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libero_10_2B_mee1e-2_true/starvla_qwen_pi/config.json

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+{
+  "run_id": "starvla_qwen_pi",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_5/libero_10_2B_mee1e-2_true",
+  "seed": 0,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.01,
+  "enable_adaptive": true,
+  "framework": {
+    "name": "QwenPI",
+    "qwenvl": {
+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
+    },
+    "dino": {
+      "dino_backbone": "dinov2_vits14"
+    },
+    "action_model": {
+      "action_model_type": "DiT-B",
+      "action_hidden_dim": 2,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 7,
+      "state_dim": 7,
+      "future_action_window_size": 7,
+      "action_horizon": 8,
+      "past_action_window_size": 0,
+      "repeated_diffusion_steps": 8,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 4,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
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+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    },
+    "reduce_in_full_precision": true
+  },
+  "datasets": {
+    "vlm_data": {
+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_10",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 60000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
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+    "freeze_modules": null,
+    "loss_scale": {
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+      "vlm": 0.1
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+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
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+      "betas": [
+        0.9,
+        0.95
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+      "eps": 1e-08,
+      "weight_decay": 1e-08
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+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_5/libero_10_2B_mee1e-2_true/starvla_qwen_pi"
+}

libero_10_2B_mee1e-2_true/starvla_qwen_pi/dataset_statistics.json

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libero_10_2B_mee1e-2_true/starvla_qwen_pi/final_model/pytorch_model.pt

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+oid sha256:563a6b0f198563d7e5c327c6a49aa9095b0be956903ef7d901616f4931355237
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libero_10_2B_mee1e-2_true/starvla_qwen_pi/libero_10.log

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+Step 4200, Loss: {'mse_loss': 0.09386027604341507, 'mee_loss': 0.7909972071647644, 'totoal_loss': 0.09386027604341507, 'data_time': 0.022202176973223686, 'model_time': 0.758807743084617, 'learning_rate': 8.400000000000001e-06, 'epoch': 5.33})
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+Step 4500, Loss: {'mse_loss': 0.10873459279537201, 'mee_loss': 0.856681227684021, 'totoal_loss': 0.10873459279537201, 'data_time': 0.022136276005767286, 'model_time': 0.7563202891033143, 'learning_rate': 9e-06, 'epoch': 5.71})
+Step 4600, Loss: {'mse_loss': 0.11369528621435165, 'mee_loss': 0.7222472429275513, 'totoal_loss': 0.11369528621435165, 'data_time': 0.027143485960550606, 'model_time': 0.8288137810304761, 'learning_rate': 9.200000000000002e-06, 'epoch': 5.84})
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+Step 6900, Loss: {'mse_loss': 0.06786599010229111, 'mee_loss': 0.512142539024353, 'totoal_loss': 0.06786599010229111, 'data_time': 0.02280828100629151, 'model_time': 0.743455415009521, 'learning_rate': 9.861704697959036e-06, 'epoch': 8.76})
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+Step 7100, Loss: {'mse_loss': 0.05893222242593765, 'mee_loss': 0.49913105368614197, 'totoal_loss': 0.05893222242593765, 'data_time': 0.0074486699886620045, 'model_time': 0.7280498810578138, 'learning_rate': 9.831235489312212e-06, 'epoch': 9.01})
+Step 7200, Loss: {'mse_loss': 0.06650486588478088, 'mee_loss': 0.47658228874206543, 'totoal_loss': 0.06650486588478088, 'data_time': 0.007902076933532953, 'model_time': 0.7370407750131562, 'learning_rate': 9.814884898982168e-06, 'epoch': 9.14})
+Step 7300, Loss: {'mse_loss': 0.044213779270648956, 'mee_loss': 0.5478647351264954, 'totoal_loss': 0.044213779270648956, 'data_time': 0.008677642908878624, 'model_time': 0.7749877800233662, 'learning_rate': 9.797793721459709e-06, 'epoch': 9.26})
+Step 7400, Loss: {'mse_loss': 0.07100879400968552, 'mee_loss': 0.5198891162872314, 'totoal_loss': 0.07100879400968552, 'data_time': 0.00973831198643893, 'model_time': 0.7761379990261048, 'learning_rate': 9.779964655639886e-06, 'epoch': 9.39})
+Step 7500, Loss: {'mse_loss': 0.06812673807144165, 'mee_loss': 0.5530898571014404, 'totoal_loss': 0.06812673807144165, 'data_time': 0.0092260439414531, 'model_time': 0.7776535130105913, 'learning_rate': 9.761400516938874e-06, 'epoch': 9.52})
+Step 7600, Loss: {'mse_loss': 0.03601570054888725, 'mee_loss': 0.5421112179756165, 'totoal_loss': 0.03601570054888725, 'data_time': 0.007454341044649482, 'model_time': 0.7610773890046403, 'learning_rate': 9.74210423684938e-06, 'epoch': 9.64})
+Step 7700, Loss: {'mse_loss': 0.07169774174690247, 'mee_loss': 0.5543205738067627, 'totoal_loss': 0.07169774174690247, 'data_time': 0.01129721396137029, 'model_time': 0.7712653009220958, 'learning_rate': 9.722078862477715e-06, 'epoch': 9.77})
+Step 7800, Loss: {'mse_loss': 0.46229588985443115, 'mee_loss': 1.4389379024505615, 'totoal_loss': 0.46229588985443115, 'data_time': 0.008234991924837232, 'model_time': 0.7237026669317856, 'learning_rate': 9.701327556062637e-06, 'epoch': 9.9})
+Step 7900, Loss: {'mse_loss': 0.055790726095438004, 'mee_loss': 0.4196504056453705, 'totoal_loss': 0.055790726095438004, 'data_time': 0.016551523003727198, 'model_time': 0.7312905299477279, 'learning_rate': 9.679853594475985e-06, 'epoch': 10.03})
+Step 8000, Loss: {'mse_loss': 0.04934955760836601, 'mee_loss': 0.499231219291687, 'totoal_loss': 0.04934955760836601, 'data_time': 0.019586062990128994, 'model_time': 0.7481812710175291, 'learning_rate': 9.657660368705225e-06, 'epoch': 10.15})
+Step 8100, Loss: {'mse_loss': 0.03215963393449783, 'mee_loss': 0.40430909395217896, 'totoal_loss': 0.03215963393449783, 'data_time': 0.018485215958207846, 'model_time': 0.7870490630157292, 'learning_rate': 9.634751383317983e-06, 'epoch': 10.28})
+Step 8200, Loss: {'mse_loss': 0.0646325945854187, 'mee_loss': 0.3556864261627197, 'totoal_loss': 0.0646325945854187, 'data_time': 0.015419063973240554, 'model_time': 0.7331196459708735, 'learning_rate': 9.611130255908619e-06, 'epoch': 10.41})
+Step 8300, Loss: {'mse_loss': 0.09832295030355453, 'mee_loss': 0.49159252643585205, 'totoal_loss': 0.09832295030355453, 'data_time': 0.015556485974229872, 'model_time': 0.7425307300873101, 'learning_rate': 9.586800716526974e-06, 'epoch': 10.53})
+Step 8400, Loss: {'mse_loss': 0.09539172053337097, 'mee_loss': 0.45014679431915283, 'totoal_loss': 0.09539172053337097, 'data_time': 0.01693005091510713, 'model_time': 0.9924178280634806, 'learning_rate': 9.561766607089355e-06, 'epoch': 10.66})
+Step 8500, Loss: {'mse_loss': 0.08641795068979263, 'mee_loss': 0.4917270243167877, 'totoal_loss': 0.08641795068979263, 'data_time': 0.01947535399813205, 'model_time': 0.8245181239908561, 'learning_rate': 9.536031880771846e-06, 'epoch': 10.79})
+Step 8600, Loss: {'mse_loss': 0.03853495419025421, 'mee_loss': 0.4286261200904846, 'totoal_loss': 0.03853495419025421, 'data_time': 0.017406004946678877, 'model_time': 0.7448569890111685, 'learning_rate': 9.50960060138606e-06, 'epoch': 10.91})
+Step 8700, Loss: {'mse_loss': 0.06544222682714462, 'mee_loss': 0.47047266364097595, 'totoal_loss': 0.06544222682714462, 'data_time': 0.016022769967094064, 'model_time': 0.7958654980175197, 'learning_rate': 9.482476942737411e-06, 'epoch': 11.04})
+Step 8800, Loss: {'mse_loss': 0.056938666850328445, 'mee_loss': 0.4421361982822418, 'totoal_loss': 0.056938666850328445, 'data_time': 0.013572356896474957, 'model_time': 0.7476087959948927, 'learning_rate': 9.45466518796603e-06, 'epoch': 11.17})
+Step 8900, Loss: {'mse_loss': 0.04939054697751999, 'mee_loss': 0.3789576590061188, 'totoal_loss': 0.04939054697751999, 'data_time': 0.017455756897106767, 'model_time': 0.7807869830867276, 'learning_rate': 9.426169728870399e-06, 'epoch': 11.29})
+Step 9000, Loss: {'mse_loss': 0.055212296545505524, 'mee_loss': 0.5348489880561829, 'totoal_loss': 0.055212296545505524, 'data_time': 0.015972672030329704, 'model_time': 0.7270879199495539, 'learning_rate': 9.396995065213835e-06, 'epoch': 11.42})
+Step 9100, Loss: {'mse_loss': 0.053457800298929214, 'mee_loss': 0.33070337772369385, 'totoal_loss': 0.053457800298929214, 'data_time': 0.016735998913645744, 'model_time': 0.7611372569808736, 'learning_rate': 9.367145804013938e-06, 'epoch': 11.55})
+Step 9200, Loss: {'mse_loss': 0.07856844365596771, 'mee_loss': 0.5464756488800049, 'totoal_loss': 0.07856844365596771, 'data_time': 0.020590297994203866, 'model_time': 0.8092418329324573, 'learning_rate': 9.336626658815071e-06, 'epoch': 11.68})
+Step 9300, Loss: {'mse_loss': 0.05085271969437599, 'mee_loss': 0.40578019618988037, 'totoal_loss': 0.05085271969437599, 'data_time': 0.018078705994412303, 'model_time': 0.7463861729484051, 'learning_rate': 9.305442448944056e-06, 'epoch': 11.8})
+Step 9400, Loss: {'mse_loss': 0.01798899844288826, 'mee_loss': 0.35773026943206787, 'totoal_loss': 0.01798899844288826, 'data_time': 0.017013143049553037, 'model_time': 0.7392183480551466, 'learning_rate': 9.273598098749124e-06, 'epoch': 11.93})
+Step 9500, Loss: {'mse_loss': 0.06507351249456406, 'mee_loss': 0.42422351241111755, 'totoal_loss': 0.06507351249456406, 'data_time': 0.011041435995139182, 'model_time': 0.7518641130300239, 'learning_rate': 9.241098636822324e-06, 'epoch': 12.06})
+Step 9600, Loss: {'mse_loss': 0.08156165480613708, 'mee_loss': 0.4419828951358795, 'totoal_loss': 0.08156165480613708, 'data_time': 0.008531622006557882, 'model_time': 0.7317580870585516, 'learning_rate': 9.207949195205442e-06, 'epoch': 12.18})
+Step 9700, Loss: {'mse_loss': 0.07417156547307968, 'mee_loss': 0.4414217472076416, 'totoal_loss': 0.07417156547307968, 'data_time': 0.012556780013255775, 'model_time': 0.8052842619363219, 'learning_rate': 9.174155008579588e-06, 'epoch': 12.31})
+Step 9800, Loss: {'mse_loss': 0.04689968749880791, 'mee_loss': 0.3949102461338043, 'totoal_loss': 0.04689968749880791, 'data_time': 0.007882172940298915, 'model_time': 0.8203763340134174, 'learning_rate': 9.139721413438583e-06, 'epoch': 12.44})
+Step 9900, Loss: {'mse_loss': 0.0545845702290535, 'mee_loss': 0.4047486484050751, 'totoal_loss': 0.0545845702290535, 'data_time': 0.011250872048549354, 'model_time': 0.752139993943274, 'learning_rate': 9.104653847246273e-06, 'epoch': 12.56})
+Step 10000, Loss: {'mse_loss': 0.058530885726213455, 'mee_loss': 0.3682401776313782, 'totoal_loss': 0.06221328675746918, 'data_time': 0.008097816025838256, 'model_time': 0.7707128539914265, 'learning_rate': 9.068957847577869e-06, 'epoch': 12.69})
+Step 10100, Loss: {'mse_loss': 0.03379180654883385, 'mee_loss': 0.5042754411697388, 'totoal_loss': 0.03883456066250801, 'data_time': 0.007566991960629821, 'model_time': 0.7983752760337666, 'learning_rate': 9.032639051245524e-06, 'epoch': 12.82})
+Step 10200, Loss: {'mse_loss': 0.0402129702270031, 'mee_loss': 0.4194812774658203, 'totoal_loss': 0.044407784938812256, 'data_time': 0.008180757984519005, 'model_time': 0.7780605349689722, 'learning_rate': 8.995703193408199e-06, 'epoch': 12.94})
+Step 10300, Loss: {'mse_loss': 0.048691827803850174, 'mee_loss': 0.31560322642326355, 'totoal_loss': 0.05184786021709442, 'data_time': 0.014462438062764704, 'model_time': 0.7801663159625605, 'learning_rate': 8.958156106666017e-06, 'epoch': 13.07})
+Step 10400, Loss: {'mse_loss': 0.05096445605158806, 'mee_loss': 0.27912434935569763, 'totoal_loss': 0.05375570058822632, 'data_time': 0.01520582102239132, 'model_time': 0.7522147060371935, 'learning_rate': 8.92000372013924e-06, 'epoch': 13.2})
+Step 10500, Loss: {'mse_loss': 0.042559221386909485, 'mee_loss': 0.35276123881340027, 'totoal_loss': 0.046086832880973816, 'data_time': 0.019910249044187367, 'model_time': 0.7494869759539142, 'learning_rate': 8.881252058531973e-06, 'epoch': 13.32})
+Step 10600, Loss: {'mse_loss': 0.060420624911785126, 'mee_loss': 0.38040298223495483, 'totoal_loss': 0.06422465294599533, 'data_time': 0.015297814970836043, 'model_time': 0.7963526520179585, 'learning_rate': 8.841907241180809e-06, 'epoch': 13.45})
+Step 10700, Loss: {'mse_loss': 0.04836156591773033, 'mee_loss': 0.3743411898612976, 'totoal_loss': 0.052104976028203964, 'data_time': 0.015053199022077024, 'model_time': 0.9778309150133282, 'learning_rate': 8.801975481088507e-06, 'epoch': 13.58})
+Step 10800, Loss: {'mse_loss': 0.06667647510766983, 'mee_loss': 0.2704889476299286, 'totoal_loss': 0.06938136368989944, 'data_time': 0.01607134100049734, 'model_time': 0.7577912579290569, 'learning_rate': 8.761463083942889e-06, 'epoch': 13.71})
+Step 10900, Loss: {'mse_loss': 0.08626426011323929, 'mee_loss': 0.2944601774215698, 'totoal_loss': 0.08920886367559433, 'data_time': 0.014144577900879085, 'model_time': 0.8166530960006639, 'learning_rate': 8.720376447121098e-06, 'epoch': 13.83})
+Step 11000, Loss: {'mse_loss': 0.09957097470760345, 'mee_loss': 0.4231190085411072, 'totoal_loss': 0.1038021668791771, 'data_time': 0.01652610895689577, 'model_time': 0.7640987400664017, 'learning_rate': 8.678722058679382e-06, 'epoch': 13.96})
+Step 11100, Loss: {'mse_loss': 0.059370435774326324, 'mee_loss': 0.37462133169174194, 'totoal_loss': 0.0631166473031044, 'data_time': 0.007855775998905301, 'model_time': 0.7528073180001229, 'learning_rate': 8.636506496328546e-06, 'epoch': 14.09})
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+Step 15700, Loss: {'mse_loss': 0.043530650436878204, 'mee_loss': 0.2990604043006897, 'totoal_loss': 0.046521253883838654, 'data_time': 0.02016251301392913, 'model_time': 0.9609037929913029, 'learning_rate': 6.218319959628234e-06, 'epoch': 19.92})
+Step 15800, Loss: {'mse_loss': 0.03915230929851532, 'mee_loss': 0.2891594469547272, 'totoal_loss': 0.04204390197992325, 'data_time': 0.02054563898127526, 'model_time': 0.9882176929386333, 'learning_rate': 6.158534660870018e-06, 'epoch': 20.05})
+Step 15900, Loss: {'mse_loss': 0.023139648139476776, 'mee_loss': 0.28946399688720703, 'totoal_loss': 0.026034288108348846, 'data_time': 0.021385827916674316, 'model_time': 0.7352674460271373, 'learning_rate': 6.0985861550077345e-06, 'epoch': 20.18})
+Step 16000, Loss: {'mse_loss': 0.051631491631269455, 'mee_loss': 0.21387244760990143, 'totoal_loss': 0.053770214319229126, 'data_time': 0.022351321997120976, 'model_time': 0.7755108580458909, 'learning_rate': 6.0384839086054095e-06, 'epoch': 20.3})
+Step 16100, Loss: {'mse_loss': 0.030846359208226204, 'mee_loss': 0.19330976903438568, 'totoal_loss': 0.03277945518493652, 'data_time': 0.02225883095525205, 'model_time': 0.7555009679635987, 'learning_rate': 5.978237412504472e-06, 'epoch': 20.43})
+Step 16200, Loss: {'mse_loss': 0.03732875734567642, 'mee_loss': 0.22452807426452637, 'totoal_loss': 0.0395740382373333, 'data_time': 0.023314971942454576, 'model_time': 0.7555094229755923, 'learning_rate': 5.917856180325059e-06, 'epoch': 20.56})
+Step 16300, Loss: {'mse_loss': 0.02626713365316391, 'mee_loss': 0.21356600522994995, 'totoal_loss': 0.028402794152498245, 'data_time': 0.02082444599363953, 'model_time': 0.8075996610568836, 'learning_rate': 5.857349746963692e-06, 'epoch': 20.69})
+Step 16400, Loss: {'mse_loss': 0.026643166318535805, 'mee_loss': 0.2513338029384613, 'totoal_loss': 0.029156504198908806, 'data_time': 0.026932934997603297, 'model_time': 0.7393875760026276, 'learning_rate': 5.796727667087611e-06, 'epoch': 20.81})
+Step 16500, Loss: {'mse_loss': 0.026227343827486038, 'mee_loss': 0.27569979429244995, 'totoal_loss': 0.028984341770410538, 'data_time': 0.0268607180332765, 'model_time': 0.7656867949990556, 'learning_rate': 5.735999513625984e-06, 'epoch': 20.94})
+Step 16600, Loss: {'mse_loss': 0.01691611483693123, 'mee_loss': 0.19219325482845306, 'totoal_loss': 0.018838047981262207, 'data_time': 0.00854370603337884, 'model_time': 0.7199993210379034, 'learning_rate': 5.675174876258223e-06, 'epoch': 21.07})
+Step 16700, Loss: {'mse_loss': 0.06006768345832825, 'mee_loss': 0.20753255486488342, 'totoal_loss': 0.06214300915598869, 'data_time': 0.009882519021630287, 'model_time': 0.7491381480358541, 'learning_rate': 5.614263359899673e-06, 'epoch': 21.19})
+Step 16800, Loss: {'mse_loss': 0.049392618238925934, 'mee_loss': 0.23981313407421112, 'totoal_loss': 0.0517907477915287, 'data_time': 0.009735169005580246, 'model_time': 0.7232564870500937, 'learning_rate': 5.553274583184875e-06, 'epoch': 21.32})
+Step 16900, Loss: {'mse_loss': 0.021545924246311188, 'mee_loss': 0.21355153620243073, 'totoal_loss': 0.023681439459323883, 'data_time': 0.007787754060700536, 'model_time': 0.7524211399722844, 'learning_rate': 5.492218176948673e-06, 'epoch': 21.45})
+Step 17000, Loss: {'mse_loss': 0.03704637289047241, 'mee_loss': 0.2256474643945694, 'totoal_loss': 0.039302848279476166, 'data_time': 0.010550176026299596, 'model_time': 0.7770804830361158, 'learning_rate': 5.431103782705404e-06, 'epoch': 21.57})
+Step 17100, Loss: {'mse_loss': 0.03558516502380371, 'mee_loss': 0.17847518622875214, 'totoal_loss': 0.03736991807818413, 'data_time': 0.02296559209935367, 'model_time': 0.7547576149227098, 'learning_rate': 5.369941051126377e-06, 'epoch': 21.7})
+Step 17200, Loss: {'mse_loss': 0.029873907566070557, 'mee_loss': 0.2032473087310791, 'totoal_loss': 0.031906381249427795, 'data_time': 0.0312479060376063, 'model_time': 0.7338961159111932, 'learning_rate': 5.308739640515932e-06, 'epoch': 21.83})
+Step 17300, Loss: {'mse_loss': 0.024248750880360603, 'mee_loss': 0.18236328661441803, 'totoal_loss': 0.026072382926940918, 'data_time': 0.01687490998301655, 'model_time': 0.7151309839682654, 'learning_rate': 5.24750921528627e-06, 'epoch': 21.95})
+Step 17400, Loss: {'mse_loss': 0.012581774033606052, 'mee_loss': 0.19786880910396576, 'totoal_loss': 0.014560461975634098, 'data_time': 0.015607099048793316, 'model_time': 0.7784800939261913, 'learning_rate': 5.186259444431344e-06, 'epoch': 22.08})
+Step 17500, Loss: {'mse_loss': 0.013316120952367783, 'mee_loss': 0.20602338016033173, 'totoal_loss': 0.015376354567706585, 'data_time': 0.018837633077055216, 'model_time': 0.8196607629070058, 'learning_rate': 5.125e-06, 'epoch': 22.21})
+Step 17600, Loss: {'mse_loss': 0.011537500657141209, 'mee_loss': 0.17107033729553223, 'totoal_loss': 0.013248204253613949, 'data_time': 0.015661856974475086, 'model_time': 0.7501948440913111, 'learning_rate': 5.063740555568656e-06, 'epoch': 22.34})
+Step 17700, Loss: {'mse_loss': 0.009465831331908703, 'mee_loss': 0.13752968609333038, 'totoal_loss': 0.010841128416359425, 'data_time': 0.015108468942344189, 'model_time': 0.7596514779143035, 'learning_rate': 5.002490784713731e-06, 'epoch': 22.46})
+Step 17800, Loss: {'mse_loss': 0.01228947564959526, 'mee_loss': 0.2069297879934311, 'totoal_loss': 0.014358773827552795, 'data_time': 0.01900377101264894, 'model_time': 0.8793257870711386, 'learning_rate': 4.9412603594840695e-06, 'epoch': 22.59})
+Step 17900, Loss: {'mse_loss': 0.009234737604856491, 'mee_loss': 0.17014673352241516, 'totoal_loss': 0.01093620527535677, 'data_time': 0.017831027042120695, 'model_time': 0.827658083057031, 'learning_rate': 4.8800589488736245e-06, 'epoch': 22.72})
+Step 18000, Loss: {'mse_loss': 0.03629570081830025, 'mee_loss': 0.23103412985801697, 'totoal_loss': 0.03860604017972946, 'data_time': 0.014524845988489687, 'model_time': 0.7742183660157025, 'learning_rate': 4.818896217294598e-06, 'epoch': 22.84})
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+Step 22600, Loss: {'mse_loss': 0.01507597416639328, 'mee_loss': 0.1560554802417755, 'totoal_loss': 0.016636528074741364, 'data_time': 0.02459129609633237, 'model_time': 0.7624359549954534, 'learning_rate': 2.2102132075945974e-06, 'epoch': 28.68})
+Step 22700, Loss: {'mse_loss': 0.042792391031980515, 'mee_loss': 0.12870757281780243, 'totoal_loss': 0.04407946765422821, 'data_time': 0.021240752073936164, 'model_time': 0.9454744230024517, 'learning_rate': 2.1613397987388e-06, 'epoch': 28.81})
+Step 22800, Loss: {'mse_loss': 0.009062306955456734, 'mee_loss': 0.14297683537006378, 'totoal_loss': 0.010492075234651566, 'data_time': 0.020594551926478744, 'model_time': 0.7396178510971367, 'learning_rate': 2.1129343861846207e-06, 'epoch': 28.93})
+Step 22900, Loss: {'mse_loss': 0.010103855282068253, 'mee_loss': 0.11588776856660843, 'totoal_loss': 0.011262732557952404, 'data_time': 0.015425908961333334, 'model_time': 0.7782742719864473, 'learning_rate': 2.065004613707836e-06, 'epoch': 29.06})
+Step 23000, Loss: {'mse_loss': 0.03213484585285187, 'mee_loss': 0.1251361072063446, 'totoal_loss': 0.03338620811700821, 'data_time': 0.015070514054968953, 'model_time': 0.7245075850514695, 'learning_rate': 2.0175580499751375e-06, 'epoch': 29.19})
+Step 23100, Loss: {'mse_loss': 0.005111954174935818, 'mee_loss': 0.10968858003616333, 'totoal_loss': 0.006208839826285839, 'data_time': 0.01546546199824661, 'model_time': 0.7411750009050593, 'learning_rate': 1.9706021873489604e-06, 'epoch': 29.31})
+Step 23200, Loss: {'mse_loss': 0.014422903768718243, 'mee_loss': 0.13637752830982208, 'totoal_loss': 0.015786679461598396, 'data_time': 0.01611400197725743, 'model_time': 0.7782280980609357, 'learning_rate': 1.924144440704338e-06, 'epoch': 29.44})
+Step 23300, Loss: {'mse_loss': 0.018777096644043922, 'mee_loss': 0.18867437541484833, 'totoal_loss': 0.02066384069621563, 'data_time': 0.017179160960949957, 'model_time': 0.7371557379374281, 'learning_rate': 1.8781921462580238e-06, 'epoch': 29.57})
+Step 23400, Loss: {'mse_loss': 0.011078981682658195, 'mee_loss': 0.1303069144487381, 'totoal_loss': 0.012382050976157188, 'data_time': 0.01729433995205909, 'model_time': 0.7255077860318124, 'learning_rate': 1.8327525604100058e-06, 'epoch': 29.7})
+Step 23500, Loss: {'mse_loss': 0.010301743634045124, 'mee_loss': 0.12786994874477386, 'totoal_loss': 0.011580443009734154, 'data_time': 0.016762334038503468, 'model_time': 0.7814011119771749, 'learning_rate': 1.7878328585976426e-06, 'epoch': 29.82})
+Step 23600, Loss: {'mse_loss': 0.011318898759782314, 'mee_loss': 0.1411854326725006, 'totoal_loss': 0.012730753049254417, 'data_time': 0.015374582959339023, 'model_time': 0.7601074751000851, 'learning_rate': 1.7434401341625765e-06, 'epoch': 29.95})
+Step 23700, Loss: {'mse_loss': 0.02340720407664776, 'mee_loss': 0.13788552582263947, 'totoal_loss': 0.02478605881333351, 'data_time': 0.023703899001702666, 'model_time': 0.7416872440371662, 'learning_rate': 1.6995813972306108e-06, 'epoch': 30.08})
+Step 23800, Loss: {'mse_loss': 0.011916154064238071, 'mee_loss': 0.14639802277088165, 'totoal_loss': 0.013380134478211403, 'data_time': 0.02266333403531462, 'model_time': 0.7633068930590525, 'learning_rate': 1.656263573604734e-06, 'epoch': 30.2})
+Step 23900, Loss: {'mse_loss': 0.02744908630847931, 'mee_loss': 0.1570303738117218, 'totoal_loss': 0.029019389301538467, 'data_time': 0.020970104029402137, 'model_time': 0.7305991919711232, 'learning_rate': 1.613493503671454e-06, 'epoch': 30.33})
+Step 24000, Loss: {'mse_loss': 0.008612471632659435, 'mee_loss': 0.11528505384922028, 'totoal_loss': 0.00976532232016325, 'data_time': 0.02333674195688218, 'model_time': 0.7426741919480264, 'learning_rate': 1.5712779413206198e-06, 'epoch': 30.46})
+Step 24100, Loss: {'mse_loss': 0.009096885100007057, 'mee_loss': 0.11861613392829895, 'totoal_loss': 0.010283046402037144, 'data_time': 0.026617696043103933, 'model_time': 0.7475359659874812, 'learning_rate': 1.5296235528789028e-06, 'epoch': 30.58})
+Step 24200, Loss: {'mse_loss': 0.013185695745050907, 'mee_loss': 0.14507868885993958, 'totoal_loss': 0.014636483043432236, 'data_time': 0.021407905966043472, 'model_time': 0.7415987030835822, 'learning_rate': 1.4885369160571124e-06, 'epoch': 30.71})
+Step 24300, Loss: {'mse_loss': 0.013888061977922916, 'mee_loss': 0.1458408534526825, 'totoal_loss': 0.015346470288932323, 'data_time': 0.02137919596862048, 'model_time': 0.7737682750448585, 'learning_rate': 1.4480245189114938e-06, 'epoch': 30.84})
+Step 24400, Loss: {'mse_loss': 0.005261529702693224, 'mee_loss': 0.10870551317930222, 'totoal_loss': 0.006348584778606892, 'data_time': 0.02055790100712329, 'model_time': 0.7462595219258219, 'learning_rate': 1.408092758819191e-06, 'epoch': 30.96})
+Step 24500, Loss: {'mse_loss': 0.006414356175810099, 'mee_loss': 0.09893254935741425, 'totoal_loss': 0.007403681520372629, 'data_time': 0.01560543302912265, 'model_time': 1.0444692729506642, 'learning_rate': 1.368747941468028e-06, 'epoch': 31.09})
+Step 24600, Loss: {'mse_loss': 0.012205085717141628, 'mee_loss': 0.11295739561319351, 'totoal_loss': 0.013334659859538078, 'data_time': 0.014227548032067716, 'model_time': 0.737126292893663, 'learning_rate': 1.3299962798607614e-06, 'epoch': 31.22})
+Step 24700, Loss: {'mse_loss': 0.0210986640304327, 'mee_loss': 0.12089554220438004, 'totoal_loss': 0.0223076194524765, 'data_time': 0.01467449706979096, 'model_time': 0.7510690180351958, 'learning_rate': 1.2918438933339827e-06, 'epoch': 31.35})
+Step 24800, Loss: {'mse_loss': 0.027480484917759895, 'mee_loss': 0.1525387465953827, 'totoal_loss': 0.0290058720856905, 'data_time': 0.01701542898081243, 'model_time': 0.7604071879759431, 'learning_rate': 1.2542968065918027e-06, 'epoch': 31.47})
+Step 24900, Loss: {'mse_loss': 0.010516048409044743, 'mee_loss': 0.1479295790195465, 'totoal_loss': 0.011995344422757626, 'data_time': 0.014551353990100324, 'model_time': 0.7470190220046788, 'learning_rate': 1.217360948754476e-06, 'epoch': 31.6})
+Step 25000, Loss: {'mse_loss': 0.022273285314440727, 'mee_loss': 0.14528143405914307, 'totoal_loss': 0.023726100102066994, 'data_time': 0.015346256084740162, 'model_time': 0.7606098129181191, 'learning_rate': 1.1810421524221318e-06, 'epoch': 31.73})
+Step 25100, Loss: {'mse_loss': 0.014877356588840485, 'mee_loss': 0.09520203620195389, 'totoal_loss': 0.015829376876354218, 'data_time': 0.01610621891450137, 'model_time': 0.7855341689428315, 'learning_rate': 1.1453461527537284e-06, 'epoch': 31.85})
+Step 25200, Loss: {'mse_loss': 0.04882039502263069, 'mee_loss': 0.1457998901605606, 'totoal_loss': 0.05027839541435242, 'data_time': 0.015156383044086397, 'model_time': 0.7715386570198461, 'learning_rate': 1.1102785865614162e-06, 'epoch': 31.98})
+Step 25300, Loss: {'mse_loss': 0.011879613623023033, 'mee_loss': 0.1495363712310791, 'totoal_loss': 0.013374976813793182, 'data_time': 0.007952700951136649, 'model_time': 0.7317788390209898, 'learning_rate': 1.0758449914204127e-06, 'epoch': 32.11})
+Step 25400, Loss: {'mse_loss': 0.039823055267333984, 'mee_loss': 0.14062176644802094, 'totoal_loss': 0.04122927412390709, 'data_time': 0.013254755060188472, 'model_time': 0.7866990460315719, 'learning_rate': 1.0420508047945595e-06, 'epoch': 32.23})
+Step 25500, Loss: {'mse_loss': 0.024307575076818466, 'mee_loss': 0.11572688072919846, 'totoal_loss': 0.025464843958616257, 'data_time': 0.008864668081514537, 'model_time': 0.7640359399374574, 'learning_rate': 1.0089013631776776e-06, 'epoch': 32.36})
+Step 25600, Loss: {'mse_loss': 0.015975331887602806, 'mee_loss': 0.10786601155996323, 'totoal_loss': 0.017053991556167603, 'data_time': 0.009481206070631742, 'model_time': 0.7861153499688953, 'learning_rate': 9.76401901250878e-07, 'epoch': 32.49})
+Step 25700, Loss: {'mse_loss': 0.0069553544744849205, 'mee_loss': 0.12789013981819153, 'totoal_loss': 0.008234255947172642, 'data_time': 0.009973242995329201, 'model_time': 0.7696268529398367, 'learning_rate': 9.44557551055946e-07, 'epoch': 32.61})
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+Step 25900, Loss: {'mse_loss': 0.016540903598070145, 'mee_loss': 0.11612110584974289, 'totoal_loss': 0.017702113837003708, 'data_time': 0.01804417499806732, 'model_time': 0.7299227149924263, 'learning_rate': 8.828541959860623e-07, 'epoch': 32.87})
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+Step 26100, Loss: {'mse_loss': 0.007997891865670681, 'mee_loss': 0.125957190990448, 'totoal_loss': 0.009257463738322258, 'data_time': 0.008867394994013011, 'model_time': 0.7525205230340362, 'learning_rate': 8.238302711296034e-07, 'epoch': 33.12})
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+Step 26400, Loss: {'mse_loss': 0.014424735680222511, 'mee_loss': 0.11324010789394379, 'totoal_loss': 0.01555713638663292, 'data_time': 0.008719513076357543, 'model_time': 0.779501975979656, 'learning_rate': 7.40399398613941e-07, 'epoch': 33.5})
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+Step 28600, Loss: {'mse_loss': 0.028067119419574738, 'mee_loss': 0.12922583520412445, 'totoal_loss': 0.029359377920627594, 'data_time': 0.00822753889951855, 'model_time': 0.7643787880660966, 'learning_rate': 3.2524886917012403e-07, 'epoch': 36.29})
+Step 28700, Loss: {'mse_loss': 0.011768275871872902, 'mee_loss': 0.1403753012418747, 'totoal_loss': 0.013172028586268425, 'data_time': 0.009436615044251084, 'model_time': 0.8029603760223836, 'learning_rate': 3.149060219866433e-07, 'epoch': 36.42})
+Step 28800, Loss: {'mse_loss': 0.014524736441671848, 'mee_loss': 0.1158384382724762, 'totoal_loss': 0.015683120116591454, 'data_time': 0.01023532496765256, 'model_time': 0.7459590520011261, 'learning_rate': 3.053227444026695e-07, 'epoch': 36.55})
+Step 28900, Loss: {'mse_loss': 0.00916285440325737, 'mee_loss': 0.14123012125492096, 'totoal_loss': 0.010575155727565289, 'data_time': 0.008160599041730165, 'model_time': 0.762366428039968, 'learning_rate': 2.9650054972882544e-07, 'epoch': 36.68})
+Step 29000, Loss: {'mse_loss': 0.005571992136538029, 'mee_loss': 0.0980033203959465, 'totoal_loss': 0.006552025210112333, 'data_time': 0.007234168006107211, 'model_time': 0.7761228999588639, 'learning_rate': 2.884408310919209e-07, 'epoch': 36.8})
+Step 29100, Loss: {'mse_loss': 0.010219327174127102, 'mee_loss': 0.11430589854717255, 'totoal_loss': 0.01136238593608141, 'data_time': 0.008506179903633893, 'model_time': 0.8519745250232518, 'learning_rate': 2.8114486121495906e-07, 'epoch': 36.93})
+Step 29200, Loss: {'mse_loss': 0.006689210422337055, 'mee_loss': 0.10761534422636032, 'totoal_loss': 0.007765363901853561, 'data_time': 0.021432691952213645, 'model_time': 0.7587150719482452, 'learning_rate': 2.746137922161617e-07, 'epoch': 37.06})
+Step 29300, Loss: {'mse_loss': 0.007253079209476709, 'mee_loss': 0.09945753216743469, 'totoal_loss': 0.008247654885053635, 'data_time': 0.0304951659636572, 'model_time': 0.7220790239516646, 'learning_rate': 2.68848655427034e-07, 'epoch': 37.18})
+Step 29400, Loss: {'mse_loss': 0.04193626344203949, 'mee_loss': 0.13050180673599243, 'totoal_loss': 0.04324128106236458, 'data_time': 0.021465027006343007, 'model_time': 0.784493418992497, 'learning_rate': 2.638503612295071e-07, 'epoch': 37.31})
+Step 29500, Loss: {'mse_loss': 0.013362563215196133, 'mee_loss': 0.13862785696983337, 'totoal_loss': 0.014748841524124146, 'data_time': 0.02312011900357902, 'model_time': 0.8237470040330663, 'learning_rate': 2.5961969891217614e-07, 'epoch': 37.44})
+Step 29600, Loss: {'mse_loss': 0.013339466415345669, 'mee_loss': 0.1251288205385208, 'totoal_loss': 0.014590755105018616, 'data_time': 0.02287339698523283, 'model_time': 0.8128608909901232, 'learning_rate': 2.5615733654566483e-07, 'epoch': 37.56})
+Step 29700, Loss: {'mse_loss': 0.014036260545253754, 'mee_loss': 0.11284875869750977, 'totoal_loss': 0.015164747834205627, 'data_time': 0.021961160004138947, 'model_time': 0.8693473410094157, 'learning_rate': 2.5346382087712764e-07, 'epoch': 37.69})
+Step 29800, Loss: {'mse_loss': 0.020675770938396454, 'mee_loss': 0.12622946500778198, 'totoal_loss': 0.021938065066933632, 'data_time': 0.02455328102223575, 'model_time': 0.7810999659122899, 'learning_rate': 2.515395772439128e-07, 'epoch': 37.82})
+Step 29900, Loss: {'mse_loss': 0.007015299517661333, 'mee_loss': 0.1103283241391182, 'totoal_loss': 0.008118582889437675, 'data_time': 0.022873027017340064, 'model_time': 0.7698634659172967, 'learning_rate': 2.5038490950639644e-07, 'epoch': 37.94})
+Step 30000, Loss: {'mse_loss': 0.010861092247068882, 'mee_loss': 0.11333570629358292, 'totoal_loss': 0.01199444942176342, 'data_time': 0.007758739986456931, 'model_time': 0.8013297030702233, 'learning_rate': 2.5e-07, 'epoch': 38.07})

