
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+Step 10600, Loss: {'mse_loss': 0.028104165568947792, 'mee_loss': 0.08720956742763519, 'totoal_loss': 0.028104165568947792, 'data_time': 0.020577034098096192, 'model_time': 0.47945568698924035, 'learning_rate': 8.841907241180809e-06, 'epoch': 20.35})
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+Step 10900, Loss: {'mse_loss': 0.031620245426893234, 'mee_loss': 0.1079602986574173, 'totoal_loss': 0.031620245426893234, 'data_time': 0.01664683106355369, 'model_time': 0.47528505593072623, 'learning_rate': 8.720376447121098e-06, 'epoch': 20.92})
+Step 11000, Loss: {'mse_loss': 0.02751043811440468, 'mee_loss': 0.0804973915219307, 'totoal_loss': 0.02751043811440468, 'data_time': 0.012751062982715666, 'model_time': 0.47269402199890465, 'learning_rate': 8.678722058679382e-06, 'epoch': 21.11})
+Step 11100, Loss: {'mse_loss': 0.032703205943107605, 'mee_loss': 0.13752345740795135, 'totoal_loss': 0.032703205943107605, 'data_time': 0.016251529101282358, 'model_time': 0.5345636749407277, 'learning_rate': 8.636506496328546e-06, 'epoch': 21.31})
+Step 11200, Loss: {'mse_loss': 0.023809203878045082, 'mee_loss': 0.05045448988676071, 'totoal_loss': 0.023809203878045082, 'data_time': 0.008282380993478, 'model_time': 0.49101925699505955, 'learning_rate': 8.593736426395268e-06, 'epoch': 21.5})
+Step 11300, Loss: {'mse_loss': 0.031258780509233475, 'mee_loss': 0.07497140020132065, 'totoal_loss': 0.031258780509233475, 'data_time': 0.009339361917227507, 'model_time': 0.48900141392368823, 'learning_rate': 8.550418602769392e-06, 'epoch': 21.69})
+Step 11400, Loss: {'mse_loss': 0.03146164119243622, 'mee_loss': 0.12176281958818436, 'totoal_loss': 0.03146164119243622, 'data_time': 0.013083287049084902, 'model_time': 0.49732539895921946, 'learning_rate': 8.506559865837425e-06, 'epoch': 21.88})
+Step 11500, Loss: {'mse_loss': 0.03580903634428978, 'mee_loss': 0.1211295798420906, 'totoal_loss': 0.03580903634428978, 'data_time': 0.009858589037321508, 'model_time': 0.4610913769574836, 'learning_rate': 8.462167141402359e-06, 'epoch': 22.07})
+Step 11600, Loss: {'mse_loss': 0.03523264452815056, 'mee_loss': 0.10238606482744217, 'totoal_loss': 0.03523264452815056, 'data_time': 0.008176155970431864, 'model_time': 0.4701302560279146, 'learning_rate': 8.417247439589994e-06, 'epoch': 22.26})
+Step 11700, Loss: {'mse_loss': 0.0233283881098032, 'mee_loss': 0.0312290508300066, 'totoal_loss': 0.0233283881098032, 'data_time': 0.008007803931832314, 'model_time': 0.5597198300529271, 'learning_rate': 8.371807853741978e-06, 'epoch': 22.46})
+Step 11800, Loss: {'mse_loss': 0.031899042427539825, 'mee_loss': 0.130262091755867, 'totoal_loss': 0.031899042427539825, 'data_time': 0.009037883020937443, 'model_time': 0.4858656119322404, 'learning_rate': 8.325855559295663e-06, 'epoch': 22.65})
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+Step 15100, Loss: {'mse_loss': 0.020422732457518578, 'mee_loss': 0.08482804894447327, 'totoal_loss': 0.020422732457518578, 'data_time': 0.018497936078347266, 'model_time': 0.4834598689340055, 'learning_rate': 6.573077710188046e-06, 'epoch': 28.98})
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+Step 15400, Loss: {'mse_loss': 0.017871685326099396, 'mee_loss': 0.027947204187512398, 'totoal_loss': 0.017871685326099396, 'data_time': 0.011792035074904561, 'model_time': 0.47723485797178, 'learning_rate': 6.396602343163248e-06, 'epoch': 29.56})
+Step 15500, Loss: {'mse_loss': 0.02059691771864891, 'mee_loss': 0.05044201388955116, 'totoal_loss': 0.02059691771864891, 'data_time': 0.0006490669911727309, 'model_time': 0.5173307580407709, 'learning_rate': 6.337363199928669e-06, 'epoch': 29.75})
+Step 15600, Loss: {'mse_loss': 0.020324690267443657, 'mee_loss': 0.06817500293254852, 'totoal_loss': 0.020324690267443657, 'data_time': 0.027594969025813043, 'model_time': 0.47906379494816065, 'learning_rate': 6.277932610490659e-06, 'epoch': 29.94})