libero_10_2B_mee1e-2_true/starvla_qwen_pi/libero_eval_libero_10.log

@@ -0,0 +1,2521 @@
+Task suite: libero_10
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 5
+# successes: 4 (80.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 6
+# successes: 5 (83.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 7
+# successes: 6 (85.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 8
+# successes: 7 (87.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 9
+# successes: 8 (88.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 10
+# successes: 9 (90.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 11
+# successes: 10 (90.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 12
+# successes: 11 (91.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 13
+# successes: 12 (92.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 14
+# successes: 13 (92.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 15
+# successes: 13 (86.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 16
+# successes: 14 (87.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 17
+# successes: 15 (88.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 18
+# successes: 16 (88.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 19
+# successes: 16 (84.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 20
+# successes: 16 (80.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 21
+# successes: 17 (81.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 22
+# successes: 18 (81.8%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 23
+# successes: 19 (82.6%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 24
+# successes: 20 (83.3%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 25
+# successes: 21 (84.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 26
+# successes: 22 (84.6%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 27
+# successes: 23 (85.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 28
+# successes: 24 (85.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 29
+# successes: 25 (86.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 30
+# successes: 26 (86.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 31
+# successes: 27 (87.1%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 32
+# successes: 28 (87.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 33
+# successes: 29 (87.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 34
+# successes: 30 (88.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 35
+# successes: 31 (88.6%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 36
+# successes: 32 (88.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 37
+# successes: 33 (89.2%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 38
+# successes: 34 (89.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 39
+# successes: 35 (89.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 40
+# successes: 35 (87.5%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 41
+# successes: 36 (87.8%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 42
+# successes: 36 (85.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 43
+# successes: 37 (86.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 44
+# successes: 38 (86.4%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 45
+# successes: 39 (86.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 46
+# successes: 39 (84.8%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 47
+# successes: 40 (85.1%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 48
+# successes: 41 (85.4%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: True
+# episodes completed so far: 49
+# successes: 42 (85.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
+# episodes completed so far: 50
+# successes: 42 (84.0%)
+Current task success rate: 0.84
+Current total success rate: 0.84
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 51
+# successes: 43 (84.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 52
+# successes: 44 (84.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 53
+# successes: 45 (84.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 54
+# successes: 46 (85.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 55
+# successes: 47 (85.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 56
+# successes: 48 (85.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 57
+# successes: 49 (86.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 58
+# successes: 50 (86.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 59
+# successes: 51 (86.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 60
+# successes: 52 (86.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 61
+# successes: 53 (86.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 62
+# successes: 54 (87.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 63
+# successes: 55 (87.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 64
+# successes: 56 (87.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 65
+# successes: 57 (87.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 66
+# successes: 58 (87.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 67
+# successes: 59 (88.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 68
+# successes: 60 (88.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 69
+# successes: 61 (88.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 70
+# successes: 62 (88.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 71
+# successes: 63 (88.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 72
+# successes: 64 (88.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 73
+# successes: 65 (89.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 74
+# successes: 66 (89.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 75
+# successes: 67 (89.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 76
+# successes: 68 (89.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 77
+# successes: 69 (89.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 78
+# successes: 70 (89.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 79
+# successes: 71 (89.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 80
+# successes: 72 (90.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 81
+# successes: 73 (90.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 82
+# successes: 74 (90.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 83
+# successes: 75 (90.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 84
+# successes: 76 (90.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 85
+# successes: 77 (90.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 86
+# successes: 78 (90.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 87
+# successes: 79 (90.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 88
+# successes: 80 (90.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 89
+# successes: 81 (91.0%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 90
+# successes: 82 (91.1%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 91
+# successes: 83 (91.2%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 92
+# successes: 84 (91.3%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 93
+# successes: 85 (91.4%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 94
+# successes: 86 (91.5%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 95
+# successes: 87 (91.6%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 96
+# successes: 88 (91.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: False
+# episodes completed so far: 97
+# successes: 88 (90.7%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 98
+# successes: 89 (90.8%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 99
+# successes: 90 (90.9%)
+
+Task: put both the cream cheese box and the butter in the basket
+Success: True
+# episodes completed so far: 100
+# successes: 91 (91.0%)
+Current task success rate: 0.98
+Current total success rate: 0.91
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 101
+# successes: 92 (91.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 102
+# successes: 93 (91.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 103
+# successes: 94 (91.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 104
+# successes: 95 (91.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 105
+# successes: 96 (91.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 106
+# successes: 97 (91.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 107
+# successes: 98 (91.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 108
+# successes: 99 (91.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 109
+# successes: 100 (91.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 110
+# successes: 101 (91.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 111
+# successes: 102 (91.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 112
+# successes: 103 (92.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 113
+# successes: 104 (92.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 114
+# successes: 105 (92.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 115
+# successes: 106 (92.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 116
+# successes: 107 (92.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 117
+# successes: 108 (92.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 118
+# successes: 109 (92.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 119
+# successes: 110 (92.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 120
+# successes: 111 (92.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 121
+# successes: 112 (92.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 122
+# successes: 113 (92.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 123
+# successes: 114 (92.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 124
+# successes: 115 (92.7%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 125
+# successes: 116 (92.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 126
+# successes: 117 (92.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 127
+# successes: 118 (92.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 128
+# successes: 119 (93.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 129
+# successes: 120 (93.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 130
+# successes: 121 (93.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 131
+# successes: 122 (93.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: False
+# episodes completed so far: 132
+# successes: 122 (92.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 133
+# successes: 123 (92.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: False
+# episodes completed so far: 134
+# successes: 123 (91.8%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 135
+# successes: 124 (91.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 136
+# successes: 125 (91.9%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 137
+# successes: 126 (92.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 138
+# successes: 127 (92.0%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 139
+# successes: 128 (92.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 140
+# successes: 129 (92.1%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 141
+# successes: 130 (92.2%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 142
+# successes: 131 (92.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 143
+# successes: 132 (92.3%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 144
+# successes: 133 (92.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 145
+# successes: 134 (92.4%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 146
+# successes: 135 (92.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 147
+# successes: 136 (92.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 148
+# successes: 137 (92.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 149
+# successes: 138 (92.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 150
+# successes: 139 (92.7%)
+Current task success rate: 0.96
+Current total success rate: 0.9266666666666666
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 151
+# successes: 140 (92.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 152
+# successes: 141 (92.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 153
+# successes: 142 (92.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 154
+# successes: 143 (92.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 155
+# successes: 144 (92.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 156
+# successes: 145 (92.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 157
+# successes: 146 (93.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 158
+# successes: 147 (93.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 159
+# successes: 148 (93.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 160
+# successes: 149 (93.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 161
+# successes: 150 (93.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# 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: True
+# episodes completed so far: 166
+# successes: 155 (93.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 167
+# successes: 156 (93.4%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 168
+# successes: 157 (93.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 169
+# successes: 158 (93.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 170
+# successes: 159 (93.5%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 171
+# successes: 160 (93.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 172
+# successes: 161 (93.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 173
+# successes: 162 (93.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 174
+# successes: 163 (93.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 175
+# successes: 164 (93.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 176
+# successes: 165 (93.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 177
+# successes: 166 (93.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 178
+# successes: 167 (93.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 179
+# successes: 168 (93.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 180
+# successes: 169 (93.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 181
+# successes: 170 (93.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 182
+# successes: 171 (94.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 183
+# successes: 172 (94.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 184
+# successes: 173 (94.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 185
+# successes: 174 (94.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 186
+# successes: 175 (94.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 187
+# successes: 176 (94.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 188
+# successes: 177 (94.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 189
+# successes: 178 (94.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 190
+# successes: 179 (94.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 191
+# successes: 180 (94.2%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 192
+# successes: 180 (93.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 193
+# successes: 181 (93.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 194
+# successes: 182 (93.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 195
+# successes: 183 (93.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 196
+# successes: 184 (93.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 197
+# successes: 185 (93.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 198
+# successes: 186 (93.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 199
+# successes: 187 (94.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 200
+# successes: 188 (94.0%)
+Current task success rate: 0.98
+Current total success rate: 0.94
+
+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: 189 (94.0%)
+
+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: 190 (94.1%)
+
+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: 191 (94.1%)
+
+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: 192 (94.1%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 205
+# successes: 193 (94.1%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 206
+# successes: 194 (94.2%)
+
+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: 207
+# successes: 195 (94.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: False
+# episodes completed so far: 208
+# successes: 195 (93.8%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 209
+# successes: 196 (93.8%)
+
+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: 210
+# successes: 197 (93.8%)
+
+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: 211
+# successes: 198 (93.8%)
+
+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: 212
+# successes: 199 (93.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 213
+# successes: 200 (93.9%)
+
+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: 214
+# successes: 201 (93.9%)
+
+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: 215
+# successes: 202 (94.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 216
+# successes: 203 (94.0%)
+
+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: 217
+# successes: 204 (94.0%)
+
+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: 218
+# successes: 205 (94.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 206 (94.1%)
+
+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: 220
+# successes: 207 (94.1%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 208 (94.1%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 209 (94.1%)
+
+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: 223
+# successes: 210 (94.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 211 (94.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 212 (94.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 213 (94.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 214 (94.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 215 (94.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 216 (94.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 217 (94.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 218 (94.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 219 (94.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 220 (94.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 221 (94.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 222 (94.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# successes: 223 (94.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 224 (94.5%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
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+# successes: 225 (94.5%)
+
+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: 239
+# successes: 226 (94.6%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 240
+# successes: 227 (94.6%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 241
+# successes: 228 (94.6%)
+
+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: 242
+# successes: 229 (94.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 243
+# successes: 230 (94.7%)
+
+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: 244
+# successes: 231 (94.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 245
+# successes: 232 (94.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 246
+# successes: 233 (94.7%)
+
+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: 234 (94.7%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 248
+# successes: 235 (94.8%)
+
+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: 249
+# successes: 236 (94.8%)
+
+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: 236 (94.4%)
+Current task success rate: 0.96
+Current total success rate: 0.944
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 251
+# successes: 237 (94.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 252
+# successes: 238 (94.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 253
+# successes: 239 (94.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 254
+# successes: 240 (94.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 255
+# successes: 241 (94.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 256
+# successes: 242 (94.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 243 (94.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 258
+# successes: 244 (94.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 245 (94.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 260
+# successes: 246 (94.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 261
+# successes: 247 (94.6%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 262
+# successes: 248 (94.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 263
+# successes: 249 (94.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 264
+# successes: 250 (94.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 251 (94.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 252 (94.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 267
+# successes: 253 (94.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 268
+# successes: 254 (94.8%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 255 (94.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 256 (94.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 271
+# successes: 257 (94.8%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 258 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 273
+# successes: 259 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 274
+# successes: 260 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 261 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 276
+# successes: 262 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 263 (94.9%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 278
+# successes: 264 (95.0%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 265 (95.0%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 280
+# successes: 266 (95.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 267 (95.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 282
+# successes: 268 (95.0%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 283
+# successes: 269 (95.1%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 284
+# successes: 270 (95.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 285
+# successes: 271 (95.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 286
+# successes: 272 (95.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 287
+# successes: 273 (95.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 288
+# successes: 274 (95.1%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 289
+# successes: 275 (95.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 290
+# successes: 276 (95.2%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 291
+# successes: 277 (95.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 292
+# successes: 278 (95.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 293
+# successes: 279 (95.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 294
+# successes: 280 (95.2%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 295
+# successes: 281 (95.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 296
+# successes: 282 (95.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 297
+# successes: 283 (95.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 298
+# successes: 284 (95.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 299
+# successes: 285 (95.3%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 300
+# successes: 286 (95.3%)
+Current task success rate: 1.0
+Current total success rate: 0.9533333333333334
+
+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: 287 (95.3%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 302
+# successes: 288 (95.4%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 289 (95.4%)
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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: 290 (95.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 305
+# successes: 291 (95.4%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 306
+# successes: 292 (95.4%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 307
+# successes: 293 (95.4%)
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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: 294 (95.5%)
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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: 309
+# successes: 295 (95.5%)
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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: 310
+# successes: 296 (95.5%)
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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: 297 (95.5%)
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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: 298 (95.5%)
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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: 299 (95.5%)
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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: 299 (95.2%)
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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: 300 (95.2%)
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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: 301 (95.3%)
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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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+# successes: 302 (95.3%)
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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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+# successes: 303 (95.3%)
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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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+# successes: 304 (95.3%)
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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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+# successes: 305 (95.3%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 307 (95.3%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 309 (95.1%)
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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: 310 (95.1%)
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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: 311 (95.1%)
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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: 311 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 312 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+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: 315 (94.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 316 (94.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 317 (94.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 318 (94.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 319 (94.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 320 (95.0%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 338
+# successes: 321 (95.0%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 321 (94.7%)
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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: 322 (94.7%)
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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: 323 (94.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 342
+# successes: 324 (94.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 343
+# successes: 325 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 344
+# successes: 326 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 345
+# successes: 327 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 346
+# successes: 328 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 347
+# successes: 329 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 348
+# successes: 330 (94.8%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 349
+# successes: 331 (94.8%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 350
+# successes: 332 (94.9%)
+Current task success rate: 0.92
+Current total success rate: 0.9485714285714286
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 351
+# successes: 333 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 352
+# successes: 334 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 353
+# successes: 335 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 354
+# successes: 336 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 355
+# successes: 337 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 356
+# successes: 338 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 357
+# successes: 339 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 358
+# successes: 340 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 359
+# successes: 341 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 360
+# successes: 342 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 361
+# successes: 343 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 362
+# successes: 344 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 363
+# successes: 345 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 364
+# successes: 346 (95.1%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 365
+# successes: 347 (95.1%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 366
+# successes: 348 (95.1%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 367
+# successes: 349 (95.1%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 368
+# successes: 350 (95.1%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 369
+# successes: 351 (95.1%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 370
+# successes: 352 (95.1%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 371
+# successes: 353 (95.1%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 372
+# successes: 354 (95.2%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 373
+# successes: 355 (95.2%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 374
+# successes: 356 (95.2%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 375
+# successes: 357 (95.2%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 376
+# successes: 358 (95.2%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 377
+# successes: 359 (95.2%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 378
+# successes: 360 (95.2%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 379
+# successes: 361 (95.3%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 380
+# successes: 362 (95.3%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 381
+# successes: 363 (95.3%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: False
+# episodes completed so far: 382
+# successes: 363 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 383
+# successes: 364 (95.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: False
+# episodes completed so far: 384
+# successes: 364 (94.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 385
+# successes: 365 (94.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 386
+# successes: 366 (94.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 387
+# successes: 367 (94.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 388
+# successes: 368 (94.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 389
+# successes: 369 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 390
+# successes: 370 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 391
+# successes: 371 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 392
+# successes: 372 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 393
+# successes: 373 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 394
+# successes: 374 (94.9%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: False
+# episodes completed so far: 395
+# successes: 374 (94.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 396
+# successes: 375 (94.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 397
+# successes: 376 (94.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 398
+# successes: 377 (94.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 399
+# successes: 378 (94.7%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 400
+# successes: 379 (94.8%)
+Current task success rate: 0.94
+Current total success rate: 0.9475
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 401
+# successes: 380 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 402
+# successes: 381 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 403
+# successes: 382 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 404
+# successes: 383 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 405
+# successes: 384 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 406
+# successes: 385 (94.8%)
+
+Task: put both moka pots on the stove
+Success: False
+# episodes completed so far: 407
+# successes: 385 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 408
+# successes: 386 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 409
+# successes: 387 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 410
+# successes: 388 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 411
+# successes: 389 (94.6%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 412
+# successes: 390 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 413
+# successes: 391 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 414
+# successes: 392 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 415
+# successes: 393 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 416
+# successes: 394 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 417
+# successes: 395 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 418
+# successes: 396 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 419
+# successes: 397 (94.7%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 420
+# successes: 398 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 421
+# successes: 399 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 422
+# successes: 400 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 423
+# successes: 401 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 424
+# successes: 402 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 425
+# successes: 403 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 426
+# successes: 404 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 427
+# successes: 405 (94.8%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 428
+# successes: 406 (94.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 429
+# successes: 407 (94.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 430
+# successes: 408 (94.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 431
+# successes: 409 (94.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 432
+# successes: 410 (94.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 433
+# successes: 411 (94.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 434
+# successes: 412 (94.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 435
+# successes: 413 (94.9%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 436
+# successes: 414 (95.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 437
+# successes: 415 (95.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 438
+# successes: 416 (95.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 439
+# successes: 417 (95.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 440
+# successes: 418 (95.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 441
+# successes: 419 (95.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 442
+# successes: 420 (95.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 443
+# successes: 421 (95.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 444
+# successes: 422 (95.0%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 445
+# successes: 423 (95.1%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 446
+# successes: 424 (95.1%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 447
+# successes: 425 (95.1%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 448
+# successes: 426 (95.1%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 449
+# successes: 427 (95.1%)
+
+Task: put both moka pots on the stove
+Success: True
+# episodes completed so far: 450
+# successes: 428 (95.1%)
+Current task success rate: 0.98
+Current total success rate: 0.9511111111111111
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 451
+# successes: 429 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 452
+# successes: 430 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 453
+# successes: 431 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 454
+# successes: 432 (95.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 455
+# successes: 433 (95.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 456
+# successes: 434 (95.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 457
+# successes: 435 (95.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 458
+# successes: 436 (95.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 459
+# successes: 437 (95.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 460
+# successes: 438 (95.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: False
+# episodes completed so far: 461
+# successes: 438 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 462
+# successes: 439 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 463
+# successes: 440 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 464
+# successes: 441 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 465
+# successes: 442 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 466
+# successes: 443 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 467
+# successes: 444 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 468
+# successes: 445 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 469
+# successes: 446 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 470
+# successes: 447 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: False
+# episodes completed so far: 471
+# successes: 447 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 472
+# successes: 448 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 473
+# successes: 449 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 474
+# successes: 450 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 475
+# successes: 451 (94.9%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 476
+# successes: 452 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 477
+# successes: 453 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 478
+# successes: 454 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 479
+# successes: 455 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 480
+# successes: 456 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 481
+# successes: 457 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 482
+# successes: 458 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 483
+# successes: 459 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 484
+# successes: 460 (95.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 485
+# successes: 461 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 486
+# successes: 462 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 487
+# successes: 463 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 488
+# successes: 464 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 489
+# successes: 465 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 490
+# successes: 466 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 491
+# successes: 467 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 492
+# successes: 468 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 493
+# successes: 469 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 494
+# successes: 470 (95.1%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 495
+# successes: 471 (95.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 496
+# successes: 472 (95.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 497
+# successes: 473 (95.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 498
+# successes: 474 (95.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 499
+# successes: 475 (95.2%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 500
+# successes: 476 (95.2%)
+Current task success rate: 0.96
+Current total success rate: 0.952

libero_goal_2B_mee1e-1_true/starvla_qwen_pi/config.json

@@ -0,0 +1,130 @@
+{
+  "run_id": "starvla_qwen_pi",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_5/libero_goal_2B_mee1e-1_true",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.1,
+  "enable_adaptive": true,
+  "framework": {
+    "name": "QwenPI",
+    "qwenvl": {
+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
+    },
+    "dino": {
+      "dino_backbone": "dinov2_vits14"
+    },
+    "action_model": {
+      "action_model_type": "DiT-B",
+      "action_hidden_dim": 2,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 7,
+      "state_dim": 7,
+      "future_action_window_size": 7,
+      "action_horizon": 8,
+      "past_action_window_size": 0,
+      "repeated_diffusion_steps": 8,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 4,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
+        "cross_attention_dim": 2048,
+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    },
+    "reduce_in_full_precision": true
+  },
+  "datasets": {
+    "vlm_data": {
+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_goal",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 60000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
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+}

libero_goal_2B_mee1e-1_true/starvla_qwen_pi/dataset_statistics.json

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libero_goal_2B_mee1e-1_true/starvla_qwen_pi/final_model/pytorch_model.pt

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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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+# successes: 144 (96.0%)
+Current task success rate: 0.94
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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: 186 (96.4%)
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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: 189 (96.4%)
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: open the top drawer and put the bowl inside
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+# successes: 285 (96.6%)
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+Task: push the plate to the front of the stove
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+# successes: 286 (96.6%)
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 297
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+Task: push the plate to the front of the stove
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+# episodes completed so far: 300
+# successes: 290 (96.7%)
+Current task success rate: 1.0
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+
+Task: put the cream cheese in the bowl
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+# successes: 291 (96.7%)
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+Task: put the cream cheese in the bowl
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+# successes: 311 (96.6%)
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+Task: put the cream cheese in the bowl
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+Task: put the wine bottle on the rack
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+# successes: 475 (96.9%)
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+Task: put the wine bottle on the rack
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+# successes: 476 (96.9%)
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+Task: put the wine bottle on the rack
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+Task: put the wine bottle on the rack
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+# successes: 478 (97.0%)
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+Task: put the wine bottle on the rack
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+# successes: 479 (97.0%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 495
+# successes: 480 (97.0%)
+
+Task: put the wine bottle on the rack
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+# episodes completed so far: 496
+# successes: 481 (97.0%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 497
+# successes: 482 (97.0%)
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+Task: put the wine bottle on the rack
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+# successes: 483 (97.0%)
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+Task: put the wine bottle on the rack
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+# episodes completed so far: 499
+# successes: 484 (97.0%)
+
+Task: put the wine bottle on the rack
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+# episodes completed so far: 500
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+Current task success rate: 1.0
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libero_goal_2B_mee1e-1_true/starvla_qwen_pi/libero_goal.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 3948.848388671875, 'mee_loss': 18.42068099975586, 'totoal_loss': 3948.848388671875, 'data_time': 0.014532624976709485, 'model_time': 0.7554685110226274, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.25})
+Step 200, Loss: {'mse_loss': 1314.4827880859375, 'mee_loss': 18.42068099975586, 'totoal_loss': 1314.4827880859375, 'data_time': 0.008913698955439031, 'model_time': 0.7435315529583022, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.49})
+Step 300, Loss: {'mse_loss': 1.2739176750183105, 'mee_loss': 1.8507041931152344, 'totoal_loss': 1.2739176750183105, 'data_time': 0.009937715018168092, 'model_time': 0.7294631369877607, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.74})
+Step 400, Loss: {'mse_loss': 1.0416427850723267, 'mee_loss': 1.6057727336883545, 'totoal_loss': 1.0416427850723267, 'data_time': 0.01020791509654373, 'model_time': 0.7144185859942809, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.99})
+Step 500, Loss: {'mse_loss': 0.9421177506446838, 'mee_loss': 2.324735403060913, 'totoal_loss': 0.9421177506446838, 'data_time': 0.00038802099879831076, 'model_time': 0.7918863799422979, 'learning_rate': 1.0000000000000002e-06, 'epoch': 1.23})
+Step 600, Loss: {'mse_loss': 0.7288503050804138, 'mee_loss': 2.538011074066162, 'totoal_loss': 0.7288503050804138, 'data_time': 0.00038898002821952105, 'model_time': 0.7497692370088771, 'learning_rate': 1.2000000000000002e-06, 'epoch': 1.48})
+Step 700, Loss: {'mse_loss': 0.7163650393486023, 'mee_loss': 2.3755102157592773, 'totoal_loss': 0.7163650393486023, 'data_time': 0.0004853840218856931, 'model_time': 0.8157784959767014, 'learning_rate': 1.4000000000000001e-06, 'epoch': 1.72})
+Step 800, Loss: {'mse_loss': 0.4765240252017975, 'mee_loss': 2.0029144287109375, 'totoal_loss': 0.4765240252017975, 'data_time': 0.00038803392089903355, 'model_time': 0.7146221819566563, 'learning_rate': 1.6000000000000001e-06, 'epoch': 1.97})
+Step 900, Loss: {'mse_loss': 0.30840811133384705, 'mee_loss': 1.7628144025802612, 'totoal_loss': 0.30840811133384705, 'data_time': 0.007384511991403997, 'model_time': 0.7554539379198104, 'learning_rate': 1.8000000000000001e-06, 'epoch': 2.22})
+Step 1000, Loss: {'mse_loss': 0.2141440361738205, 'mee_loss': 1.5009994506835938, 'totoal_loss': 0.2141440361738205, 'data_time': 0.007452084915712476, 'model_time': 0.8102011119481176, 'learning_rate': 2.0000000000000003e-06, 'epoch': 2.46})
+Step 1100, Loss: {'mse_loss': 0.19862686097621918, 'mee_loss': 1.2161306142807007, 'totoal_loss': 0.19862686097621918, 'data_time': 0.008492702036164701, 'model_time': 0.7462041369872168, 'learning_rate': 2.2e-06, 'epoch': 2.71})
+Step 1200, Loss: {'mse_loss': 0.16503581404685974, 'mee_loss': 1.2804783582687378, 'totoal_loss': 0.16503581404685974, 'data_time': 0.008711248054169118, 'model_time': 0.7462993520312011, 'learning_rate': 2.4000000000000003e-06, 'epoch': 2.96})
+Step 1300, Loss: {'mse_loss': 0.18139782547950745, 'mee_loss': 1.2250958681106567, 'totoal_loss': 0.18139782547950745, 'data_time': 0.014401927939616144, 'model_time': 0.7366220710100606, 'learning_rate': 2.6e-06, 'epoch': 3.2})
+Step 1400, Loss: {'mse_loss': 0.22502467036247253, 'mee_loss': 1.068967580795288, 'totoal_loss': 0.22502467036247253, 'data_time': 0.01660316903144121, 'model_time': 0.7855995770078152, 'learning_rate': 2.8000000000000003e-06, 'epoch': 3.45})
+Step 1500, Loss: {'mse_loss': 0.3093501031398773, 'mee_loss': 1.050746202468872, 'totoal_loss': 0.3093501031398773, 'data_time': 0.01479173800908029, 'model_time': 0.7216145530110225, 'learning_rate': 3e-06, 'epoch': 3.69})
+Step 1600, Loss: {'mse_loss': 0.21265412867069244, 'mee_loss': 0.9786231517791748, 'totoal_loss': 0.21265412867069244, 'data_time': 0.014530652086250484, 'model_time': 0.7111355200177059, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.94})
+Step 1700, Loss: {'mse_loss': 0.19344885647296906, 'mee_loss': 1.014503002166748, 'totoal_loss': 0.19344885647296906, 'data_time': 0.008217488997615874, 'model_time': 0.7506944630295038, 'learning_rate': 3.4000000000000005e-06, 'epoch': 4.19})
+Step 1800, Loss: {'mse_loss': 0.10216091573238373, 'mee_loss': 1.0046048164367676, 'totoal_loss': 0.10216091573238373, 'data_time': 0.01265688892453909, 'model_time': 0.8287525339983404, 'learning_rate': 3.6000000000000003e-06, 'epoch': 4.43})
+Step 1900, Loss: {'mse_loss': 0.2211027592420578, 'mee_loss': 1.0140997171401978, 'totoal_loss': 0.2211027592420578, 'data_time': 0.007853499962948263, 'model_time': 0.787395161925815, 'learning_rate': 3.8000000000000005e-06, 'epoch': 4.68})
+Step 2000, Loss: {'mse_loss': 0.12245752662420273, 'mee_loss': 0.8897501230239868, 'totoal_loss': 0.12245752662420273, 'data_time': 0.01104442507494241, 'model_time': 0.7751314979977906, 'learning_rate': 4.000000000000001e-06, 'epoch': 4.93})
+Step 2100, Loss: {'mse_loss': 0.12468305975198746, 'mee_loss': 0.8946341276168823, 'totoal_loss': 0.12468305975198746, 'data_time': 0.0003889729268848896, 'model_time': 0.7795055379392579, 'learning_rate': 4.2000000000000004e-06, 'epoch': 5.17})
+Step 2200, Loss: {'mse_loss': 0.0807226225733757, 'mee_loss': 0.8374925851821899, 'totoal_loss': 0.0807226225733757, 'data_time': 0.00036070297937840223, 'model_time': 0.7409196430817246, 'learning_rate': 4.4e-06, 'epoch': 5.42})
+Step 2300, Loss: {'mse_loss': 0.14233022928237915, 'mee_loss': 0.8934212923049927, 'totoal_loss': 0.14233022928237915, 'data_time': 0.0003430349752306938, 'model_time': 0.7773102099308744, 'learning_rate': 4.600000000000001e-06, 'epoch': 5.67})
+Step 2400, Loss: {'mse_loss': 0.17064689099788666, 'mee_loss': 1.023550033569336, 'totoal_loss': 0.17064689099788666, 'data_time': 0.00045309297274798155, 'model_time': 0.8035052129998803, 'learning_rate': 4.800000000000001e-06, 'epoch': 5.91})
+Step 2500, Loss: {'mse_loss': 0.13338904082775116, 'mee_loss': 0.8027323484420776, 'totoal_loss': 0.13338904082775116, 'data_time': 0.021559092914685607, 'model_time': 0.8281929179793224, 'learning_rate': 5e-06, 'epoch': 6.16})
+Step 2600, Loss: {'mse_loss': 0.14994291961193085, 'mee_loss': 0.8385075926780701, 'totoal_loss': 0.14994291961193085, 'data_time': 0.024679017020389438, 'model_time': 0.7421305519528687, 'learning_rate': 5.2e-06, 'epoch': 6.4})
+Step 2700, Loss: {'mse_loss': 0.12924902141094208, 'mee_loss': 0.912657618522644, 'totoal_loss': 0.12924902141094208, 'data_time': 0.0233408190542832, 'model_time': 0.7260045940056443, 'learning_rate': 5.400000000000001e-06, 'epoch': 6.65})
+Step 2800, Loss: {'mse_loss': 0.11329613626003265, 'mee_loss': 0.8325793147087097, 'totoal_loss': 0.11329613626003265, 'data_time': 0.021490904036909342, 'model_time': 0.7815778870135546, 'learning_rate': 5.600000000000001e-06, 'epoch': 6.9})
+Step 2900, Loss: {'mse_loss': 0.0853012353181839, 'mee_loss': 0.8811497092247009, 'totoal_loss': 0.0853012353181839, 'data_time': 0.00037589098792523146, 'model_time': 0.725098620983772, 'learning_rate': 5.8e-06, 'epoch': 7.14})
+Step 3000, Loss: {'mse_loss': 0.1437925398349762, 'mee_loss': 0.878681480884552, 'totoal_loss': 0.1437925398349762, 'data_time': 0.00040350400377064943, 'model_time': 0.7516717889811844, 'learning_rate': 6e-06, 'epoch': 7.39})
+Step 3100, Loss: {'mse_loss': 0.12611833214759827, 'mee_loss': 0.7711118459701538, 'totoal_loss': 0.12611833214759827, 'data_time': 0.0004315479891374707, 'model_time': 0.7815848690224811, 'learning_rate': 6.200000000000001e-06, 'epoch': 7.64})
+Step 3200, Loss: {'mse_loss': 0.14522245526313782, 'mee_loss': 0.7887275218963623, 'totoal_loss': 0.14522245526313782, 'data_time': 0.00037758599501103163, 'model_time': 0.9886132848914713, 'learning_rate': 6.4000000000000006e-06, 'epoch': 7.88})
+Step 3300, Loss: {'mse_loss': 0.1574343740940094, 'mee_loss': 0.9158613681793213, 'totoal_loss': 0.1574343740940094, 'data_time': 0.02333088405430317, 'model_time': 0.7253174979705364, 'learning_rate': 6.600000000000001e-06, 'epoch': 8.13})
+Step 3400, Loss: {'mse_loss': 0.1559535712003708, 'mee_loss': 0.8015602827072144, 'totoal_loss': 0.1559535712003708, 'data_time': 0.02131038997322321, 'model_time': 0.7311634189682081, 'learning_rate': 6.800000000000001e-06, 'epoch': 8.37})
+Step 3500, Loss: {'mse_loss': 0.13394080102443695, 'mee_loss': 0.9058406949043274, 'totoal_loss': 0.13394080102443695, 'data_time': 0.02308456995524466, 'model_time': 0.7358364230021834, 'learning_rate': 7e-06, 'epoch': 8.62})
+Step 3600, Loss: {'mse_loss': 0.0863090455532074, 'mee_loss': 0.7096562385559082, 'totoal_loss': 0.0863090455532074, 'data_time': 0.025758468080312014, 'model_time': 0.7444870310137048, 'learning_rate': 7.2000000000000005e-06, 'epoch': 8.87})
+Step 3700, Loss: {'mse_loss': 0.1498716175556183, 'mee_loss': 0.6851506233215332, 'totoal_loss': 0.1498716175556183, 'data_time': 0.00783554301597178, 'model_time': 0.7362464219331741, 'learning_rate': 7.4e-06, 'epoch': 9.11})
+Step 3800, Loss: {'mse_loss': 0.10453765839338303, 'mee_loss': 0.7932165265083313, 'totoal_loss': 0.10453765839338303, 'data_time': 0.009738574968650937, 'model_time': 0.7597661059116945, 'learning_rate': 7.600000000000001e-06, 'epoch': 9.36})
+Step 3900, Loss: {'mse_loss': 0.08536794036626816, 'mee_loss': 0.8923807740211487, 'totoal_loss': 0.08536794036626816, 'data_time': 0.007714744890108705, 'model_time': 0.7360686929896474, 'learning_rate': 7.800000000000002e-06, 'epoch': 9.61})
+Step 4000, Loss: {'mse_loss': 0.21195261180400848, 'mee_loss': 0.682235598564148, 'totoal_loss': 0.21195261180400848, 'data_time': 0.008258141111582518, 'model_time': 0.7343087840126827, 'learning_rate': 8.000000000000001e-06, 'epoch': 9.85})
+Step 4100, Loss: {'mse_loss': 0.13645422458648682, 'mee_loss': 0.7106139659881592, 'totoal_loss': 0.13645422458648682, 'data_time': 0.014885048964060843, 'model_time': 0.7597003750270233, 'learning_rate': 8.2e-06, 'epoch': 10.1})
+Step 4200, Loss: {'mse_loss': 0.0680413767695427, 'mee_loss': 0.6769422888755798, 'totoal_loss': 0.0680413767695427, 'data_time': 0.017661224934272468, 'model_time': 0.7875146330334246, 'learning_rate': 8.400000000000001e-06, 'epoch': 10.34})
+Step 4300, Loss: {'mse_loss': 0.09542162716388702, 'mee_loss': 0.760520339012146, 'totoal_loss': 0.09542162716388702, 'data_time': 0.013545502093620598, 'model_time': 0.9936995720490813, 'learning_rate': 8.6e-06, 'epoch': 10.59})
+Step 4400, Loss: {'mse_loss': 0.14287588000297546, 'mee_loss': 0.6748660206794739, 'totoal_loss': 0.14287588000297546, 'data_time': 0.01565293804742396, 'model_time': 0.774431040044874, 'learning_rate': 8.8e-06, 'epoch': 10.84})
+Step 4500, Loss: {'mse_loss': 0.11296702176332474, 'mee_loss': 0.5254339575767517, 'totoal_loss': 0.11296702176332474, 'data_time': 0.0003716640640050173, 'model_time': 0.8316849279217422, 'learning_rate': 9e-06, 'epoch': 11.08})
+Step 4600, Loss: {'mse_loss': 0.1140361800789833, 'mee_loss': 0.5738726854324341, 'totoal_loss': 0.1140361800789833, 'data_time': 0.00039052090141922235, 'model_time': 0.7371253850869834, 'learning_rate': 9.200000000000002e-06, 'epoch': 11.33})
+Step 4700, Loss: {'mse_loss': 0.14012068510055542, 'mee_loss': 0.6357631087303162, 'totoal_loss': 0.14012068510055542, 'data_time': 0.00044375902507454157, 'model_time': 0.7288418910466135, 'learning_rate': 9.4e-06, 'epoch': 11.58})
+Step 4800, Loss: {'mse_loss': 0.09006161242723465, 'mee_loss': 0.5638366937637329, 'totoal_loss': 0.09006161242723465, 'data_time': 0.0004850449040532112, 'model_time': 0.7285340620437637, 'learning_rate': 9.600000000000001e-06, 'epoch': 11.82})
+Step 4900, Loss: {'mse_loss': 0.08130936324596405, 'mee_loss': 0.5919948220252991, 'totoal_loss': 0.08130936324596405, 'data_time': 0.016626919037662446, 'model_time': 0.7331058050040156, 'learning_rate': 9.800000000000001e-06, 'epoch': 12.07})
+Step 5000, Loss: {'mse_loss': 0.11462857574224472, 'mee_loss': 0.7090170383453369, 'totoal_loss': 0.11462857574224472, 'data_time': 0.014590775012038648, 'model_time': 0.8113044740166515, 'learning_rate': 1e-05, 'epoch': 12.32})
+Step 5100, Loss: {'mse_loss': 0.07532572001218796, 'mee_loss': 0.6065162420272827, 'totoal_loss': 0.07532572001218796, 'data_time': 0.01449889806099236, 'model_time': 0.7429186449153349, 'learning_rate': 9.999615090493604e-06, 'epoch': 12.56})
+Step 5200, Loss: {'mse_loss': 0.12222925573587418, 'mee_loss': 0.6951408982276917, 'totoal_loss': 0.12222925573587418, 'data_time': 0.01740447198972106, 'model_time': 0.7381606900598854, 'learning_rate': 9.998460422756089e-06, 'epoch': 12.81})
+Step 5300, Loss: {'mse_loss': 0.07390490174293518, 'mee_loss': 0.6788895726203918, 'totoal_loss': 0.07390490174293518, 'data_time': 0.011179834022186697, 'model_time': 0.7604821679415181, 'learning_rate': 9.996536179122874e-06, 'epoch': 13.05})
+Step 5400, Loss: {'mse_loss': 0.07286731153726578, 'mee_loss': 0.6330462098121643, 'totoal_loss': 0.07286731153726578, 'data_time': 0.006968853995203972, 'model_time': 0.7590070919832215, 'learning_rate': 9.993842663454337e-06, 'epoch': 13.3})
+Step 5500, Loss: {'mse_loss': 0.048284873366355896, 'mee_loss': 0.62570720911026, 'totoal_loss': 0.048284873366355896, 'data_time': 0.008764025988057256, 'model_time': 0.7587880939245224, 'learning_rate': 9.990380301087824e-06, 'epoch': 13.55})
+Step 5600, Loss: {'mse_loss': 0.1279929131269455, 'mee_loss': 0.5437301397323608, 'totoal_loss': 0.1279929131269455, 'data_time': 0.008229729952290654, 'model_time': 0.7299444309901446, 'learning_rate': 9.986149638770493e-06, 'epoch': 13.79})
+Step 5700, Loss: {'mse_loss': 0.05860191956162453, 'mee_loss': 0.5692455768585205, 'totoal_loss': 0.05860191956162453, 'data_time': 0.008745578001253307, 'model_time': 0.7575582429999486, 'learning_rate': 9.981151344572967e-06, 'epoch': 14.04})
+Step 5800, Loss: {'mse_loss': 0.06108517572283745, 'mee_loss': 0.5836899280548096, 'totoal_loss': 0.06108517572283745, 'data_time': 0.00870092201512307, 'model_time': 0.7794093460543081, 'learning_rate': 9.975386207783839e-06, 'epoch': 14.29})
+Step 5900, Loss: {'mse_loss': 0.07473482936620712, 'mee_loss': 0.7090985774993896, 'totoal_loss': 0.07473482936620712, 'data_time': 0.009776885039173067, 'model_time': 0.7461646640440449, 'learning_rate': 9.968855138785041e-06, 'epoch': 14.53})
+Step 6000, Loss: {'mse_loss': 0.08603508025407791, 'mee_loss': 0.6734723448753357, 'totoal_loss': 0.08603508025407791, 'data_time': 0.008195159025490284, 'model_time': 0.7246574260061607, 'learning_rate': 9.961559168908081e-06, 'epoch': 14.78})
+Step 6100, Loss: {'mse_loss': 0.09426548331975937, 'mee_loss': 0.4922756850719452, 'totoal_loss': 0.09426548331975937, 'data_time': 0.0003733220510184765, 'model_time': 0.7550703920423985, 'learning_rate': 9.953499450271174e-06, 'epoch': 15.02})
+Step 6200, Loss: {'mse_loss': 0.045952264219522476, 'mee_loss': 0.5209222435951233, 'totoal_loss': 0.045952264219522476, 'data_time': 0.00040519202593714, 'model_time': 0.7683905899757519, 'learning_rate': 9.944677255597332e-06, 'epoch': 15.27})
+Step 6300, Loss: {'mse_loss': 0.0568714439868927, 'mee_loss': 0.49686670303344727, 'totoal_loss': 0.0568714439868927, 'data_time': 0.00040660903323441744, 'model_time': 0.7994204310234636, 'learning_rate': 9.935093978013357e-06, 'epoch': 15.52})
+Step 6400, Loss: {'mse_loss': 0.06335325539112091, 'mee_loss': 0.4888216257095337, 'totoal_loss': 0.06335325539112091, 'data_time': 0.0003636130131781101, 'model_time': 1.0984558130148798, 'learning_rate': 9.924751130829878e-06, 'epoch': 15.76})
+Step 6500, Loss: {'mse_loss': 0.11535909026861191, 'mee_loss': 0.5907171964645386, 'totoal_loss': 0.11535909026861191, 'data_time': 0.008526118006557226, 'model_time': 0.8065077259670943, 'learning_rate': 9.91365034730236e-06, 'epoch': 16.01})
+Step 6600, Loss: {'mse_loss': 0.04190223291516304, 'mee_loss': 0.5705258846282959, 'totoal_loss': 0.04190223291516304, 'data_time': 0.007601492921821773, 'model_time': 1.028103757998906, 'learning_rate': 9.901793380373204e-06, 'epoch': 16.26})
+Step 6700, Loss: {'mse_loss': 0.0861566811800003, 'mee_loss': 0.6137424111366272, 'totoal_loss': 0.0861566811800003, 'data_time': 0.009076575981453061, 'model_time': 0.8195888129994273, 'learning_rate': 9.889182102394944e-06, 'epoch': 16.5})
+Step 6800, Loss: {'mse_loss': 0.1073865070939064, 'mee_loss': 0.49394479393959045, 'totoal_loss': 0.1073865070939064, 'data_time': 0.008965550921857357, 'model_time': 0.745655826991424, 'learning_rate': 9.875818504834564e-06, 'epoch': 16.75})
+Step 6900, Loss: {'mse_loss': 0.06731759011745453, 'mee_loss': 0.4888570010662079, 'totoal_loss': 0.06731759011745453, 'data_time': 0.00831020891200751, 'model_time': 0.7045671619707718, 'learning_rate': 9.861704697959036e-06, 'epoch': 17.0})
+Step 7000, Loss: {'mse_loss': 0.09382940083742142, 'mee_loss': 0.5343419909477234, 'totoal_loss': 0.09382940083742142, 'data_time': 0.009326983941718936, 'model_time': 0.72388036607299, 'learning_rate': 9.846842910502077e-06, 'epoch': 17.24})
+Step 7100, Loss: {'mse_loss': 0.041123103350400925, 'mee_loss': 0.5390022397041321, 'totoal_loss': 0.041123103350400925, 'data_time': 0.007480405969545245, 'model_time': 0.7897746240487322, 'learning_rate': 9.831235489312212e-06, 'epoch': 17.49})
+Step 7200, Loss: {'mse_loss': 0.033936724066734314, 'mee_loss': 0.4833446741104126, 'totoal_loss': 0.033936724066734314, 'data_time': 0.007243508007377386, 'model_time': 0.7819080239860341, 'learning_rate': 9.814884898982168e-06, 'epoch': 17.73})
+Step 7300, Loss: {'mse_loss': 0.058542948216199875, 'mee_loss': 0.6017950773239136, 'totoal_loss': 0.058542948216199875, 'data_time': 0.00895938603207469, 'model_time': 0.6992864579660818, 'learning_rate': 9.797793721459709e-06, 'epoch': 17.98})