+Step 15700, Loss: {'mse_loss': 0.020294515416026115, 'mee_loss': 0.06004614010453224, 'totoal_loss': 0.020294515416026115, 'data_time': 0.00922861706931144, 'model_time': 0.4926210748963058, 'learning_rate': 6.218319959628234e-06, 'epoch': 30.13})
+Step 15800, Loss: {'mse_loss': 0.018183551728725433, 'mee_loss': 0.03258785232901573, 'totoal_loss': 0.018183551728725433, 'data_time': 0.008611702942289412, 'model_time': 0.4774791590170935, 'learning_rate': 6.158534660870018e-06, 'epoch': 30.33})
+Step 15900, Loss: {'mse_loss': 0.02154693752527237, 'mee_loss': 0.0563356876373291, 'totoal_loss': 0.02154693752527237, 'data_time': 0.009200829081237316, 'model_time': 0.45942945510614663, 'learning_rate': 6.0985861550077345e-06, 'epoch': 30.52})
+Step 16000, Loss: {'mse_loss': 0.023977020755410194, 'mee_loss': 0.08774501830339432, 'totoal_loss': 0.023977020755410194, 'data_time': 0.012080902000889182, 'model_time': 0.4827745909569785, 'learning_rate': 6.0384839086054095e-06, 'epoch': 30.71})
+Step 16100, Loss: {'mse_loss': 0.017735052853822708, 'mee_loss': 0.04364673048257828, 'totoal_loss': 0.017735052853822708, 'data_time': 0.00946764403488487, 'model_time': 0.5118286130018532, 'learning_rate': 5.978237412504472e-06, 'epoch': 30.9})
+Step 16200, Loss: {'mse_loss': 0.021545352414250374, 'mee_loss': 0.053998686373233795, 'totoal_loss': 0.021545352414250374, 'data_time': 0.016661479021422565, 'model_time': 0.493977666948922, 'learning_rate': 5.917856180325059e-06, 'epoch': 31.09})
+Step 16300, Loss: {'mse_loss': 0.01710779219865799, 'mee_loss': 0.017899129539728165, 'totoal_loss': 0.01710779219865799, 'data_time': 0.01891958701889962, 'model_time': 0.46540862298570573, 'learning_rate': 5.857349746963692e-06, 'epoch': 31.29})
+Step 16400, Loss: {'mse_loss': 0.015392224304378033, 'mee_loss': 0.027906015515327454, 'totoal_loss': 0.015392224304378033, 'data_time': 0.017025258974172175, 'model_time': 0.47719271294772625, 'learning_rate': 5.796727667087611e-06, 'epoch': 31.48})
+Step 16500, Loss: {'mse_loss': 0.018715988844633102, 'mee_loss': 0.03332793712615967, 'totoal_loss': 0.018715988844633102, 'data_time': 0.015313962940126657, 'model_time': 0.49166355398483574, 'learning_rate': 5.735999513625984e-06, 'epoch': 31.67})
+Step 16600, Loss: {'mse_loss': 0.01714044064283371, 'mee_loss': 0.04345285892486572, 'totoal_loss': 0.01714044064283371, 'data_time': 0.01646898000035435, 'model_time': 0.46192538901232183, 'learning_rate': 5.675174876258223e-06, 'epoch': 31.86})
+Step 16700, Loss: {'mse_loss': 0.01823171228170395, 'mee_loss': 0.03531607240438461, 'totoal_loss': 0.01823171228170395, 'data_time': 0.019128472893498838, 'model_time': 0.4940579030662775, 'learning_rate': 5.614263359899673e-06, 'epoch': 32.05})
+Step 16800, Loss: {'mse_loss': 0.020394662395119667, 'mee_loss': 0.05958736687898636, 'totoal_loss': 0.020394662395119667, 'data_time': 0.017035733093507588, 'model_time': 0.46978603093884885, 'learning_rate': 5.553274583184875e-06, 'epoch': 32.25})
+Step 16900, Loss: {'mse_loss': 0.027249865233898163, 'mee_loss': 0.08615685999393463, 'totoal_loss': 0.027249865233898163, 'data_time': 0.01787405798677355, 'model_time': 0.46612468105740845, 'learning_rate': 5.492218176948673e-06, 'epoch': 32.44})
+Step 17000, Loss: {'mse_loss': 0.02620171196758747, 'mee_loss': 0.11052901297807693, 'totoal_loss': 0.02620171196758747, 'data_time': 0.019427191000431776, 'model_time': 0.4940977960359305, 'learning_rate': 5.431103782705404e-06, 'epoch': 32.63})
+Step 17100, Loss: {'mse_loss': 0.014884312637150288, 'mee_loss': 0.03219320997595787, 'totoal_loss': 0.014884312637150288, 'data_time': 0.027396460063755512, 'model_time': 0.7032959170173854, 'learning_rate': 5.369941051126377e-06, 'epoch': 32.82})