+Step 7400, Loss: {'mse_loss': 0.05189387872815132, 'mee_loss': 0.5129184722900391, 'totoal_loss': 0.05189387872815132, 'data_time': 0.008478069910779595, 'model_time': 0.758557275054045, 'learning_rate': 9.779964655639886e-06, 'epoch': 18.23})
+Step 7500, Loss: {'mse_loss': 0.06970345228910446, 'mee_loss': 0.627249538898468, 'totoal_loss': 0.06970345228910446, 'data_time': 0.01064255996607244, 'model_time': 0.7385500059463084, 'learning_rate': 9.761400516938874e-06, 'epoch': 18.47})
+Step 7600, Loss: {'mse_loss': 0.022825829684734344, 'mee_loss': 0.3382696807384491, 'totoal_loss': 0.022825829684734344, 'data_time': 0.008229544037021697, 'model_time': 0.7359366769669577, 'learning_rate': 9.74210423684938e-06, 'epoch': 18.72})
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+Step 12900, Loss: {'mse_loss': 0.01650562696158886, 'mee_loss': 0.16672340035438538, 'totoal_loss': 0.03317796811461449, 'data_time': 0.00037509098183363676, 'model_time': 0.7745732140028849, 'learning_rate': 7.788672440329562e-06, 'epoch': 31.77})
+Step 13000, Loss: {'mse_loss': 0.057409901171922684, 'mee_loss': 0.2644761800765991, 'totoal_loss': 0.08385752141475677, 'data_time': 0.030525575974024832, 'model_time': 0.7318811600562185, 'learning_rate': 7.737155625522608e-06, 'epoch': 32.02})
+Step 13100, Loss: {'mse_loss': 0.05796919763088226, 'mee_loss': 0.22961117327213287, 'totoal_loss': 0.08093031495809555, 'data_time': 0.02340762596577406, 'model_time': 0.8212335649877787, 'learning_rate': 7.685226321061318e-06, 'epoch': 32.27})
+Step 13200, Loss: {'mse_loss': 0.02393297664821148, 'mee_loss': 0.2213432341814041, 'totoal_loss': 0.04606730118393898, 'data_time': 0.022637494024820626, 'model_time': 0.7298747430322692, 'learning_rate': 7.632892727184844e-06, 'epoch': 32.51})
+Step 13300, Loss: {'mse_loss': 0.0320289246737957, 'mee_loss': 0.21874019503593445, 'totoal_loss': 0.053902946412563324, 'data_time': 0.020709042088128626, 'model_time': 0.7859210730530322, 'learning_rate': 7.580163107974335e-06, 'epoch': 32.76})
+Step 13400, Loss: {'mse_loss': 0.017237819731235504, 'mee_loss': 0.213771253824234, 'totoal_loss': 0.038614943623542786, 'data_time': 0.000468370970338583, 'model_time': 0.7970752189867198, 'learning_rate': 7.527045790047922e-06, 'epoch': 33.0})
+Step 13500, Loss: {'mse_loss': 0.026290882378816605, 'mee_loss': 0.19857576489448547, 'totoal_loss': 0.04614845663309097, 'data_time': 0.0004024739610031247, 'model_time': 0.7279112380929291, 'learning_rate': 7.473549161245862e-06, 'epoch': 33.25})
+Step 13600, Loss: {'mse_loss': 0.029178109019994736, 'mee_loss': 0.2560492157936096, 'totoal_loss': 0.05478303134441376, 'data_time': 0.00035017996560782194, 'model_time': 0.7440071830060333, 'learning_rate': 7.419681669305998e-06, 'epoch': 33.5})
+Step 13700, Loss: {'mse_loss': 0.023418407887220383, 'mee_loss': 0.23436416685581207, 'totoal_loss': 0.04685482382774353, 'data_time': 0.0003541120095178485, 'model_time': 0.751423203968443, 'learning_rate': 7.365451820529756e-06, 'epoch': 33.74})
+Step 13800, Loss: {'mse_loss': 0.0713496133685112, 'mee_loss': 0.2376386523246765, 'totoal_loss': 0.09511347860097885, 'data_time': 0.00032114703208208084, 'model_time': 0.7066496929619461, 'learning_rate': 7.310868178438909e-06, 'epoch': 33.99})
+Step 13900, Loss: {'mse_loss': 0.05509806051850319, 'mee_loss': 0.23775750398635864, 'totoal_loss': 0.07887381315231323, 'data_time': 0.016157857957296073, 'model_time': 0.7648312910459936, 'learning_rate': 7.2559393624232985e-06, 'epoch': 34.24})
+Step 14000, Loss: {'mse_loss': 0.030053365975618362, 'mee_loss': 0.17174379527568817, 'totoal_loss': 0.04722774773836136, 'data_time': 0.01635319902561605, 'model_time': 0.7590399230830371, 'learning_rate': 7.2006740463797296e-06, 'epoch': 34.48})
+Step 14100, Loss: {'mse_loss': 0.07805874943733215, 'mee_loss': 0.20068921148777008, 'totoal_loss': 0.09812767058610916, 'data_time': 0.018304805038496852, 'model_time': 0.7345353630371392, 'learning_rate': 7.145080957342262e-06, 'epoch': 34.73})
+Step 14200, Loss: {'mse_loss': 0.04341809079051018, 'mee_loss': 0.16876840591430664, 'totoal_loss': 0.06029493361711502, 'data_time': 0.014965148991905153, 'model_time': 0.7263398410286754, 'learning_rate': 7.0891688741041065e-06, 'epoch': 34.98})
+Step 14300, Loss: {'mse_loss': 0.014299382455646992, 'mee_loss': 0.1721656322479248, 'totoal_loss': 0.0315159447491169, 'data_time': 0.000356092001311481, 'model_time': 0.7363234639633447, 'learning_rate': 7.032946625831363e-06, 'epoch': 35.22})
+Step 14400, Loss: {'mse_loss': 0.03328238055109978, 'mee_loss': 0.1662706434726715, 'totoal_loss': 0.04990944266319275, 'data_time': 0.00041680398862808943, 'model_time': 0.7396545039955527, 'learning_rate': 6.976423090668781e-06, 'epoch': 35.47})
+Step 14500, Loss: {'mse_loss': 0.03699919208884239, 'mee_loss': 0.2052508443593979, 'totoal_loss': 0.05752427875995636, 'data_time': 0.00039116304833441973, 'model_time': 0.7395233910065144, 'learning_rate': 6.919607194337806e-06, 'epoch': 35.71})
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+Step 14700, Loss: {'mse_loss': 0.026230446994304657, 'mee_loss': 0.21174727380275726, 'totoal_loss': 0.0474051758646965, 'data_time': 0.02769620600156486, 'model_time': 0.8312624089885503, 'learning_rate': 6.8051342504757714e-06, 'epoch': 36.21})
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+Step 14900, Loss: {'mse_loss': 0.018191618844866753, 'mee_loss': 0.15780946612358093, 'totoal_loss': 0.033972565084695816, 'data_time': 0.02210105094127357, 'model_time': 0.7282761350506917, 'learning_rate': 6.6896000978101465e-06, 'epoch': 36.7})
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+Step 15100, Loss: {'mse_loss': 0.044276800006628036, 'mee_loss': 0.22674529254436493, 'totoal_loss': 0.06695132702589035, 'data_time': 0.0004375689895823598, 'model_time': 1.002646678010933, 'learning_rate': 6.573077710188046e-06, 'epoch': 37.19})
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+Step 16000, Loss: {'mse_loss': 0.022226909175515175, 'mee_loss': 0.18384207785129547, 'totoal_loss': 0.04061111807823181, 'data_time': 0.016602428047917783, 'model_time': 0.7172001790022478, 'learning_rate': 6.0384839086054095e-06, 'epoch': 39.41})
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+Step 16400, Loss: {'mse_loss': 0.018190927803516388, 'mee_loss': 0.19750048220157623, 'totoal_loss': 0.03794097900390625, 'data_time': 0.0225560370599851, 'model_time': 0.749027332989499, 'learning_rate': 5.796727667087611e-06, 'epoch': 40.39})
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+Step 16800, Loss: {'mse_loss': 0.032619982957839966, 'mee_loss': 0.11445070803165436, 'totoal_loss': 0.04406505450606346, 'data_time': 0.0003777729580178857, 'model_time': 1.0401261299848557, 'learning_rate': 5.553274583184875e-06, 'epoch': 41.38})
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+Step 17300, Loss: {'mse_loss': 0.01982780173420906, 'mee_loss': 0.21210473775863647, 'totoal_loss': 0.04103827476501465, 'data_time': 0.017925121006555855, 'model_time': 0.7576987340580672, 'learning_rate': 5.24750921528627e-06, 'epoch': 42.61})
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+Step 17500, Loss: {'mse_loss': 0.012347830459475517, 'mee_loss': 0.1362440437078476, 'totoal_loss': 0.025972235947847366, 'data_time': 0.0008050849428400397, 'model_time': 0.7704526119632646, 'learning_rate': 5.125e-06, 'epoch': 43.1})
+Step 17600, Loss: {'mse_loss': 0.01621938683092594, 'mee_loss': 0.1971716433763504, 'totoal_loss': 0.03593654930591583, 'data_time': 0.00039387005381286144, 'model_time': 0.734769097995013, 'learning_rate': 5.063740555568656e-06, 'epoch': 43.35})
+Step 17700, Loss: {'mse_loss': 0.017851699143648148, 'mee_loss': 0.150828555226326, 'totoal_loss': 0.03293455392122269, 'data_time': 0.0003881970187649131, 'model_time': 0.7351674820529297, 'learning_rate': 5.002490784713731e-06, 'epoch': 43.6})
+Step 17800, Loss: {'mse_loss': 0.03540373966097832, 'mee_loss': 0.12859497964382172, 'totoal_loss': 0.04826323688030243, 'data_time': 0.0004434009315446019, 'model_time': 0.8073538100579754, 'learning_rate': 4.9412603594840695e-06, 'epoch': 43.84})
+Step 17900, Loss: {'mse_loss': 0.016783442348241806, 'mee_loss': 0.16373740136623383, 'totoal_loss': 0.03315718472003937, 'data_time': 0.035186658962629735, 'model_time': 0.7153035929659382, 'learning_rate': 4.8800589488736245e-06, 'epoch': 44.09})
+Step 18000, Loss: {'mse_loss': 0.026525873690843582, 'mee_loss': 0.22461842000484467, 'totoal_loss': 0.04898771643638611, 'data_time': 0.023621633066795766, 'model_time': 0.7514013620093465, 'learning_rate': 4.818896217294598e-06, 'epoch': 44.33})
+Step 18100, Loss: {'mse_loss': 0.031215403228998184, 'mee_loss': 0.1411321759223938, 'totoal_loss': 0.045328620821237564, 'data_time': 0.022032586042769253, 'model_time': 0.7025462629972026, 'learning_rate': 4.757781823051329e-06, 'epoch': 44.58})
+Step 18200, Loss: {'mse_loss': 0.01301325298845768, 'mee_loss': 0.11670924723148346, 'totoal_loss': 0.024684177711606026, 'data_time': 0.02659099397715181, 'model_time': 0.8540375280426815, 'learning_rate': 4.696725416815128e-06, 'epoch': 44.83})
+Step 18300, Loss: {'mse_loss': 0.011556396260857582, 'mee_loss': 0.16105468571186066, 'totoal_loss': 0.027661865577101707, 'data_time': 0.00039860501419752836, 'model_time': 0.7859256829833612, 'learning_rate': 4.635736640100327e-06, 'epoch': 45.07})
+Step 18400, Loss: {'mse_loss': 0.04431600868701935, 'mee_loss': 0.20776577293872833, 'totoal_loss': 0.06509258598089218, 'data_time': 0.0003922850592061877, 'model_time': 0.8499443929176778, 'learning_rate': 4.574825123741778e-06, 'epoch': 45.32})
+Step 18500, Loss: {'mse_loss': 0.020422831177711487, 'mee_loss': 0.1499299705028534, 'totoal_loss': 0.035415828227996826, 'data_time': 0.0005562599981203675, 'model_time': 0.8526705889962614, 'learning_rate': 4.5140004863740165e-06, 'epoch': 45.57})
+Step 18600, Loss: {'mse_loss': 0.042281560599803925, 'mee_loss': 0.15920700132846832, 'totoal_loss': 0.05820225924253464, 'data_time': 0.000471360981464386, 'model_time': 0.7619270290015265, 'learning_rate': 4.45327233291239e-06, 'epoch': 45.81})
+Step 18700, Loss: {'mse_loss': 0.052197739481925964, 'mee_loss': 0.10177771002054214, 'totoal_loss': 0.0623755119740963, 'data_time': 0.01617982191964984, 'model_time': 0.8170689890393987, 'learning_rate': 4.39265025303631e-06, 'epoch': 46.06})
+Step 18800, Loss: {'mse_loss': 0.027937855571508408, 'mee_loss': 0.16363279521465302, 'totoal_loss': 0.04430113732814789, 'data_time': 0.01694202295038849, 'model_time': 0.7807557090418413, 'learning_rate': 4.332143819674943e-06, 'epoch': 46.31})
+Step 18900, Loss: {'mse_loss': 0.009524351917207241, 'mee_loss': 0.11419878900051117, 'totoal_loss': 0.020944230258464813, 'data_time': 0.014630574965849519, 'model_time': 0.8544296870240942, 'learning_rate': 4.271762587495529e-06, 'epoch': 46.55})
+Step 19000, Loss: {'mse_loss': 0.04034098610281944, 'mee_loss': 0.17595387995243073, 'totoal_loss': 0.057936374098062515, 'data_time': 0.0175573070300743, 'model_time': 0.7328137380536646, 'learning_rate': 4.2115160913945914e-06, 'epoch': 46.8})
+Step 19100, Loss: {'mse_loss': 0.016512997448444366, 'mee_loss': 0.14500385522842407, 'totoal_loss': 0.031013384461402893, 'data_time': 0.0005239458987489343, 'model_time': 0.8381921059917659, 'learning_rate': 4.151413844992267e-06, 'epoch': 47.04})
+Step 19200, Loss: {'mse_loss': 0.013258827850222588, 'mee_loss': 0.12514948844909668, 'totoal_loss': 0.025773776695132256, 'data_time': 0.0004867429379373789, 'model_time': 0.8162773089716211, 'learning_rate': 4.091465339129985e-06, 'epoch': 47.29})
+Step 19300, Loss: {'mse_loss': 0.011050124652683735, 'mee_loss': 0.09904837608337402, 'totoal_loss': 0.020954962819814682, 'data_time': 0.0003703580005094409, 'model_time': 0.7805757090682164, 'learning_rate': 4.031680040371768e-06, 'epoch': 47.54})
+Step 19400, Loss: {'mse_loss': 0.014530408196151257, 'mee_loss': 0.09486722201108932, 'totoal_loss': 0.024017130956053734, 'data_time': 0.00038507406134158373, 'model_time': 0.7633535460336134, 'learning_rate': 3.972067389509344e-06, 'epoch': 47.78})
+Step 19500, Loss: {'mse_loss': 0.005347932688891888, 'mee_loss': 0.09684246778488159, 'totoal_loss': 0.015032179653644562, 'data_time': 0.007376808091066778, 'model_time': 0.8191769539844245, 'learning_rate': 3.912636800071335e-06, 'epoch': 48.03})
+Step 19600, Loss: {'mse_loss': 0.010693439282476902, 'mee_loss': 0.17645227909088135, 'totoal_loss': 0.028338667005300522, 'data_time': 0.009688458987511694, 'model_time': 0.8107188559370115, 'learning_rate': 3.853397656836754e-06, 'epoch': 48.28})
+Step 19700, Loss: {'mse_loss': 0.02653510682284832, 'mee_loss': 0.12482792884111404, 'totoal_loss': 0.039017900824546814, 'data_time': 0.007022225996479392, 'model_time': 0.7493050770135596, 'learning_rate': 3.7943593143530404e-06, 'epoch': 48.52})
+Step 19800, Loss: {'mse_loss': 0.05346604809165001, 'mee_loss': 0.1462029665708542, 'totoal_loss': 0.06808634102344513, 'data_time': 0.009923876030370593, 'model_time': 0.7599462840007618, 'learning_rate': 3.735531095458867e-06, 'epoch': 48.77})
+Step 19900, Loss: {'mse_loss': 0.020289788022637367, 'mee_loss': 0.1568043828010559, 'totoal_loss': 0.03597022593021393, 'data_time': 0.00039327796548604965, 'model_time': 0.7617410020902753, 'learning_rate': 3.6769222898119562e-06, 'epoch': 49.01})
+Step 20000, Loss: {'mse_loss': 0.027982661500573158, 'mee_loss': 0.14346560835838318, 'totoal_loss': 0.042329221963882446, 'data_time': 0.000385344959795475, 'model_time': 0.8275164630031213, 'learning_rate': 3.618542152422132e-06, 'epoch': 49.26})
+Step 20100, Loss: {'mse_loss': 0.024495640769600868, 'mee_loss': 0.1428956389427185, 'totoal_loss': 0.03878520429134369, 'data_time': 0.00045270996633917093, 'model_time': 0.7778695130255073, 'learning_rate': 3.560399902189855e-06, 'epoch': 49.51})
+Step 20200, Loss: {'mse_loss': 0.02582830935716629, 'mee_loss': 0.13196879625320435, 'totoal_loss': 0.039025187492370605, 'data_time': 0.0004031849093735218, 'model_time': 0.7449558658991009, 'learning_rate': 3.502504720450441e-06, 'epoch': 49.75})
+Step 20300, Loss: {'mse_loss': 0.01341458410024643, 'mee_loss': 0.16023585200309753, 'totoal_loss': 0.029438169673085213, 'data_time': 0.8447311769705266, 'model_time': 0.8128465979825705, 'learning_rate': 3.4448657495242304e-06, 'epoch': 50.0})
+Step 20400, Loss: {'mse_loss': 0.00562012754380703, 'mee_loss': 0.10329307615756989, 'totoal_loss': 0.015949435532093048, 'data_time': 0.008419630932621658, 'model_time': 0.8038582819281146, 'learning_rate': 3.387492091272904e-06, 'epoch': 50.25})
+Step 20500, Loss: {'mse_loss': 0.004879347048699856, 'mee_loss': 0.10687896609306335, 'totoal_loss': 0.015567244030535221, 'data_time': 0.01031823898665607, 'model_time': 0.7700668399920687, 'learning_rate': 3.3303928056621955e-06, 'epoch': 50.49})
+Step 20600, Loss: {'mse_loss': 0.013559827581048012, 'mee_loss': 0.17175696790218353, 'totoal_loss': 0.030735524371266365, 'data_time': 0.00811986206099391, 'model_time': 0.7461295470129699, 'learning_rate': 3.2735769093312202e-06, 'epoch': 50.74})
+Step 20700, Loss: {'mse_loss': 0.008656597696244717, 'mee_loss': 0.11354795098304749, 'totoal_loss': 0.02001139335334301, 'data_time': 0.007067419937811792, 'model_time': 0.7085973980138078, 'learning_rate': 3.217053374168639e-06, 'epoch': 50.99})
+Step 20800, Loss: {'mse_loss': 0.008146676234900951, 'mee_loss': 0.12061172723770142, 'totoal_loss': 0.020207848399877548, 'data_time': 0.000414157984778285, 'model_time': 0.7584368860116228, 'learning_rate': 3.1608311258958953e-06, 'epoch': 51.23})
+Step 20900, Loss: {'mse_loss': 0.004931638017296791, 'mee_loss': 0.10287533700466156, 'totoal_loss': 0.015219171531498432, 'data_time': 0.00043941300828009844, 'model_time': 0.8275020159780979, 'learning_rate': 3.10491904265774e-06, 'epoch': 51.48})
+Step 21000, Loss: {'mse_loss': 0.013005540706217289, 'mee_loss': 0.11853338778018951, 'totoal_loss': 0.024858880788087845, 'data_time': 0.0003739600069820881, 'model_time': 0.7487520930590108, 'learning_rate': 3.0493259536202714e-06, 'epoch': 51.72})
+Step 21100, Loss: {'mse_loss': 0.022734729573130608, 'mee_loss': 0.15133532881736755, 'totoal_loss': 0.03786826133728027, 'data_time': 0.0003911919193342328, 'model_time': 0.7657579380320385, 'learning_rate': 2.9940606375767038e-06, 'epoch': 51.97})
+Step 21200, Loss: {'mse_loss': 0.0103872399777174, 'mee_loss': 0.1513606309890747, 'totoal_loss': 0.02552330307662487, 'data_time': 0.007463459041900933, 'model_time': 0.8069833089830354, 'learning_rate': 2.939131821561094e-06, 'epoch': 52.22})
+Step 21300, Loss: {'mse_loss': 0.008108232170343399, 'mee_loss': 0.09310834109783173, 'totoal_loss': 0.01741906628012657, 'data_time': 0.007802076986990869, 'model_time': 0.8470341910142452, 'learning_rate': 2.8845481794702473e-06, 'epoch': 52.46})
+Step 21400, Loss: {'mse_loss': 0.008557569235563278, 'mee_loss': 0.09860187768936157, 'totoal_loss': 0.018417757004499435, 'data_time': 0.009887899039313197, 'model_time': 0.760409518959932, 'learning_rate': 2.830318330694004e-06, 'epoch': 52.71})
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+Step 27100, Loss: {'mse_loss': 0.024152906611561775, 'mee_loss': 0.05146278813481331, 'totoal_loss': 0.029299184679985046, 'data_time': 0.024997552041895688, 'model_time': 0.7311550350859761, 'learning_rate': 5.701464055240163e-07, 'epoch': 66.75})
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+Step 27500, Loss: {'mse_loss': 0.009892471134662628, 'mee_loss': 0.08792372047901154, 'totoal_loss': 0.01868484355509281, 'data_time': 0.0004663759609684348, 'model_time': 0.7874241929966956, 'learning_rate': 4.885994830611266e-07, 'epoch': 67.73})
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+Step 27700, Loss: {'mse_loss': 0.003847484476864338, 'mee_loss': 0.07559271901845932, 'totoal_loss': 0.011406756937503815, 'data_time': 0.014747521956451237, 'model_time': 0.724164551938884, 'learning_rate': 4.5220627854029224e-07, 'epoch': 68.23})
+Step 27800, Loss: {'mse_loss': 0.02480163238942623, 'mee_loss': 0.11532365530729294, 'totoal_loss': 0.036333996802568436, 'data_time': 0.016948677017353475, 'model_time': 0.7814685930497944, 'learning_rate': 4.351151010178311e-07, 'epoch': 68.47})
+Step 27900, Loss: {'mse_loss': 0.0193324014544487, 'mee_loss': 0.0962931290268898, 'totoal_loss': 0.02896171435713768, 'data_time': 0.01520205195993185, 'model_time': 0.7968715579481795, 'learning_rate': 4.1876451068778983e-07, 'epoch': 68.72})
+Step 28000, Loss: {'mse_loss': 0.007520841434597969, 'mee_loss': 0.0716390460729599, 'totoal_loss': 0.014684746041893959, 'data_time': 0.014501438941806555, 'model_time': 0.7425247710198164, 'learning_rate': 4.031570894979235e-07, 'epoch': 68.97})
+Step 28100, Loss: {'mse_loss': 0.007119184825569391, 'mee_loss': 0.09749473631381989, 'totoal_loss': 0.016868658363819122, 'data_time': 0.0003831760259345174, 'model_time': 0.8355787880718708, 'learning_rate': 3.882953020409644e-07, 'epoch': 69.21})
+Step 28200, Loss: {'mse_loss': 0.021127691492438316, 'mee_loss': 0.14225554466247559, 'totoal_loss': 0.035353247076272964, 'data_time': 0.0005199830047786236, 'model_time': 0.8587788109434769, 'learning_rate': 3.74181495165436e-07, 'epoch': 69.46})
+Step 28300, Loss: {'mse_loss': 0.0064747268334031105, 'mee_loss': 0.0734269842505455, 'totoal_loss': 0.013817425817251205, 'data_time': 0.00033905694726854563, 'model_time': 0.820244770962745, 'learning_rate': 3.608178976050568e-07, 'epoch': 69.7})
+Step 28400, Loss: {'mse_loss': 0.02119552344083786, 'mee_loss': 0.1283772736787796, 'totoal_loss': 0.03403325006365776, 'data_time': 0.0004192870110273361, 'model_time': 0.765900919912383, 'learning_rate': 3.482066196267966e-07, 'epoch': 69.95})
+Step 28500, Loss: {'mse_loss': 0.006765988655388355, 'mee_loss': 0.09248598664999008, 'totoal_loss': 0.01601458713412285, 'data_time': 0.022147434065118432, 'model_time': 0.7711402031127363, 'learning_rate': 3.36349652697643e-07, 'epoch': 70.2})
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+Step 28700, Loss: {'mse_loss': 0.005638946779072285, 'mee_loss': 0.09676183015108109, 'totoal_loss': 0.015315130352973938, 'data_time': 0.024098358931951225, 'model_time': 0.7864805200370029, 'learning_rate': 3.149060219866433e-07, 'epoch': 70.69})
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+Step 29900, Loss: {'mse_loss': 0.01396600715816021, 'mee_loss': 0.09403526037931442, 'totoal_loss': 0.023369532078504562, 'data_time': 0.0005113439401611686, 'model_time': 0.7398798619396985, 'learning_rate': 2.5038490950639644e-07, 'epoch': 73.65})
+Step 30000, Loss: {'mse_loss': 0.012938570231199265, 'mee_loss': 0.14519983530044556, 'totoal_loss': 0.02745855413377285, 'data_time': 0.00038708699867129326, 'model_time': 0.8250353620387614, 'learning_rate': 2.5e-07, 'epoch': 73.89})

libero_object_2B_mee1e-2_true/starvla_qwen_pi/config.json

@@ -0,0 +1,130 @@
+{
+  "run_id": "starvla_qwen_pi",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_6/libero_object_2B_mee1e-2_true",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.01,
+  "enable_adaptive": true,
+  "framework": {
+    "name": "QwenPI",
+    "qwenvl": {
+      "base_vlm": "/share/project/baishuanghao/code/HLM-VLA/models/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048
+    },
+    "dino": {
+      "dino_backbone": "dinov2_vits14"
+    },
+    "action_model": {
+      "action_model_type": "DiT-B",
+      "action_hidden_dim": 2,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 7,
+      "state_dim": 7,
+      "future_action_window_size": 7,
+      "action_horizon": 8,
+      "past_action_window_size": 0,
+      "repeated_diffusion_steps": 8,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 4,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
+        "cross_attention_dim": 2048,
+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    },
+    "reduce_in_full_precision": true
+  },
+  "datasets": {
+    "vlm_data": {
+      "dataset_py": "vlm_datasets",
+      "dataformat": "llava_json",
+      "dataset_use": "asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en",
+      "eval_dataset": "aokvqa_cauldron_llava_format",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_object",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 60000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
+    },
+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
+    },
+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_6/libero_object_2B_mee1e-2_true/starvla_qwen_pi"
+}

libero_object_2B_mee1e-2_true/starvla_qwen_pi/dataset_statistics.json

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

libero_object_2B_mee1e-2_true/starvla_qwen_pi/final_model/pytorch_model.pt

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+oid sha256:89f1b2c43c8eb622fdc8e05aede1a581a25f4bdda5e86d61ac35f09a13c60afa
+size 6825856850

libero_object_2B_mee1e-2_true/starvla_qwen_pi/libero_eval_libero_object.log

@@ -0,0 +1,2521 @@
+Task suite: libero_object
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 3
+# successes: 3 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 4
+# successes: 4 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 5
+# successes: 5 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 6
+# successes: 6 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 7
+# successes: 7 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 8
+# successes: 8 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 9
+# successes: 9 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 10
+# successes: 10 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 11
+# successes: 11 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 12
+# successes: 12 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 13
+# successes: 13 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 19
+# successes: 19 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 21
+# successes: 21 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 22
+# successes: 22 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 23
+# successes: 23 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 24
+# successes: 24 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 25
+# successes: 25 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 26
+# successes: 26 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 27
+# successes: 27 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 28
+# successes: 28 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 29
+# successes: 29 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 30
+# successes: 30 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 31
+# successes: 31 (100.0%)
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+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 32
+# successes: 32 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 33
+# successes: 33 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 34
+# successes: 34 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 35
+# successes: 35 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 36
+# successes: 36 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 37
+# successes: 37 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 38
+# successes: 38 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 39
+# successes: 39 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 40
+# successes: 40 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 41
+# successes: 41 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 42
+# successes: 42 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 43
+# successes: 43 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 44
+# successes: 44 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 45
+# successes: 45 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 46
+# successes: 46 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 47
+# successes: 47 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 48
+# successes: 48 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 49
+# successes: 49 (100.0%)
+
+Task: pick up the alphabet soup and place it in the basket
+Success: True
+# episodes completed so far: 50
+# successes: 50 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
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+Success: True
+# episodes completed so far: 395
+# successes: 393 (99.5%)
+
+Task: pick up the milk and place it in the basket
+Success: True
+# episodes completed so far: 396
+# successes: 394 (99.5%)
+
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+Success: True
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+# successes: 395 (99.5%)
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+Success: True
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+# successes: 397 (99.5%)
+
+Task: pick up the milk and place it in the basket
+Success: True
+# episodes completed so far: 400
+# successes: 398 (99.5%)
+Current task success rate: 1.0
+Current total success rate: 0.995
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+# successes: 399 (99.5%)
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+Success: True
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+Success: True
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+Success: True
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 439 (99.5%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 440 (99.5%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 443
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+
+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 442 (99.5%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 445
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 444 (99.6%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 447
+# successes: 445 (99.6%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 446 (99.6%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
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+# successes: 447 (99.6%)
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+Task: pick up the chocolate pudding and place it in the basket
+Success: True
+# episodes completed so far: 450
+# successes: 448 (99.6%)
+Current task success rate: 1.0
+Current total success rate: 0.9955555555555555
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 451
+# successes: 449 (99.6%)
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+Task: pick up the orange juice and place it in the basket
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+# successes: 451 (99.6%)
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
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+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 490
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+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 491
+# successes: 489 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 492
+# successes: 490 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 493
+# successes: 491 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 494
+# successes: 492 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 495
+# successes: 493 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 496
+# successes: 494 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 497
+# successes: 495 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 498
+# successes: 496 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 499
+# successes: 497 (99.6%)
+
+Task: pick up the orange juice and place it in the basket
+Success: True
+# episodes completed so far: 500
+# successes: 498 (99.6%)
+Current task success rate: 1.0
+Current total success rate: 0.996