+Step 17200, Loss: {'mse_loss': 0.02364204451441765, 'mee_loss': 0.07390113919973373, 'totoal_loss': 0.02364204451441765, 'data_time': 0.00806825200561434, 'model_time': 0.5169160619843751, 'learning_rate': 5.308739640515932e-06, 'epoch': 33.01})
+Step 17300, Loss: {'mse_loss': 0.01582956686615944, 'mee_loss': 0.021648475900292397, 'totoal_loss': 0.01582956686615944, 'data_time': 0.010299279005266726, 'model_time': 0.47546051803510636, 'learning_rate': 5.24750921528627e-06, 'epoch': 33.21})
+Step 17400, Loss: {'mse_loss': 0.01840454898774624, 'mee_loss': 0.0562262237071991, 'totoal_loss': 0.01840454898774624, 'data_time': 0.007822147919796407, 'model_time': 0.48095112398732454, 'learning_rate': 5.186259444431344e-06, 'epoch': 33.4})
+Step 17500, Loss: {'mse_loss': 0.022812576964497566, 'mee_loss': 0.0707157552242279, 'totoal_loss': 0.022812576964497566, 'data_time': 0.011068267980590463, 'model_time': 0.5009643560042605, 'learning_rate': 5.125e-06, 'epoch': 33.59})
+Step 17600, Loss: {'mse_loss': 0.019241372123360634, 'mee_loss': 0.03905840590596199, 'totoal_loss': 0.019241372123360634, 'data_time': 0.011217007064260542, 'model_time': 0.49553536798339337, 'learning_rate': 5.063740555568656e-06, 'epoch': 33.78})
+Step 17700, Loss: {'mse_loss': 0.0208224318921566, 'mee_loss': 0.07597643882036209, 'totoal_loss': 0.0208224318921566, 'data_time': 0.00764601503033191, 'model_time': 0.47331212495919317, 'learning_rate': 5.002490784713731e-06, 'epoch': 33.97})
+Step 17800, Loss: {'mse_loss': 0.02437174879014492, 'mee_loss': 0.07029029726982117, 'totoal_loss': 0.02437174879014492, 'data_time': 0.008492927998304367, 'model_time': 0.4917505868943408, 'learning_rate': 4.9412603594840695e-06, 'epoch': 34.17})
+Step 17900, Loss: {'mse_loss': 0.01817294955253601, 'mee_loss': 0.036708764731884, 'totoal_loss': 0.01817294955253601, 'data_time': 0.011749802040867507, 'model_time': 0.4674680159660056, 'learning_rate': 4.8800589488736245e-06, 'epoch': 34.36})
+Step 18000, Loss: {'mse_loss': 0.018274899572134018, 'mee_loss': 0.0372367762029171, 'totoal_loss': 0.018274899572134018, 'data_time': 0.009589629014953971, 'model_time': 0.47578321408946067, 'learning_rate': 4.818896217294598e-06, 'epoch': 34.55})
+Step 18100, Loss: {'mse_loss': 0.017229489982128143, 'mee_loss': 0.04311258718371391, 'totoal_loss': 0.017229489982128143, 'data_time': 0.008692495990544558, 'model_time': 0.48546482098754495, 'learning_rate': 4.757781823051329e-06, 'epoch': 34.74})
+Step 18200, Loss: {'mse_loss': 0.018887903541326523, 'mee_loss': 0.03223519027233124, 'totoal_loss': 0.018887903541326523, 'data_time': 0.0091112379450351, 'model_time': 0.4784048299770802, 'learning_rate': 4.696725416815128e-06, 'epoch': 34.93})
+Step 18300, Loss: {'mse_loss': 0.02132924646139145, 'mee_loss': 0.06487242877483368, 'totoal_loss': 0.02132924646139145, 'data_time': 0.0005331010324880481, 'model_time': 0.4801768589532003, 'learning_rate': 4.635736640100327e-06, 'epoch': 35.12})
+Step 18400, Loss: {'mse_loss': 0.019533967599272728, 'mee_loss': 0.036111507564783096, 'totoal_loss': 0.019533967599272728, 'data_time': 0.0006496200803667307, 'model_time': 0.5723382610594854, 'learning_rate': 4.574825123741778e-06, 'epoch': 35.32})
+Step 18500, Loss: {'mse_loss': 0.022603042423725128, 'mee_loss': 0.07011549174785614, 'totoal_loss': 0.022603042423725128, 'data_time': 0.00036204990465193987, 'model_time': 0.48289972194470465, 'learning_rate': 4.5140004863740165e-06, 'epoch': 35.51})
+Step 18600, Loss: {'mse_loss': 0.016963886097073555, 'mee_loss': 0.07713906466960907, 'totoal_loss': 0.016963886097073555, 'data_time': 0.00036201602779328823, 'model_time': 0.4977987529709935, 'learning_rate': 4.45327233291239e-06, 'epoch': 35.7})