libero_object_2B_mee1e-2_true/starvla_qwen_pi/libero_object.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 3853.314697265625, 'mee_loss': 18.42068099975586, 'totoal_loss': 3853.314697265625, 'data_time': 0.008521031006239355, 'model_time': 0.7899854839779437, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.19})
+Step 200, Loss: {'mse_loss': 1315.796142578125, 'mee_loss': 18.42068099975586, 'totoal_loss': 1315.796142578125, 'data_time': 0.008758013020269573, 'model_time': 0.7714175350265577, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.38})
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+Step 1600, Loss: {'mse_loss': 0.24220818281173706, 'mee_loss': 0.9060765504837036, 'totoal_loss': 0.24220818281173706, 'data_time': 0.0003622250515036285, 'model_time': 0.7726106630288996, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.07})
+Step 1700, Loss: {'mse_loss': 0.19849804043769836, 'mee_loss': 0.902303159236908, 'totoal_loss': 0.19849804043769836, 'data_time': 0.000415610964410007, 'model_time': 0.7602980170049705, 'learning_rate': 3.4000000000000005e-06, 'epoch': 3.26})
+Step 1800, Loss: {'mse_loss': 0.12119970470666885, 'mee_loss': 0.94197016954422, 'totoal_loss': 0.12119970470666885, 'data_time': 0.0004202239797450602, 'model_time': 0.7329753380035982, 'learning_rate': 3.6000000000000003e-06, 'epoch': 3.45})
+Step 1900, Loss: {'mse_loss': 0.1270706057548523, 'mee_loss': 0.846657931804657, 'totoal_loss': 0.1270706057548523, 'data_time': 0.00044402701314538717, 'model_time': 0.7330553279607557, 'learning_rate': 3.8000000000000005e-06, 'epoch': 3.65})
+Step 2000, Loss: {'mse_loss': 0.1205630674958229, 'mee_loss': 0.8963561058044434, 'totoal_loss': 0.1205630674958229, 'data_time': 0.0003815069794654846, 'model_time': 0.7612895790371113, 'learning_rate': 4.000000000000001e-06, 'epoch': 3.84})
+Step 2100, Loss: {'mse_loss': 0.11763695627450943, 'mee_loss': 0.90605628490448, 'totoal_loss': 0.11763695627450943, 'data_time': 0.02344886801438406, 'model_time': 0.7359042370226234, 'learning_rate': 4.2000000000000004e-06, 'epoch': 4.03})
+Step 2200, Loss: {'mse_loss': 0.08554299175739288, 'mee_loss': 0.7888336181640625, 'totoal_loss': 0.08554299175739288, 'data_time': 0.030363283003680408, 'model_time': 0.7594789250288159, 'learning_rate': 4.4e-06, 'epoch': 4.22})
+Step 2300, Loss: {'mse_loss': 0.09535198658704758, 'mee_loss': 0.8122037649154663, 'totoal_loss': 0.09535198658704758, 'data_time': 0.028035022027324885, 'model_time': 0.8109181899926625, 'learning_rate': 4.600000000000001e-06, 'epoch': 4.41})
+Step 2400, Loss: {'mse_loss': 0.1696207970380783, 'mee_loss': 1.1648496389389038, 'totoal_loss': 0.1696207970380783, 'data_time': 0.02668022597208619, 'model_time': 0.7555436529801227, 'learning_rate': 4.800000000000001e-06, 'epoch': 4.61})
+Step 2500, Loss: {'mse_loss': 0.1502242535352707, 'mee_loss': 0.7647502422332764, 'totoal_loss': 0.1502242535352707, 'data_time': 0.022565380961168557, 'model_time': 0.7252584870439023, 'learning_rate': 5e-06, 'epoch': 4.8})
+Step 2600, Loss: {'mse_loss': 0.12386521697044373, 'mee_loss': 0.6380568146705627, 'totoal_loss': 0.12386521697044373, 'data_time': 0.020878463983535767, 'model_time': 0.6991741579840891, 'learning_rate': 5.2e-06, 'epoch': 4.99})
+Step 2700, Loss: {'mse_loss': 0.11377636343240738, 'mee_loss': 0.8473809957504272, 'totoal_loss': 0.11377636343240738, 'data_time': 0.008483660989440978, 'model_time': 0.7561382109997794, 'learning_rate': 5.400000000000001e-06, 'epoch': 5.18})
+Step 2800, Loss: {'mse_loss': 0.13035210967063904, 'mee_loss': 0.6747859120368958, 'totoal_loss': 0.13035210967063904, 'data_time': 0.007434125000145286, 'model_time': 0.7752879959880374, 'learning_rate': 5.600000000000001e-06, 'epoch': 5.37})
+Step 2900, Loss: {'mse_loss': 0.057848770171403885, 'mee_loss': 0.673568069934845, 'totoal_loss': 0.057848770171403885, 'data_time': 0.011711635044775903, 'model_time': 0.7856025830260478, 'learning_rate': 5.8e-06, 'epoch': 5.57})
+Step 3000, Loss: {'mse_loss': 0.13724103569984436, 'mee_loss': 0.766432523727417, 'totoal_loss': 0.13724103569984436, 'data_time': 0.008196792041417211, 'model_time': 0.7502963489969261, 'learning_rate': 6e-06, 'epoch': 5.76})
+Step 3100, Loss: {'mse_loss': 0.15802547335624695, 'mee_loss': 0.7349130511283875, 'totoal_loss': 0.15802547335624695, 'data_time': 0.011784510978031904, 'model_time': 0.7796435769996606, 'learning_rate': 6.200000000000001e-06, 'epoch': 5.95})
+Step 3200, Loss: {'mse_loss': 0.1335543990135193, 'mee_loss': 0.8382140398025513, 'totoal_loss': 0.1335543990135193, 'data_time': 0.0003609790001064539, 'model_time': 0.7908938390319236, 'learning_rate': 6.4000000000000006e-06, 'epoch': 6.14})
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+Step 5000, Loss: {'mse_loss': 0.10706715285778046, 'mee_loss': 0.6853495240211487, 'totoal_loss': 0.10706715285778046, 'data_time': 0.007330104999709874, 'model_time': 0.7583024220075458, 'learning_rate': 1e-05, 'epoch': 9.6})
+Step 5100, Loss: {'mse_loss': 0.07095587253570557, 'mee_loss': 0.641681969165802, 'totoal_loss': 0.07095587253570557, 'data_time': 0.007627161976415664, 'model_time': 0.8101613190374337, 'learning_rate': 9.999615090493604e-06, 'epoch': 9.79})
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+Step 5600, Loss: {'mse_loss': 0.13555151224136353, 'mee_loss': 0.584398627281189, 'totoal_loss': 0.13555151224136353, 'data_time': 0.0003447139752097428, 'model_time': 0.7702758160303347, 'learning_rate': 9.986149638770493e-06, 'epoch': 10.75})
+Step 5700, Loss: {'mse_loss': 0.048791058361530304, 'mee_loss': 0.5734702348709106, 'totoal_loss': 0.048791058361530304, 'data_time': 0.0004097259952686727, 'model_time': 0.7986114450031891, 'learning_rate': 9.981151344572967e-06, 'epoch': 10.94})
+Step 5800, Loss: {'mse_loss': 0.0657850131392479, 'mee_loss': 0.5684529542922974, 'totoal_loss': 0.0657850131392479, 'data_time': 0.01541185803944245, 'model_time': 0.721917726972606, 'learning_rate': 9.975386207783839e-06, 'epoch': 11.13})
+Step 5900, Loss: {'mse_loss': 0.09188899397850037, 'mee_loss': 0.7063509821891785, 'totoal_loss': 0.09188899397850037, 'data_time': 0.015692470013163984, 'model_time': 0.7118955599726178, 'learning_rate': 9.968855138785041e-06, 'epoch': 11.32})
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+Step 6100, Loss: {'mse_loss': 0.0741061121225357, 'mee_loss': 0.5183108448982239, 'totoal_loss': 0.0741061121225357, 'data_time': 0.013365038961637765, 'model_time': 0.7420966749778017, 'learning_rate': 9.953499450271174e-06, 'epoch': 11.71})
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+Step 6300, Loss: {'mse_loss': 0.041074447333812714, 'mee_loss': 0.572442352771759, 'totoal_loss': 0.041074447333812714, 'data_time': 0.008675568969920278, 'model_time': 0.7286790799698792, 'learning_rate': 9.935093978013357e-06, 'epoch': 12.09})
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+Step 6500, Loss: {'mse_loss': 0.08597362786531448, 'mee_loss': 0.5250110626220703, 'totoal_loss': 0.08597362786531448, 'data_time': 0.008743921003770083, 'model_time': 0.736693391983863, 'learning_rate': 9.91365034730236e-06, 'epoch': 12.48})
+Step 6600, Loss: {'mse_loss': 0.04649514704942703, 'mee_loss': 0.4737304747104645, 'totoal_loss': 0.04649514704942703, 'data_time': 0.008716543030459434, 'model_time': 0.8169483130332083, 'learning_rate': 9.901793380373204e-06, 'epoch': 12.67})
+Step 6700, Loss: {'mse_loss': 0.06345205754041672, 'mee_loss': 0.4752883315086365, 'totoal_loss': 0.06345205754041672, 'data_time': 0.009319281962234527, 'model_time': 0.7884293269598857, 'learning_rate': 9.889182102394944e-06, 'epoch': 12.86})
+Step 6800, Loss: {'mse_loss': 0.0830441489815712, 'mee_loss': 0.4223283529281616, 'totoal_loss': 0.0830441489815712, 'data_time': 0.010895547980908304, 'model_time': 0.7755758420098573, 'learning_rate': 9.875818504834564e-06, 'epoch': 13.05})
+Step 6900, Loss: {'mse_loss': 0.07506172358989716, 'mee_loss': 0.5033812522888184, 'totoal_loss': 0.07506172358989716, 'data_time': 0.008238359005190432, 'model_time': 0.8234730779659003, 'learning_rate': 9.861704697959036e-06, 'epoch': 13.24})
+Step 7000, Loss: {'mse_loss': 0.0683894008398056, 'mee_loss': 0.5101433396339417, 'totoal_loss': 0.0683894008398056, 'data_time': 0.00754455296555534, 'model_time': 0.7685576900257729, 'learning_rate': 9.846842910502077e-06, 'epoch': 13.44})
+Step 7100, Loss: {'mse_loss': 0.05376286804676056, 'mee_loss': 0.4893926978111267, 'totoal_loss': 0.05376286804676056, 'data_time': 0.008787130005657673, 'model_time': 0.7403540409868583, 'learning_rate': 9.831235489312212e-06, 'epoch': 13.63})
+Step 7200, Loss: {'mse_loss': 0.03007499873638153, 'mee_loss': 0.4315074682235718, 'totoal_loss': 0.03007499873638153, 'data_time': 0.00756698998156935, 'model_time': 0.742856259981636, 'learning_rate': 9.814884898982168e-06, 'epoch': 13.82})
+Step 7300, Loss: {'mse_loss': 0.02889988385140896, 'mee_loss': 0.41786494851112366, 'totoal_loss': 0.02889988385140896, 'data_time': 0.00037093600258231163, 'model_time': 0.7338523489888757, 'learning_rate': 9.797793721459709e-06, 'epoch': 14.01})
+Step 7400, Loss: {'mse_loss': 0.05182972177863121, 'mee_loss': 0.5015792846679688, 'totoal_loss': 0.05182972177863121, 'data_time': 0.00034557003527879715, 'model_time': 0.7443820839980617, 'learning_rate': 9.779964655639886e-06, 'epoch': 14.2})
+Step 7500, Loss: {'mse_loss': 0.06119154393672943, 'mee_loss': 0.5132887959480286, 'totoal_loss': 0.06119154393672943, 'data_time': 0.00040088698733597994, 'model_time': 0.7716708600055426, 'learning_rate': 9.761400516938874e-06, 'epoch': 14.4})
+Step 7600, Loss: {'mse_loss': 0.03558841347694397, 'mee_loss': 0.3567991256713867, 'totoal_loss': 0.03558841347694397, 'data_time': 0.000389645982068032, 'model_time': 0.7446844539954327, 'learning_rate': 9.74210423684938e-06, 'epoch': 14.59})
+Step 7700, Loss: {'mse_loss': 0.035039082169532776, 'mee_loss': 0.42935219407081604, 'totoal_loss': 0.035039082169532776, 'data_time': 0.00032474397448822856, 'model_time': 0.8142665619961917, 'learning_rate': 9.722078862477715e-06, 'epoch': 14.78})
+Step 7800, Loss: {'mse_loss': 0.04625433310866356, 'mee_loss': 0.4400424063205719, 'totoal_loss': 0.04625433310866356, 'data_time': 0.00046299799578264356, 'model_time': 0.8225773440208286, 'learning_rate': 9.701327556062637e-06, 'epoch': 14.97})
+Step 7900, Loss: {'mse_loss': 0.07074490189552307, 'mee_loss': 0.4848933219909668, 'totoal_loss': 0.07074490189552307, 'data_time': 0.0006144390208646655, 'model_time': 0.7526044920086861, 'learning_rate': 9.679853594475985e-06, 'epoch': 15.16})
+Step 8000, Loss: {'mse_loss': 0.08280210942029953, 'mee_loss': 0.41954419016838074, 'totoal_loss': 0.08280210942029953, 'data_time': 0.00038478802889585495, 'model_time': 0.7910665210220031, 'learning_rate': 9.657660368705225e-06, 'epoch': 15.36})
+Step 8100, Loss: {'mse_loss': 0.09534352272748947, 'mee_loss': 0.5422769784927368, 'totoal_loss': 0.09534352272748947, 'data_time': 0.0004179899697192013, 'model_time': 0.73830916400766, 'learning_rate': 9.634751383317983e-06, 'epoch': 15.55})
+Step 8200, Loss: {'mse_loss': 0.05640657618641853, 'mee_loss': 0.4721885025501251, 'totoal_loss': 0.05640657618641853, 'data_time': 0.0003643130185082555, 'model_time': 0.7429038299596868, 'learning_rate': 9.611130255908619e-06, 'epoch': 15.74})
+Step 8300, Loss: {'mse_loss': 0.04040416702628136, 'mee_loss': 0.3479174077510834, 'totoal_loss': 0.04040416702628136, 'data_time': 0.00035449996357783675, 'model_time': 0.7896624290151522, 'learning_rate': 9.586800716526974e-06, 'epoch': 15.93})
+Step 8400, Loss: {'mse_loss': 0.027990272268652916, 'mee_loss': 0.4147409498691559, 'totoal_loss': 0.027990272268652916, 'data_time': 0.016876246023457497, 'model_time': 0.767785225994885, 'learning_rate': 9.561766607089355e-06, 'epoch': 16.12})
+Step 8500, Loss: {'mse_loss': 0.03945338726043701, 'mee_loss': 0.40585336089134216, 'totoal_loss': 0.03945338726043701, 'data_time': 0.026291553978808224, 'model_time': 0.7298790689674206, 'learning_rate': 9.536031880771846e-06, 'epoch': 16.31})
+Step 8600, Loss: {'mse_loss': 0.05218324810266495, 'mee_loss': 0.4970318675041199, 'totoal_loss': 0.05218324810266495, 'data_time': 0.01587185898097232, 'model_time': 0.834752238006331, 'learning_rate': 9.50960060138606e-06, 'epoch': 16.51})
+Step 8700, Loss: {'mse_loss': 0.02989589236676693, 'mee_loss': 0.3873785436153412, 'totoal_loss': 0.02989589236676693, 'data_time': 0.014857793983537704, 'model_time': 0.7681284400168806, 'learning_rate': 9.482476942737411e-06, 'epoch': 16.7})
+Step 8800, Loss: {'mse_loss': 0.12130821496248245, 'mee_loss': 0.3885549306869507, 'totoal_loss': 0.12130821496248245, 'data_time': 0.023921574000269175, 'model_time': 0.7622190160327591, 'learning_rate': 9.45466518796603e-06, 'epoch': 16.89})
+Step 8900, Loss: {'mse_loss': 0.0771765485405922, 'mee_loss': 0.373465359210968, 'totoal_loss': 0.0771765485405922, 'data_time': 0.007144938979763538, 'model_time': 0.7383625479997136, 'learning_rate': 9.426169728870399e-06, 'epoch': 17.08})
+Step 9000, Loss: {'mse_loss': 0.03841960430145264, 'mee_loss': 0.3931489884853363, 'totoal_loss': 0.03841960430145264, 'data_time': 0.00884163600858301, 'model_time': 0.7490025490405969, 'learning_rate': 9.396995065213835e-06, 'epoch': 17.27})
+Step 9100, Loss: {'mse_loss': 0.05478649586439133, 'mee_loss': 0.3511093556880951, 'totoal_loss': 0.05478649586439133, 'data_time': 0.006341731001157314, 'model_time': 0.8488488799775951, 'learning_rate': 9.367145804013938e-06, 'epoch': 17.47})
+Step 9200, Loss: {'mse_loss': 0.027508707717061043, 'mee_loss': 0.34641033411026, 'totoal_loss': 0.027508707717061043, 'data_time': 0.00767156999791041, 'model_time': 0.7472115149721503, 'learning_rate': 9.336626658815071e-06, 'epoch': 17.66})
+Step 9300, Loss: {'mse_loss': 0.030452027916908264, 'mee_loss': 0.44288474321365356, 'totoal_loss': 0.030452027916908264, 'data_time': 0.007963541022036225, 'model_time': 0.7348484109970741, 'learning_rate': 9.305442448944056e-06, 'epoch': 17.85})
+Step 9400, Loss: {'mse_loss': 0.033056579530239105, 'mee_loss': 0.35858967900276184, 'totoal_loss': 0.033056579530239105, 'data_time': 0.0003644690150395036, 'model_time': 0.77533404098358, 'learning_rate': 9.273598098749124e-06, 'epoch': 18.04})
+Step 9500, Loss: {'mse_loss': 0.09106823801994324, 'mee_loss': 0.35707414150238037, 'totoal_loss': 0.09106823801994324, 'data_time': 0.0004069579881615937, 'model_time': 0.9868780120159499, 'learning_rate': 9.241098636822324e-06, 'epoch': 18.23})
+Step 9600, Loss: {'mse_loss': 0.0372806154191494, 'mee_loss': 0.38825592398643494, 'totoal_loss': 0.0372806154191494, 'data_time': 0.0003744639689102769, 'model_time': 0.7358903080457821, 'learning_rate': 9.207949195205442e-06, 'epoch': 18.43})
+Step 9700, Loss: {'mse_loss': 0.04494994506239891, 'mee_loss': 0.35993340611457825, 'totoal_loss': 0.04494994506239891, 'data_time': 0.00046553194988518953, 'model_time': 0.7881583819980733, 'learning_rate': 9.174155008579588e-06, 'epoch': 18.62})
+Step 9800, Loss: {'mse_loss': 0.05630345642566681, 'mee_loss': 0.3849719166755676, 'totoal_loss': 0.05630345642566681, 'data_time': 0.00041529297595843673, 'model_time': 0.7259049420244992, 'learning_rate': 9.139721413438583e-06, 'epoch': 18.81})
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+Step 14500, Loss: {'mse_loss': 0.0322641097009182, 'mee_loss': 0.2689097225666046, 'totoal_loss': 0.03495320677757263, 'data_time': 0.0003519160090945661, 'model_time': 0.7604760720278136, 'learning_rate': 6.919607194337806e-06, 'epoch': 27.83})
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+Step 14700, Loss: {'mse_loss': 0.04650261625647545, 'mee_loss': 0.24811230599880219, 'totoal_loss': 0.04898373782634735, 'data_time': 0.017393680987879634, 'model_time': 0.7382425609976053, 'learning_rate': 6.8051342504757714e-06, 'epoch': 28.21})
+Step 14800, Loss: {'mse_loss': 0.022118009626865387, 'mee_loss': 0.20341341197490692, 'totoal_loss': 0.02415214292705059, 'data_time': 0.016565081023145467, 'model_time': 0.8332924140268005, 'learning_rate': 6.747495279549561e-06, 'epoch': 28.41})
+Step 14900, Loss: {'mse_loss': 0.02033374272286892, 'mee_loss': 0.22624488174915314, 'totoal_loss': 0.022596191614866257, 'data_time': 0.01681440498214215, 'model_time': 0.7635929110110737, 'learning_rate': 6.6896000978101465e-06, 'epoch': 28.6})
+Step 15000, Loss: {'mse_loss': 0.0319681353867054, 'mee_loss': 0.33935511112213135, 'totoal_loss': 0.03536168485879898, 'data_time': 0.019579361018259078, 'model_time': 0.7516652540070936, 'learning_rate': 6.631457847577869e-06, 'epoch': 28.79})
+Step 15100, Loss: {'mse_loss': 0.042251989245414734, 'mee_loss': 0.19668784737586975, 'totoal_loss': 0.044218868017196655, 'data_time': 0.015624115010723472, 'model_time': 0.7406388969975524, 'learning_rate': 6.573077710188046e-06, 'epoch': 28.98})
+Step 15200, Loss: {'mse_loss': 0.021720176562666893, 'mee_loss': 0.2249079793691635, 'totoal_loss': 0.02396925538778305, 'data_time': 0.009219111991114914, 'model_time': 0.7304673349717632, 'learning_rate': 6.5144689045411345e-06, 'epoch': 29.17})
+Step 15300, Loss: {'mse_loss': 0.039247918874025345, 'mee_loss': 0.19779101014137268, 'totoal_loss': 0.04122582823038101, 'data_time': 0.01153499202337116, 'model_time': 0.7943140440038405, 'learning_rate': 6.455640685646961e-06, 'epoch': 29.37})
+Step 15400, Loss: {'mse_loss': 0.052794329822063446, 'mee_loss': 0.25831374526023865, 'totoal_loss': 0.05537746846675873, 'data_time': 0.008286778989713639, 'model_time': 0.8300318369874731, 'learning_rate': 6.396602343163248e-06, 'epoch': 29.56})
+Step 15500, Loss: {'mse_loss': 0.02251177281141281, 'mee_loss': 0.2559940814971924, 'totoal_loss': 0.02507171407341957, 'data_time': 0.01245263998862356, 'model_time': 0.8470172910019755, 'learning_rate': 6.337363199928669e-06, 'epoch': 29.75})
+Step 15600, Loss: {'mse_loss': 0.014663094654679298, 'mee_loss': 0.23489588499069214, 'totoal_loss': 0.017012054100632668, 'data_time': 0.007867672014981508, 'model_time': 0.7357375330175273, 'learning_rate': 6.277932610490659e-06, 'epoch': 29.94})
+Step 15700, Loss: {'mse_loss': 0.01694466732442379, 'mee_loss': 0.18953023850917816, 'totoal_loss': 0.018839970231056213, 'data_time': 0.0003869380452670157, 'model_time': 0.7359081120230258, 'learning_rate': 6.218319959628234e-06, 'epoch': 30.13})
+Step 15800, Loss: {'mse_loss': 0.02253914624452591, 'mee_loss': 0.2453845739364624, 'totoal_loss': 0.024992991238832474, 'data_time': 0.00036786694545298815, 'model_time': 0.7474973899661563, 'learning_rate': 6.158534660870018e-06, 'epoch': 30.33})
+Step 15900, Loss: {'mse_loss': 0.055981140583753586, 'mee_loss': 0.2172420173883438, 'totoal_loss': 0.05815356224775314, 'data_time': 0.00036458700196817517, 'model_time': 0.7420538010192104, 'learning_rate': 6.0985861550077345e-06, 'epoch': 30.52})
+Step 16000, Loss: {'mse_loss': 0.029035085812211037, 'mee_loss': 0.22494573891162872, 'totoal_loss': 0.03128454461693764, 'data_time': 0.00033243896905332804, 'model_time': 0.8538199799950235, 'learning_rate': 6.0384839086054095e-06, 'epoch': 30.71})
+Step 16100, Loss: {'mse_loss': 0.02095106430351734, 'mee_loss': 0.2446553260087967, 'totoal_loss': 0.023397617042064667, 'data_time': 0.00037658301880583167, 'model_time': 0.7571151329902932, 'learning_rate': 5.978237412504472e-06, 'epoch': 30.9})
+Step 16200, Loss: {'mse_loss': 0.01667339913547039, 'mee_loss': 0.21385332942008972, 'totoal_loss': 0.01881193183362484, 'data_time': 0.00037638895446434617, 'model_time': 0.8405731560196728, 'learning_rate': 5.917856180325059e-06, 'epoch': 31.09})
+Step 16300, Loss: {'mse_loss': 0.02624323219060898, 'mee_loss': 0.17436960339546204, 'totoal_loss': 0.027986928820610046, 'data_time': 0.00038318097358569503, 'model_time': 0.8320936519885436, 'learning_rate': 5.857349746963692e-06, 'epoch': 31.29})
+Step 16400, Loss: {'mse_loss': 0.03979147598147392, 'mee_loss': 0.14368799328804016, 'totoal_loss': 0.04122835397720337, 'data_time': 0.00037452601827681065, 'model_time': 0.8510692889685743, 'learning_rate': 5.796727667087611e-06, 'epoch': 31.48})
+Step 16500, Loss: {'mse_loss': 0.04297604784369469, 'mee_loss': 0.2125798463821411, 'totoal_loss': 0.045101847499608994, 'data_time': 0.0004353719996288419, 'model_time': 0.8460116969654337, 'learning_rate': 5.735999513625984e-06, 'epoch': 31.67})
+Step 16600, Loss: {'mse_loss': 0.010704505257308483, 'mee_loss': 0.18660704791545868, 'totoal_loss': 0.012570575810968876, 'data_time': 0.00038999697426334023, 'model_time': 0.7306472089840099, 'learning_rate': 5.675174876258223e-06, 'epoch': 31.86})
+Step 16700, Loss: {'mse_loss': 0.0638461634516716, 'mee_loss': 0.22054733335971832, 'totoal_loss': 0.06605163961648941, 'data_time': 0.023614321020431817, 'model_time': 0.8088451710063964, 'learning_rate': 5.614263359899673e-06, 'epoch': 32.05})
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+Step 21000, Loss: {'mse_loss': 0.010986743494868279, 'mee_loss': 0.17436043918132782, 'totoal_loss': 0.01273034792393446, 'data_time': 0.01644792902516201, 'model_time': 0.7697096519987099, 'learning_rate': 3.0493259536202714e-06, 'epoch': 40.31})
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+Step 21500, Loss: {'mse_loss': 0.017765166237950325, 'mee_loss': 0.1728602945804596, 'totoal_loss': 0.019493769854307175, 'data_time': 0.0004137199721299112, 'model_time': 0.7680659390171058, 'learning_rate': 2.7764508387541378e-06, 'epoch': 41.27})
+Step 21600, Loss: {'mse_loss': 0.021234504878520966, 'mee_loss': 0.17491492629051208, 'totoal_loss': 0.022983653470873833, 'data_time': 0.0003472009557299316, 'model_time': 0.7544039539643563, 'learning_rate': 2.7229542099520797e-06, 'epoch': 41.46})
+Step 21700, Loss: {'mse_loss': 0.020087044686079025, 'mee_loss': 0.19533245265483856, 'totoal_loss': 0.022040368989109993, 'data_time': 0.0003528730012476444, 'model_time': 0.7787247799569741, 'learning_rate': 2.669836892025666e-06, 'epoch': 41.65})
+Step 21800, Loss: {'mse_loss': 0.005762406159192324, 'mee_loss': 0.11305268853902817, 'totoal_loss': 0.006892933044582605, 'data_time': 0.00044334999984130263, 'model_time': 0.7612968240282498, 'learning_rate': 2.6171072728151557e-06, 'epoch': 41.84})
+Step 21900, Loss: {'mse_loss': 0.023051591590046883, 'mee_loss': 0.16586895287036896, 'totoal_loss': 0.02471028082072735, 'data_time': 0.00044002599315717816, 'model_time': 0.7589873429969884, 'learning_rate': 2.5647736789386828e-06, 'epoch': 42.03})
+Step 22000, Loss: {'mse_loss': 0.012475269846618176, 'mee_loss': 0.16244372725486755, 'totoal_loss': 0.014099706895649433, 'data_time': 0.00039095402462407947, 'model_time': 0.7459578309790231, 'learning_rate': 2.5128443744773904e-06, 'epoch': 42.23})
+Step 22100, Loss: {'mse_loss': 0.021600766107439995, 'mee_loss': 0.14171159267425537, 'totoal_loss': 0.0230178814381361, 'data_time': 0.0003782220301218331, 'model_time': 0.7427764249732718, 'learning_rate': 2.4613275596704386e-06, 'epoch': 42.42})
+Step 22200, Loss: {'mse_loss': 0.00957642961293459, 'mee_loss': 0.13621953129768372, 'totoal_loss': 0.01093862485140562, 'data_time': 0.00037972000427544117, 'model_time': 0.7300929180346429, 'learning_rate': 2.4102313696200853e-06, 'epoch': 42.61})
+Step 22300, Loss: {'mse_loss': 0.04899568483233452, 'mee_loss': 0.17663106322288513, 'totoal_loss': 0.05076199397444725, 'data_time': 0.00035818101605400443, 'model_time': 0.7578023220412433, 'learning_rate': 2.359563873007063e-06, 'epoch': 42.8})
+Step 22400, Loss: {'mse_loss': 0.00982299167662859, 'mee_loss': 0.1285610944032669, 'totoal_loss': 0.01110860239714384, 'data_time': 0.00029254599940031767, 'model_time': 0.7100669440114871, 'learning_rate': 2.3093330708164465e-06, 'epoch': 42.99})
+Step 22500, Loss: {'mse_loss': 0.01782049611210823, 'mee_loss': 0.13722483813762665, 'totoal_loss': 0.01919274404644966, 'data_time': 0.0003211579751223326, 'model_time': 0.8212325729546137, 'learning_rate': 2.2595468950741943e-06, 'epoch': 43.19})
+Step 22600, Loss: {'mse_loss': 0.009921221062541008, 'mee_loss': 0.116176538169384, 'totoal_loss': 0.011082986369729042, 'data_time': 0.000381871999707073, 'model_time': 0.7630676959524862, 'learning_rate': 2.2102132075945974e-06, 'epoch': 43.38})
+Step 22700, Loss: {'mse_loss': 0.024716945365071297, 'mee_loss': 0.1281517744064331, 'totoal_loss': 0.025998463854193687, 'data_time': 0.0005212440155446529, 'model_time': 0.7960661349934526, 'learning_rate': 2.1613397987388e-06, 'epoch': 43.57})
+Step 22800, Loss: {'mse_loss': 0.05183027312159538, 'mee_loss': 0.12683211266994476, 'totoal_loss': 0.05309859290719032, 'data_time': 0.0003799060359597206, 'model_time': 0.8140708529972471, 'learning_rate': 2.1129343861846207e-06, 'epoch': 43.76})
+Step 22900, Loss: {'mse_loss': 0.00763631472364068, 'mee_loss': 0.1283837854862213, 'totoal_loss': 0.008920152671635151, 'data_time': 0.000347006949596107, 'model_time': 0.7619115210254677, 'learning_rate': 2.065004613707836e-06, 'epoch': 43.95})
+Step 23000, Loss: {'mse_loss': 0.03397494554519653, 'mee_loss': 0.17178329825401306, 'totoal_loss': 0.03569277748465538, 'data_time': 0.023028601019177586, 'model_time': 0.7720216460293159, 'learning_rate': 2.0175580499751375e-06, 'epoch': 44.15})
+Step 23100, Loss: {'mse_loss': 0.007965553551912308, 'mee_loss': 0.09677417576313019, 'totoal_loss': 0.008933295495808125, 'data_time': 0.017907346016727388, 'model_time': 0.7494861469604075, 'learning_rate': 1.9706021873489604e-06, 'epoch': 44.34})
+Step 23200, Loss: {'mse_loss': 0.008861048147082329, 'mee_loss': 0.13759000599384308, 'totoal_loss': 0.010236947797238827, 'data_time': 0.013269373041111976, 'model_time': 0.8005787699948996, 'learning_rate': 1.924144440704338e-06, 'epoch': 44.53})
+Step 23300, Loss: {'mse_loss': 0.012027351185679436, 'mee_loss': 0.12209167331457138, 'totoal_loss': 0.013248267583549023, 'data_time': 0.019991289998870343, 'model_time': 0.8206066900165752, 'learning_rate': 1.8781921462580238e-06, 'epoch': 44.72})
+Step 23400, Loss: {'mse_loss': 0.010556877590715885, 'mee_loss': 0.14281931519508362, 'totoal_loss': 0.011985071003437042, 'data_time': 0.015597863995935768, 'model_time': 0.776501119020395, 'learning_rate': 1.8327525604100058e-06, 'epoch': 44.91})
+Step 23500, Loss: {'mse_loss': 0.007679068483412266, 'mee_loss': 0.13432830572128296, 'totoal_loss': 0.00902235135436058, 'data_time': 0.008496474998537451, 'model_time': 0.7628596799913794, 'learning_rate': 1.7878328585976426e-06, 'epoch': 45.11})
+Step 23600, Loss: {'mse_loss': 0.018659066408872604, 'mee_loss': 0.14747454226016998, 'totoal_loss': 0.020133811980485916, 'data_time': 0.011110999970696867, 'model_time': 0.724687987996731, 'learning_rate': 1.7434401341625765e-06, 'epoch': 45.3})
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+Step 25900, Loss: {'mse_loss': 0.006909332238137722, 'mee_loss': 0.09125890582799911, 'totoal_loss': 0.00782192125916481, 'data_time': 0.00035257701529189944, 'model_time': 0.7679690209915861, 'learning_rate': 8.828541959860623e-07, 'epoch': 49.71})
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+Step 26500, Loss: {'mse_loss': 0.006768076680600643, 'mee_loss': 0.0944896787405014, 'totoal_loss': 0.007712973281741142, 'data_time': 0.00034516601590439677, 'model_time': 0.7981905009946786, 'learning_rate': 7.139681192281557e-07, 'epoch': 50.86})
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+Step 26800, Loss: {'mse_loss': 0.027205221354961395, 'mee_loss': 0.1354413777589798, 'totoal_loss': 0.02855963446199894, 'data_time': 0.010809112980496138, 'model_time': 0.8003917220048606, 'learning_rate': 6.388697440913819e-07, 'epoch': 51.44})
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+Step 27100, Loss: {'mse_loss': 0.008095528930425644, 'mee_loss': 0.10016316920518875, 'totoal_loss': 0.009097160771489143, 'data_time': 0.010961453954223543, 'model_time': 0.7390823840396479, 'learning_rate': 5.701464055240163e-07, 'epoch': 52.02})
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+Step 28800, Loss: {'mse_loss': 0.010950127616524696, 'mee_loss': 0.12022292613983154, 'totoal_loss': 0.012152357026934624, 'data_time': 0.0004903560038655996, 'model_time': 0.760928644973319, 'learning_rate': 3.053227444026695e-07, 'epoch': 55.28})
+Step 28900, Loss: {'mse_loss': 0.009518973529338837, 'mee_loss': 0.09598366171121597, 'totoal_loss': 0.010478810407221317, 'data_time': 0.00045919499825686216, 'model_time': 0.7599987020366825, 'learning_rate': 2.9650054972882544e-07, 'epoch': 55.47})
+Step 29000, Loss: {'mse_loss': 0.008802644908428192, 'mee_loss': 0.12167368829250336, 'totoal_loss': 0.010019381530582905, 'data_time': 0.0004239889676682651, 'model_time': 0.77201244502794, 'learning_rate': 2.884408310919209e-07, 'epoch': 55.66})
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+Step 29200, Loss: {'mse_loss': 0.0064691719599068165, 'mee_loss': 0.09614139795303345, 'totoal_loss': 0.007430586032569408, 'data_time': 0.01687058701645583, 'model_time': 0.7911774819949642, 'learning_rate': 2.746137922161617e-07, 'epoch': 56.05})
+Step 29300, Loss: {'mse_loss': 0.0030954210087656975, 'mee_loss': 0.07153467833995819, 'totoal_loss': 0.0038107677828520536, 'data_time': 0.01492089097155258, 'model_time': 0.7622915770043619, 'learning_rate': 2.68848655427034e-07, 'epoch': 56.24})
+Step 29400, Loss: {'mse_loss': 0.017725922167301178, 'mee_loss': 0.11613737046718597, 'totoal_loss': 0.018887296319007874, 'data_time': 0.014924363989848644, 'model_time': 0.7356667770072818, 'learning_rate': 2.638503612295071e-07, 'epoch': 56.43})
+Step 29500, Loss: {'mse_loss': 0.007880283519625664, 'mee_loss': 0.13767242431640625, 'totoal_loss': 0.009257007390260696, 'data_time': 0.018135279999114573, 'model_time': 0.7417254279716872, 'learning_rate': 2.5961969891217614e-07, 'epoch': 56.62})
+Step 29600, Loss: {'mse_loss': 0.005302382167428732, 'mee_loss': 0.09839560836553574, 'totoal_loss': 0.006286337971687317, 'data_time': 0.01801663899095729, 'model_time': 0.8276133399922401, 'learning_rate': 2.5615733654566483e-07, 'epoch': 56.81})
+Step 29700, Loss: {'mse_loss': 0.009809151291847229, 'mee_loss': 0.0991748720407486, 'totoal_loss': 0.010800899937748909, 'data_time': 0.0005398099892772734, 'model_time': 0.8902790839783847, 'learning_rate': 2.5346382087712764e-07, 'epoch': 57.01})
+Step 29800, Loss: {'mse_loss': 0.012090983800590038, 'mee_loss': 0.11895986646413803, 'totoal_loss': 0.01328058261424303, 'data_time': 0.007979879970662296, 'model_time': 0.7486692150123417, 'learning_rate': 2.515395772439128e-07, 'epoch': 57.2})
+Step 29900, Loss: {'mse_loss': 0.010300876572728157, 'mee_loss': 0.0947817713022232, 'totoal_loss': 0.011248694732785225, 'data_time': 0.011487484036479145, 'model_time': 1.1311999110039324, 'learning_rate': 2.5038490950639644e-07, 'epoch': 57.39})
+Step 30000, Loss: {'mse_loss': 0.006610437296330929, 'mee_loss': 0.12262438237667084, 'totoal_loss': 0.007836680859327316, 'data_time': 0.00901057297596708, 'model_time': 0.7848104610457085, 'learning_rate': 2.5e-07, 'epoch': 57.58})