+Step 18700, Loss: {'mse_loss': 0.019475005567073822, 'mee_loss': 0.039921894669532776, 'totoal_loss': 0.019475005567073822, 'data_time': 0.0006485050544142723, 'model_time': 0.57718899496831, 'learning_rate': 4.39265025303631e-06, 'epoch': 35.89})
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+Step 22500, Loss: {'mse_loss': 0.015181394293904305, 'mee_loss': 0.020142050459980965, 'totoal_loss': 0.015181394293904305, 'data_time': 0.00038900203071534634, 'model_time': 0.48283463797997683, 'learning_rate': 2.2595468950741943e-06, 'epoch': 43.19})
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+Step 23300, Loss: {'mse_loss': 0.015757903456687927, 'mee_loss': 0.029635006561875343, 'totoal_loss': 0.015757903456687927, 'data_time': 0.01019759092014283, 'model_time': 0.5732169130351394, 'learning_rate': 1.8781921462580238e-06, 'epoch': 44.72})
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+Step 23600, Loss: {'mse_loss': 0.01657421700656414, 'mee_loss': 0.0555318221449852, 'totoal_loss': 0.01657421700656414, 'data_time': 0.008409793023020029, 'model_time': 0.4562821720028296, 'learning_rate': 1.7434401341625765e-06, 'epoch': 45.3})
+Step 23700, Loss: {'mse_loss': 0.018887463957071304, 'mee_loss': 0.05951157957315445, 'totoal_loss': 0.018887463957071304, 'data_time': 0.007715523010119796, 'model_time': 0.4625048979651183, 'learning_rate': 1.6995813972306108e-06, 'epoch': 45.49})
+Step 23800, Loss: {'mse_loss': 0.0160024743527174, 'mee_loss': 0.044039443135261536, 'totoal_loss': 0.0160024743527174, 'data_time': 0.009870621026493609, 'model_time': 0.47071542404592037, 'learning_rate': 1.656263573604734e-06, 'epoch': 45.68})
+Step 23900, Loss: {'mse_loss': 0.011977274902164936, 'mee_loss': 0.015211899764835835, 'totoal_loss': 0.011977274902164936, 'data_time': 0.016138008097186685, 'model_time': 0.5762804700061679, 'learning_rate': 1.613493503671454e-06, 'epoch': 45.87})
+Step 24000, Loss: {'mse_loss': 0.011795295402407646, 'mee_loss': 0.01230308786034584, 'totoal_loss': 0.011795295402407646, 'data_time': 0.020158802974037826, 'model_time': 0.49749576998874545, 'learning_rate': 1.5712779413206198e-06, 'epoch': 46.07})
+Step 24100, Loss: {'mse_loss': 0.017991119995713234, 'mee_loss': 0.046838730573654175, 'totoal_loss': 0.017991119995713234, 'data_time': 0.022005631937645376, 'model_time': 0.537227638065815, 'learning_rate': 1.5296235528789028e-06, 'epoch': 46.26})
+Step 24200, Loss: {'mse_loss': 0.016794322058558464, 'mee_loss': 0.05082022026181221, 'totoal_loss': 0.016794322058558464, 'data_time': 0.02747456799261272, 'model_time': 0.5092471740208566, 'learning_rate': 1.4885369160571124e-06, 'epoch': 46.45})
+Step 24300, Loss: {'mse_loss': 0.013813383877277374, 'mee_loss': 0.0285464096814394, 'totoal_loss': 0.013813383877277374, 'data_time': 0.01663622190244496, 'model_time': 0.4731943990336731, 'learning_rate': 1.4480245189114938e-06, 'epoch': 46.64})
+Step 24400, Loss: {'mse_loss': 0.015328695066273212, 'mee_loss': 0.03035564348101616, 'totoal_loss': 0.015328695066273212, 'data_time': 0.017462947056628764, 'model_time': 0.5083710870239884, 'learning_rate': 1.408092758819191e-06, 'epoch': 46.83})
+Step 24500, Loss: {'mse_loss': 0.010776976123452187, 'mee_loss': 0.009857322089374065, 'totoal_loss': 0.010776976123452187, 'data_time': 0.0004016950260847807, 'model_time': 0.4861771030118689, 'learning_rate': 1.368747941468028e-06, 'epoch': 47.02})
+Step 24600, Loss: {'mse_loss': 0.011353714391589165, 'mee_loss': 0.01187348086386919, 'totoal_loss': 0.011353714391589165, 'data_time': 0.0003752190386876464, 'model_time': 0.4848472689045593, 'learning_rate': 1.3299962798607614e-06, 'epoch': 47.22})
+Step 24700, Loss: {'mse_loss': 0.017197709530591965, 'mee_loss': 0.04604127258062363, 'totoal_loss': 0.017197709530591965, 'data_time': 0.00037222402170300484, 'model_time': 0.5118181940633804, 'learning_rate': 1.2918438933339827e-06, 'epoch': 47.41})