libero_spatial_2B_mee1e-3_true/starvla_qwen_pi/config.json

@@ -0,0 +1,130 @@
+{
+  "run_id": "starvla_qwen_pi",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_5/libero_spatial_2B_mee1e-3_true",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.001,
+  "enable_adaptive": true,
+  "framework": {
+    "name": "QwenPI",
+    "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,
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+    "reduce_in_full_precision": true
+  },
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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",
+      "data_flatten": false,
+      "base_interval": 2,
+      "max_pixels": 12845056,
+      "min_pixels": 3136,
+      "model_max_length": 2048,
+      "model_type": "qwen2.5vl",
+      "per_device_batch_size": 4
+    },
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_spatial",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 60000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
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+    "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_5/libero_spatial_2B_mee1e-3_true/starvla_qwen_pi"
+}

libero_spatial_2B_mee1e-3_true/starvla_qwen_pi/dataset_statistics.json

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libero_spatial_2B_mee1e-3_true/starvla_qwen_pi/final_model/pytorch_model.pt

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libero_spatial_2B_mee1e-3_true/starvla_qwen_pi/libero_eval_libero_spatial.log

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+Task suite: libero_spatial
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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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+# episodes completed so far: 95
+# successes: 95 (100.0%)
+
+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# episodes completed so far: 96
+# successes: 96 (100.0%)
+
+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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+# episodes completed so far: 98
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+
+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# episodes completed so far: 99
+# successes: 99 (100.0%)
+
+Task: pick up the black bowl next to the ramekin and place it on the plate
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+# episodes completed so far: 100
+# successes: 100 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
+
+Task: pick up the black bowl from table center and place it on the plate
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+# episodes completed so far: 101
+# successes: 101 (100.0%)
+
+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 149 (99.3%)
+Current task success rate: 0.98
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+# successes: 150 (99.3%)
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+# successes: 199 (99.5%)
+Current task success rate: 1.0
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+# episodes completed so far: 201
+# successes: 200 (99.5%)
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+# successes: 405 (99.5%)
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 408
+# successes: 406 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 409
+# successes: 407 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 410
+# successes: 408 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 411
+# successes: 409 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 412
+# successes: 410 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 413
+# successes: 411 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 414
+# successes: 412 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 415
+# successes: 413 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 416
+# successes: 414 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 417
+# successes: 415 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 418
+# successes: 416 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 419
+# successes: 417 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 420
+# successes: 418 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 421
+# successes: 419 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 422
+# successes: 420 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 423
+# successes: 421 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 424
+# successes: 422 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 425
+# successes: 423 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 426
+# successes: 424 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 427
+# successes: 425 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 428
+# successes: 426 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 429
+# successes: 427 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 430
+# successes: 428 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 431
+# successes: 429 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 432
+# successes: 430 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 433
+# successes: 431 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 434
+# successes: 432 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 435
+# successes: 433 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 436
+# successes: 434 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 437
+# successes: 435 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 438
+# successes: 436 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 439
+# successes: 437 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 440
+# successes: 438 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 441
+# successes: 439 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 442
+# successes: 440 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 443
+# successes: 441 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 444
+# successes: 442 (99.5%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 445
+# successes: 443 (99.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 446
+# successes: 444 (99.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 447
+# successes: 445 (99.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 448
+# successes: 446 (99.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 449
+# successes: 447 (99.6%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 450
+# successes: 448 (99.6%)
+Current task success rate: 1.0
+Current total success rate: 0.9955555555555555
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 451
+# successes: 449 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 452
+# successes: 450 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 453
+# successes: 451 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 454
+# successes: 452 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 455
+# successes: 453 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 456
+# successes: 454 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 457
+# successes: 455 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 458
+# successes: 456 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 459
+# successes: 457 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 460
+# successes: 458 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 461
+# successes: 459 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 462
+# successes: 460 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 463
+# successes: 461 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 464
+# successes: 462 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 465
+# successes: 463 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 466
+# successes: 464 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 467
+# successes: 465 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 468
+# successes: 466 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 469
+# successes: 467 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 470
+# successes: 468 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 471
+# successes: 469 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 472
+# successes: 470 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 473
+# successes: 471 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 474
+# successes: 472 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 475
+# successes: 473 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 476
+# successes: 474 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 477
+# successes: 475 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 478
+# successes: 476 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 479
+# successes: 477 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 480
+# successes: 478 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 481
+# successes: 479 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 482
+# successes: 480 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 483
+# successes: 481 (99.6%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: False
+# episodes completed so far: 484
+# successes: 481 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 485
+# successes: 482 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 486
+# successes: 483 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 487
+# successes: 484 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 488
+# successes: 485 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 489
+# successes: 486 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 490
+# successes: 487 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 491
+# successes: 488 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 492
+# successes: 489 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 493
+# successes: 490 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 494
+# successes: 491 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 495
+# successes: 492 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 496
+# successes: 493 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 497
+# successes: 494 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 498
+# successes: 495 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 499
+# successes: 496 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 500
+# successes: 497 (99.4%)
+Current task success rate: 0.98
+Current total success rate: 0.994