+Step 24800, Loss: {'mse_loss': 0.019529098644852638, 'mee_loss': 0.06509575247764587, 'totoal_loss': 0.019529098644852638, 'data_time': 0.0004475190071389079, 'model_time': 0.5012579059693962, 'learning_rate': 1.2542968065918027e-06, 'epoch': 47.6})
+Step 24900, Loss: {'mse_loss': 0.015240790322422981, 'mee_loss': 0.01722591742873192, 'totoal_loss': 0.015240790322422981, 'data_time': 0.000507791992276907, 'model_time': 0.49593197100330144, 'learning_rate': 1.217360948754476e-06, 'epoch': 47.79})
+Step 25000, Loss: {'mse_loss': 0.017758185043931007, 'mee_loss': 0.07196380198001862, 'totoal_loss': 0.017758185043931007, 'data_time': 0.00033595203422009945, 'model_time': 0.467232107068412, 'learning_rate': 1.1810421524221318e-06, 'epoch': 47.98})
+Step 25100, Loss: {'mse_loss': 0.011278989724814892, 'mee_loss': 0.010186403058469296, 'totoal_loss': 0.011278989724814892, 'data_time': 0.017148153041489422, 'model_time': 0.5570348870242015, 'learning_rate': 1.1453461527537284e-06, 'epoch': 48.18})
+Step 25200, Loss: {'mse_loss': 0.01534994039684534, 'mee_loss': 0.03974821791052818, 'totoal_loss': 0.01534994039684534, 'data_time': 0.01569273101631552, 'model_time': 0.5039239999605343, 'learning_rate': 1.1102785865614162e-06, 'epoch': 48.37})
+Step 25300, Loss: {'mse_loss': 0.013288128189742565, 'mee_loss': 0.01553554367274046, 'totoal_loss': 0.013288128189742565, 'data_time': 0.017923004925251007, 'model_time': 0.4719519939972088, 'learning_rate': 1.0758449914204127e-06, 'epoch': 48.56})
+Step 25400, Loss: {'mse_loss': 0.011922398582100868, 'mee_loss': 0.024896422401070595, 'totoal_loss': 0.011922398582100868, 'data_time': 0.016063429997302592, 'model_time': 0.5853567719459534, 'learning_rate': 1.0420508047945595e-06, 'epoch': 48.75})
+Step 25500, Loss: {'mse_loss': 0.011832167394459248, 'mee_loss': 0.015085304155945778, 'totoal_loss': 0.011832167394459248, 'data_time': 0.019186615012586117, 'model_time': 0.5735580209875479, 'learning_rate': 1.0089013631776776e-06, 'epoch': 48.94})
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libero_spatial_2B/starvla_qwen_oft/config.json

@@ -0,0 +1,129 @@
+{
+  "run_id": "starvla_qwen_oft",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_spatial_2B",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": false,
+  "mee_weight": 0.01,
+  "framework": {
+    "name": "QwenOFT",
+    "qwenvl": {
+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
+    },
+    "dino": {
+      "dino_backbone": "dinov2_vits14"
+    },
+    "action_model": {
+      "action_model_type": "DiT-B",
+      "action_hidden_dim": 2,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 7,
+      "state_dim": 7,
+      "future_action_window_size": 7,
+      "action_horizon": 8,
+      "past_action_window_size": 0,
+      "repeated_diffusion_steps": 8,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 4,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
+        "cross_attention_dim": 2048,
+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    },
+    "reduce_in_full_precision": true
+  },
+  "datasets": {
+    "vlm_data": {
+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_spatial",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 30000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
+    },
+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
+    },
+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_spatial_2B/starvla_qwen_oft"
+}

libero_spatial_2B/starvla_qwen_oft/dataset_statistics.json

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

libero_spatial_2B/starvla_qwen_oft/final_model/pytorch_model.pt

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+size 4961646354

libero_spatial_2B/starvla_qwen_oft/libero_eval_libero_spatial.log

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+Task suite: libero_spatial
+
+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 150 (100.0%)
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+Current total success rate: 1.0
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl 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 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: 445 (98.9%)
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+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 451
+# successes: 446 (98.9%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 452
+# successes: 447 (98.9%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 453
+# successes: 448 (98.9%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 454
+# successes: 449 (98.9%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 455
+# successes: 450 (98.9%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: False
+# episodes completed so far: 456
+# successes: 450 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 457
+# successes: 451 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 458
+# successes: 452 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 459
+# successes: 453 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 460
+# successes: 454 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 461
+# successes: 455 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 462
+# successes: 456 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 463
+# successes: 457 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 464
+# successes: 458 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 465
+# successes: 459 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 466
+# successes: 460 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 467
+# successes: 461 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 468
+# successes: 462 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 469
+# successes: 463 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 470
+# successes: 464 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 471
+# successes: 465 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 472
+# successes: 466 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 473
+# successes: 467 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 474
+# successes: 468 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 475
+# successes: 469 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 476
+# successes: 470 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 477
+# successes: 471 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 478
+# successes: 472 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 479
+# successes: 473 (98.7%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 480
+# successes: 474 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 481
+# successes: 475 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 482
+# successes: 476 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 483
+# successes: 477 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 484
+# successes: 478 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 485
+# successes: 479 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 486
+# successes: 480 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 487
+# successes: 481 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 488
+# successes: 482 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 489
+# successes: 483 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 490
+# successes: 484 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 491
+# successes: 485 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 492
+# successes: 486 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 493
+# successes: 487 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 494
+# successes: 488 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 495
+# successes: 489 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 496
+# successes: 490 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 497
+# successes: 491 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 498
+# successes: 492 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 499
+# successes: 493 (98.8%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 500
+# successes: 494 (98.8%)
+Current task success rate: 0.98
+Current total success rate: 0.988

libero_spatial_2B/starvla_qwen_oft/libero_spatial.log

@@ -0,0 +1,300 @@
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+Step 5000, Loss: {'mse_loss': 0.06754056364297867, 'totoal_loss': 0.06754056364297867, 'data_time': 0.008471362991258502, 'model_time': 0.4916091310151387, 'learning_rate': 1e-05, 'epoch': 12.11})
+Step 5100, Loss: {'mse_loss': 0.06341017782688141, 'totoal_loss': 0.06341017782688141, 'data_time': 0.013125273020705208, 'model_time': 0.4859031509840861, 'learning_rate': 9.999615090493604e-06, 'epoch': 12.35})
+Step 5200, Loss: {'mse_loss': 0.0658232569694519, 'totoal_loss': 0.0658232569694519, 'data_time': 0.00805698600015603, 'model_time': 0.4976049519900698, 'learning_rate': 9.998460422756089e-06, 'epoch': 12.59})
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+Step 5700, Loss: {'mse_loss': 0.05369550734758377, 'totoal_loss': 0.05369550734758377, 'data_time': 0.0003550680121406913, 'model_time': 0.512927698000567, 'learning_rate': 9.981151344572967e-06, 'epoch': 13.8})
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+Step 20900, Loss: {'mse_loss': 0.02678879164159298, 'totoal_loss': 0.02678879164159298, 'data_time': 0.018642816983629018, 'model_time': 0.4581019089964684, 'learning_rate': 3.10491904265774e-06, 'epoch': 50.61})
+Step 21000, Loss: {'mse_loss': 0.022152019664645195, 'totoal_loss': 0.022152019664645195, 'data_time': 0.017150765022961423, 'model_time': 0.4817946969997138, 'learning_rate': 3.0493259536202714e-06, 'epoch': 50.85})
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+Step 21500, Loss: {'mse_loss': 0.021497385576367378, 'totoal_loss': 0.021497385576367378, 'data_time': 0.019300530024338514, 'model_time': 0.5068306880129967, 'learning_rate': 2.7764508387541378e-06, 'epoch': 52.06})
+Step 21600, Loss: {'mse_loss': 0.02582739107310772, 'totoal_loss': 0.02582739107310772, 'data_time': 0.01624455300043337, 'model_time': 0.7967640830029268, 'learning_rate': 2.7229542099520797e-06, 'epoch': 52.3})
+Step 21700, Loss: {'mse_loss': 0.016075722873210907, 'totoal_loss': 0.016075722873210907, 'data_time': 0.017310560011537746, 'model_time': 0.5148490520077758, 'learning_rate': 2.669836892025666e-06, 'epoch': 52.54})
+Step 21800, Loss: {'mse_loss': 0.025254929438233376, 'totoal_loss': 0.025254929438233376, 'data_time': 0.01632441399851814, 'model_time': 0.46969504200387746, 'learning_rate': 2.6171072728151557e-06, 'epoch': 52.78})
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+Step 29700, Loss: {'mse_loss': 0.01451098546385765, 'totoal_loss': 0.01451098546385765, 'data_time': 0.0004118710057809949, 'model_time': 0.4740596210176591, 'learning_rate': 2.5346382087712764e-07, 'epoch': 71.91})
+Step 29800, Loss: {'mse_loss': 0.01803823560476303, 'totoal_loss': 0.01803823560476303, 'data_time': 0.007828898000298068, 'model_time': 0.49271443401812576, 'learning_rate': 2.515395772439128e-07, 'epoch': 72.15})
+Step 29900, Loss: {'mse_loss': 0.019600583240389824, 'totoal_loss': 0.019600583240389824, 'data_time': 0.010007982986280695, 'model_time': 0.5027895140228793, 'learning_rate': 2.5038490950639644e-07, 'epoch': 72.4})
+Step 30000, Loss: {'mse_loss': 0.01818872056901455, 'totoal_loss': 0.01818872056901455, 'mse_score': 0.0014435815225754464, 'data_time': 0.0078105909924488515, 'model_time': 0.5132662760152016, 'learning_rate': 2.5e-07, 'epoch': 72.64})