libero_spatial_2B_mee1e-3_true/starvla_qwen_pi/libero_spatial.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 3656.33349609375, 'mee_loss': 18.42068099975586, 'totoal_loss': 3656.33349609375, 'data_time': 0.01677539400407113, 'model_time': 0.7511726420052582, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.24})
+Step 200, Loss: {'mse_loss': 1164.04638671875, 'mee_loss': 18.42068099975586, 'totoal_loss': 1164.04638671875, 'data_time': 0.016636290005408227, 'model_time': 0.793448210999486, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.48})
+Step 300, Loss: {'mse_loss': 1.2654967308044434, 'mee_loss': 2.106898307800293, 'totoal_loss': 1.2654967308044434, 'data_time': 0.013766542993835174, 'model_time': 0.753644145996077, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.73})
+Step 400, Loss: {'mse_loss': 1.113554835319519, 'mee_loss': 1.1854965686798096, 'totoal_loss': 1.113554835319519, 'data_time': 0.017487557997810654, 'model_time': 0.7630281379970256, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.97})
+Step 500, Loss: {'mse_loss': 1.1254115104675293, 'mee_loss': 1.589907169342041, 'totoal_loss': 1.1254115104675293, 'data_time': 0.00941073099966161, 'model_time': 0.764901896007359, 'learning_rate': 1.0000000000000002e-06, 'epoch': 1.21})
+Step 600, Loss: {'mse_loss': 1.0666109323501587, 'mee_loss': 1.7679424285888672, 'totoal_loss': 1.0666109323501587, 'data_time': 0.009544706001179293, 'model_time': 0.7436217070062412, 'learning_rate': 1.2000000000000002e-06, 'epoch': 1.45})
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+Step 1300, Loss: {'mse_loss': 0.17628301680088043, 'mee_loss': 1.2917436361312866, 'totoal_loss': 0.17628301680088043, 'data_time': 0.00047003600047901273, 'model_time': 0.7552066240023123, 'learning_rate': 2.6e-06, 'epoch': 3.15})
+Step 1400, Loss: {'mse_loss': 0.2672268748283386, 'mee_loss': 1.372011423110962, 'totoal_loss': 0.2672268748283386, 'data_time': 0.00036490600905381143, 'model_time': 0.781580174996634, 'learning_rate': 2.8000000000000003e-06, 'epoch': 3.39})
+Step 1500, Loss: {'mse_loss': 0.26841968297958374, 'mee_loss': 1.201831340789795, 'totoal_loss': 0.26841968297958374, 'data_time': 0.00043289500172249973, 'model_time': 0.8569875769899227, 'learning_rate': 3e-06, 'epoch': 3.63})
+Step 1600, Loss: {'mse_loss': 0.22047147154808044, 'mee_loss': 1.1974257230758667, 'totoal_loss': 0.22047147154808044, 'data_time': 0.000366984007996507, 'model_time': 0.7554289569961838, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.87})
+Step 1700, Loss: {'mse_loss': 0.30188003182411194, 'mee_loss': 1.1228054761886597, 'totoal_loss': 0.30188003182411194, 'data_time': 0.015427898993948475, 'model_time': 0.7572939980018418, 'learning_rate': 3.4000000000000005e-06, 'epoch': 4.12})
+Step 1800, Loss: {'mse_loss': 0.1564435511827469, 'mee_loss': 1.320259690284729, 'totoal_loss': 0.1564435511827469, 'data_time': 0.018085181000060402, 'model_time': 0.7624843269877601, 'learning_rate': 3.6000000000000003e-06, 'epoch': 4.36})
+Step 1900, Loss: {'mse_loss': 0.20878060162067413, 'mee_loss': 1.1824246644973755, 'totoal_loss': 0.20878060162067413, 'data_time': 0.014204729988705367, 'model_time': 0.745954628000618, 'learning_rate': 3.8000000000000005e-06, 'epoch': 4.6})
+Step 2000, Loss: {'mse_loss': 0.17342236638069153, 'mee_loss': 1.0707117319107056, 'totoal_loss': 0.17342236638069153, 'data_time': 0.016898847999982536, 'model_time': 0.7369768280041171, 'learning_rate': 4.000000000000001e-06, 'epoch': 4.84})
+Step 2100, Loss: {'mse_loss': 0.16050311923027039, 'mee_loss': 1.0144747495651245, 'totoal_loss': 0.16050311923027039, 'data_time': 0.009703231989988126, 'model_time': 0.7291200500039849, 'learning_rate': 4.2000000000000004e-06, 'epoch': 5.08})
+Step 2200, Loss: {'mse_loss': 0.1560707837343216, 'mee_loss': 1.1359272003173828, 'totoal_loss': 0.1560707837343216, 'data_time': 0.012249963998328894, 'model_time': 0.7853229169995757, 'learning_rate': 4.4e-06, 'epoch': 5.33})
+Step 2300, Loss: {'mse_loss': 0.14040108025074005, 'mee_loss': 0.9458131194114685, 'totoal_loss': 0.14040108025074005, 'data_time': 0.008638823012006469, 'model_time': 0.7485362839943264, 'learning_rate': 4.600000000000001e-06, 'epoch': 5.57})
+Step 2400, Loss: {'mse_loss': 0.12372792512178421, 'mee_loss': 0.9147050976753235, 'totoal_loss': 0.12372792512178421, 'data_time': 0.009847100009210408, 'model_time': 0.7494097890012199, 'learning_rate': 4.800000000000001e-06, 'epoch': 5.81})
+Step 2500, Loss: {'mse_loss': 0.16475152969360352, 'mee_loss': 0.8072521090507507, 'totoal_loss': 0.16475152969360352, 'data_time': 0.0003550550027284771, 'model_time': 0.7637396619975334, 'learning_rate': 5e-06, 'epoch': 6.05})
+Step 2600, Loss: {'mse_loss': 0.14445987343788147, 'mee_loss': 0.9401267766952515, 'totoal_loss': 0.14445987343788147, 'data_time': 0.00040353499935008585, 'model_time': 0.8151096680085175, 'learning_rate': 5.2e-06, 'epoch': 6.3})
+Step 2700, Loss: {'mse_loss': 0.16535446047782898, 'mee_loss': 1.0641781091690063, 'totoal_loss': 0.16535446047782898, 'data_time': 0.00038343800406437367, 'model_time': 0.7688579839887097, 'learning_rate': 5.400000000000001e-06, 'epoch': 6.54})
+Step 2800, Loss: {'mse_loss': 0.12672077119350433, 'mee_loss': 0.8889070749282837, 'totoal_loss': 0.12672077119350433, 'data_time': 0.0003577330062398687, 'model_time': 0.7785174410091713, 'learning_rate': 5.600000000000001e-06, 'epoch': 6.78})
+Step 2900, Loss: {'mse_loss': 0.10127601027488708, 'mee_loss': 0.8222832083702087, 'totoal_loss': 0.10127601027488708, 'data_time': 0.02284248499199748, 'model_time': 0.7512395380035741, 'learning_rate': 5.8e-06, 'epoch': 7.02})
+Step 3000, Loss: {'mse_loss': 0.10968375205993652, 'mee_loss': 0.7742696404457092, 'totoal_loss': 0.10968375205993652, 'data_time': 0.021637358993757516, 'model_time': 0.8120926429983228, 'learning_rate': 6e-06, 'epoch': 7.26})
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+Step 6600, Loss: {'mse_loss': 0.056833524256944656, 'mee_loss': 0.4928305149078369, 'totoal_loss': 0.056833524256944656, 'data_time': 0.0003591290005715564, 'model_time': 0.7133057289902354, 'learning_rate': 9.901793380373204e-06, 'epoch': 15.98})
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+Step 6800, Loss: {'mse_loss': 0.1365772932767868, 'mee_loss': 0.5351699590682983, 'totoal_loss': 0.1365772932767868, 'data_time': 0.009142672002781183, 'model_time': 0.7767862879991299, 'learning_rate': 9.875818504834564e-06, 'epoch': 16.46})
+Step 6900, Loss: {'mse_loss': 0.07072795927524567, 'mee_loss': 0.5361376404762268, 'totoal_loss': 0.07072795927524567, 'data_time': 0.019961421989137307, 'model_time': 0.7466459129936993, 'learning_rate': 9.861704697959036e-06, 'epoch': 16.71})
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+Step 7100, Loss: {'mse_loss': 0.02349403314292431, 'mee_loss': 0.4445649981498718, 'totoal_loss': 0.02349403314292431, 'data_time': 0.012132653006119654, 'model_time': 0.7493906890013022, 'learning_rate': 9.831235489312212e-06, 'epoch': 17.19})
+Step 7200, Loss: {'mse_loss': 0.051237836480140686, 'mee_loss': 0.5333876609802246, 'totoal_loss': 0.051237836480140686, 'data_time': 0.006479266012320295, 'model_time': 0.7357246530009434, 'learning_rate': 9.814884898982168e-06, 'epoch': 17.43})
+Step 7300, Loss: {'mse_loss': 0.08475933223962784, 'mee_loss': 0.609559178352356, 'totoal_loss': 0.08475933223962784, 'data_time': 0.010707566994824447, 'model_time': 0.764255703004892, 'learning_rate': 9.797793721459709e-06, 'epoch': 17.68})
+Step 7400, Loss: {'mse_loss': 0.059887710958719254, 'mee_loss': 0.521249532699585, 'totoal_loss': 0.059887710958719254, 'data_time': 0.008975378994364291, 'model_time': 0.7460810490010772, 'learning_rate': 9.779964655639886e-06, 'epoch': 17.92})
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+Step 7600, Loss: {'mse_loss': 0.05944399908185005, 'mee_loss': 0.6110113859176636, 'totoal_loss': 0.05944399908185005, 'data_time': 0.000502094000694342, 'model_time': 0.8058861340105068, 'learning_rate': 9.74210423684938e-06, 'epoch': 18.4})
+Step 7700, Loss: {'mse_loss': 0.08055934309959412, 'mee_loss': 0.5535906553268433, 'totoal_loss': 0.08055934309959412, 'data_time': 0.00041777899605222046, 'model_time': 0.7244732800027123, 'learning_rate': 9.722078862477715e-06, 'epoch': 18.64})
+Step 7800, Loss: {'mse_loss': 0.056427303701639175, 'mee_loss': 0.44943323731422424, 'totoal_loss': 0.056427303701639175, 'data_time': 0.00046400001156143844, 'model_time': 0.7799419919901993, 'learning_rate': 9.701327556062637e-06, 'epoch': 18.89})
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+Step 8000, Loss: {'mse_loss': 0.04994111508131027, 'mee_loss': 0.4868677258491516, 'totoal_loss': 0.04994111508131027, 'data_time': 0.00042341700464021415, 'model_time': 0.7675132500007749, 'learning_rate': 9.657660368705225e-06, 'epoch': 19.37})
+Step 8100, Loss: {'mse_loss': 0.034323155879974365, 'mee_loss': 0.41987723112106323, 'totoal_loss': 0.034323155879974365, 'data_time': 0.0003893529938068241, 'model_time': 0.7709142359963153, 'learning_rate': 9.634751383317983e-06, 'epoch': 19.61})
+Step 8200, Loss: {'mse_loss': 0.06771356612443924, 'mee_loss': 0.48077136278152466, 'totoal_loss': 0.06771356612443924, 'data_time': 0.0003793400101130828, 'model_time': 0.7670792680000886, 'learning_rate': 9.611130255908619e-06, 'epoch': 19.85})
+Step 8300, Loss: {'mse_loss': 0.04320714995265007, 'mee_loss': 0.47331109642982483, 'totoal_loss': 0.04320714995265007, 'data_time': 0.009494996993453242, 'model_time': 0.7444889339967631, 'learning_rate': 9.586800716526974e-06, 'epoch': 20.1})
+Step 8400, Loss: {'mse_loss': 0.04787587374448776, 'mee_loss': 0.40196493268013, 'totoal_loss': 0.04787587374448776, 'data_time': 0.00870423499145545, 'model_time': 0.7426538500003517, 'learning_rate': 9.561766607089355e-06, 'epoch': 20.34})
+Step 8500, Loss: {'mse_loss': 0.06290057301521301, 'mee_loss': 0.5243426561355591, 'totoal_loss': 0.06290057301521301, 'data_time': 0.0077671969920629635, 'model_time': 0.7817968650051625, 'learning_rate': 9.536031880771846e-06, 'epoch': 20.58})
+Step 8600, Loss: {'mse_loss': 0.04923718422651291, 'mee_loss': 0.44084903597831726, 'totoal_loss': 0.04923718422651291, 'data_time': 0.010031444995547645, 'model_time': 0.7527805800054921, 'learning_rate': 9.50960060138606e-06, 'epoch': 20.82})
+Step 8700, Loss: {'mse_loss': 0.042188484221696854, 'mee_loss': 0.4699706435203552, 'totoal_loss': 0.042188484221696854, 'data_time': 0.009964621000108309, 'model_time': 0.7283513389993459, 'learning_rate': 9.482476942737411e-06, 'epoch': 21.07})
+Step 8800, Loss: {'mse_loss': 0.0745149701833725, 'mee_loss': 0.45256471633911133, 'totoal_loss': 0.0745149701833725, 'data_time': 0.00881749700056389, 'model_time': 0.8313432050053962, 'learning_rate': 9.45466518796603e-06, 'epoch': 21.31})
+Step 8900, Loss: {'mse_loss': 0.0880005732178688, 'mee_loss': 0.49101853370666504, 'totoal_loss': 0.0880005732178688, 'data_time': 0.007756974009680562, 'model_time': 0.7680390760069713, 'learning_rate': 9.426169728870399e-06, 'epoch': 21.55})
+Step 9000, Loss: {'mse_loss': 0.0834551528096199, 'mee_loss': 0.4311901032924652, 'totoal_loss': 0.0834551528096199, 'data_time': 0.009645008001825772, 'model_time': 0.760648688999936, 'learning_rate': 9.396995065213835e-06, 'epoch': 21.79})
+Step 9100, Loss: {'mse_loss': 0.07720755785703659, 'mee_loss': 0.4798734784126282, 'totoal_loss': 0.07720755785703659, 'data_time': 0.0003755509969778359, 'model_time': 0.7499081670102896, 'learning_rate': 9.367145804013938e-06, 'epoch': 22.03})
+Step 9200, Loss: {'mse_loss': 0.0852126032114029, 'mee_loss': 0.557110071182251, 'totoal_loss': 0.0852126032114029, 'data_time': 0.0003499369922792539, 'model_time': 0.7429985930066323, 'learning_rate': 9.336626658815071e-06, 'epoch': 22.28})
+Step 9300, Loss: {'mse_loss': 0.05523383989930153, 'mee_loss': 0.43656402826309204, 'totoal_loss': 0.05523383989930153, 'data_time': 0.00037594798777718097, 'model_time': 0.7490639249881497, 'learning_rate': 9.305442448944056e-06, 'epoch': 22.52})
+Step 9400, Loss: {'mse_loss': 0.060344502329826355, 'mee_loss': 0.41144952178001404, 'totoal_loss': 0.060344502329826355, 'data_time': 0.00038658399716950953, 'model_time': 0.7488434769911692, 'learning_rate': 9.273598098749124e-06, 'epoch': 22.76})
+Step 9500, Loss: {'mse_loss': 0.0556781180202961, 'mee_loss': 0.5033543109893799, 'totoal_loss': 0.0556781180202961, 'data_time': 1.9224924980080687, 'model_time': 1.030493750993628, 'learning_rate': 9.241098636822324e-06, 'epoch': 23.0})
+Step 9600, Loss: {'mse_loss': 0.06871180981397629, 'mee_loss': 0.49900832772254944, 'totoal_loss': 0.06871180981397629, 'data_time': 0.0004618639941327274, 'model_time': 0.7407679990137694, 'learning_rate': 9.207949195205442e-06, 'epoch': 23.24})
+Step 9700, Loss: {'mse_loss': 0.042632151395082474, 'mee_loss': 0.39392325282096863, 'totoal_loss': 0.042632151395082474, 'data_time': 0.0003443930036155507, 'model_time': 0.7534946350060636, 'learning_rate': 9.174155008579588e-06, 'epoch': 23.49})
+Step 9800, Loss: {'mse_loss': 0.06914845108985901, 'mee_loss': 0.4176771342754364, 'totoal_loss': 0.06914845108985901, 'data_time': 0.0003678900102386251, 'model_time': 0.7508854740008246, 'learning_rate': 9.139721413438583e-06, 'epoch': 23.73})
+Step 9900, Loss: {'mse_loss': 0.06603631377220154, 'mee_loss': 0.4090724587440491, 'totoal_loss': 0.06603631377220154, 'data_time': 0.0003463180037215352, 'model_time': 0.7382895379996626, 'learning_rate': 9.104653847246273e-06, 'epoch': 23.97})
+Step 10000, Loss: {'mse_loss': 0.06491683423519135, 'mee_loss': 0.3968885838985443, 'totoal_loss': 0.06531371921300888, 'data_time': 0.02272592500958126, 'model_time': 0.7413226190110436, 'learning_rate': 9.068957847577869e-06, 'epoch': 24.21})
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+Step 14800, Loss: {'mse_loss': 0.02268931455910206, 'mee_loss': 0.2886808216571808, 'totoal_loss': 0.02297799475491047, 'data_time': 0.00037076899025123566, 'model_time': 0.7442691100004595, 'learning_rate': 6.747495279549561e-06, 'epoch': 35.84})
+Step 14900, Loss: {'mse_loss': 0.02168199047446251, 'mee_loss': 0.291583776473999, 'totoal_loss': 0.02197357453405857, 'data_time': 0.022285241007921286, 'model_time': 0.7105599390051793, 'learning_rate': 6.6896000978101465e-06, 'epoch': 36.08})
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+Step 15100, Loss: {'mse_loss': 0.03943592309951782, 'mee_loss': 0.2893795371055603, 'totoal_loss': 0.039725303649902344, 'data_time': 0.022111220998340286, 'model_time': 0.7616194559959695, 'learning_rate': 6.573077710188046e-06, 'epoch': 36.56})
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+Step 15400, Loss: {'mse_loss': 0.029000720009207726, 'mee_loss': 0.27347949147224426, 'totoal_loss': 0.029274199157953262, 'data_time': 0.008498493989463896, 'model_time': 0.749570562998997, 'learning_rate': 6.396602343163248e-06, 'epoch': 37.29})
+Step 15500, Loss: {'mse_loss': 0.026695076376199722, 'mee_loss': 0.31597644090652466, 'totoal_loss': 0.027011053636670113, 'data_time': 0.006930168005055748, 'model_time': 0.7767173169995658, 'learning_rate': 6.337363199928669e-06, 'epoch': 37.53})
+Step 15600, Loss: {'mse_loss': 0.02680325135588646, 'mee_loss': 0.2172260284423828, 'totoal_loss': 0.027020476758480072, 'data_time': 0.012347834010142833, 'model_time': 0.8191892659961013, 'learning_rate': 6.277932610490659e-06, 'epoch': 37.77})
+Step 15700, Loss: {'mse_loss': 0.044174086302518845, 'mee_loss': 0.3519327640533447, 'totoal_loss': 0.04452601820230484, 'data_time': 0.007789137001964264, 'model_time': 0.7370382819935912, 'learning_rate': 6.218319959628234e-06, 'epoch': 38.01})
+Step 15800, Loss: {'mse_loss': 0.09018173068761826, 'mee_loss': 0.2801969647407532, 'totoal_loss': 0.09046192467212677, 'data_time': 0.008952941992902197, 'model_time': 0.7502405489940429, 'learning_rate': 6.158534660870018e-06, 'epoch': 38.26})
+Step 15900, Loss: {'mse_loss': 0.018805040046572685, 'mee_loss': 0.24916459619998932, 'totoal_loss': 0.01905420422554016, 'data_time': 0.007127742006559856, 'model_time': 0.7217789739952423, 'learning_rate': 6.0985861550077345e-06, 'epoch': 38.5})
+Step 16000, Loss: {'mse_loss': 0.01608414761722088, 'mee_loss': 0.2467750906944275, 'totoal_loss': 0.01633092202246189, 'data_time': 0.009036164003191516, 'model_time': 0.8295121150003979, 'learning_rate': 6.0384839086054095e-06, 'epoch': 38.74})
+Step 16100, Loss: {'mse_loss': 0.03354603797197342, 'mee_loss': 0.31415483355522156, 'totoal_loss': 0.03386019170284271, 'data_time': 0.008372242999030277, 'model_time': 0.7283448670059443, 'learning_rate': 5.978237412504472e-06, 'epoch': 38.98})
+Step 16200, Loss: {'mse_loss': 0.01621183007955551, 'mee_loss': 0.24024192988872528, 'totoal_loss': 0.01645207218825817, 'data_time': 0.024402834998909384, 'model_time': 0.8113877720024902, 'learning_rate': 5.917856180325059e-06, 'epoch': 39.23})
+Step 16300, Loss: {'mse_loss': 0.021113669499754906, 'mee_loss': 0.2658182680606842, 'totoal_loss': 0.021379487589001656, 'data_time': 0.02315404699766077, 'model_time': 0.7523962539999047, 'learning_rate': 5.857349746963692e-06, 'epoch': 39.47})
+Step 16400, Loss: {'mse_loss': 0.03858759626746178, 'mee_loss': 0.2852381765842438, 'totoal_loss': 0.03887283429503441, 'data_time': 0.02579041301214602, 'model_time': 0.7601279319933383, 'learning_rate': 5.796727667087611e-06, 'epoch': 39.71})
+Step 16500, Loss: {'mse_loss': 0.034683048725128174, 'mee_loss': 0.3307685852050781, 'totoal_loss': 0.03501381725072861, 'data_time': 0.021645790999173187, 'model_time': 0.7415393179981038, 'learning_rate': 5.735999513625984e-06, 'epoch': 39.95})
+Step 16600, Loss: {'mse_loss': 0.04070816561579704, 'mee_loss': 0.30530846118927, 'totoal_loss': 0.04101347550749779, 'data_time': 0.008455735995084979, 'model_time': 0.7331811590120196, 'learning_rate': 5.675174876258223e-06, 'epoch': 40.19})
+Step 16700, Loss: {'mse_loss': 0.10027594119310379, 'mee_loss': 0.27562856674194336, 'totoal_loss': 0.10055156797170639, 'data_time': 0.01015629799803719, 'model_time': 0.8062128680030582, 'learning_rate': 5.614263359899673e-06, 'epoch': 40.44})
+Step 16800, Loss: {'mse_loss': 0.013327774591743946, 'mee_loss': 0.18954616785049438, 'totoal_loss': 0.013517321087419987, 'data_time': 0.01197889499599114, 'model_time': 0.7581191109929932, 'learning_rate': 5.553274583184875e-06, 'epoch': 40.68})
+Step 16900, Loss: {'mse_loss': 0.09245052188634872, 'mee_loss': 0.34104499220848083, 'totoal_loss': 0.09279156476259232, 'data_time': 0.00916662900999654, 'model_time': 0.773186666003312, 'learning_rate': 5.492218176948673e-06, 'epoch': 40.92})
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+Step 21600, Loss: {'mse_loss': 0.027983790263533592, 'mee_loss': 0.22118334472179413, 'totoal_loss': 0.02820497378706932, 'data_time': 0.008394147997023538, 'model_time': 0.7540308099996764, 'learning_rate': 2.7229542099520797e-06, 'epoch': 52.3})
+Step 21700, Loss: {'mse_loss': 0.04640030115842819, 'mee_loss': 0.2183273285627365, 'totoal_loss': 0.04661862924695015, 'data_time': 0.008807000005617738, 'model_time': 0.8098462519992609, 'learning_rate': 2.669836892025666e-06, 'epoch': 52.54})
+Step 21800, Loss: {'mse_loss': 0.047395359724760056, 'mee_loss': 0.23271048069000244, 'totoal_loss': 0.047628071159124374, 'data_time': 0.008727813998120837, 'model_time': 0.7302125569985947, 'learning_rate': 2.6171072728151557e-06, 'epoch': 52.78})
+Step 21900, Loss: {'mse_loss': 0.00983815360814333, 'mee_loss': 0.15945234894752502, 'totoal_loss': 0.00999760627746582, 'data_time': 0.014314678992377594, 'model_time': 0.765891371993348, 'learning_rate': 2.5647736789386828e-06, 'epoch': 53.03})
+Step 22000, Loss: {'mse_loss': 0.02781859040260315, 'mee_loss': 0.191240131855011, 'totoal_loss': 0.02800983004271984, 'data_time': 0.007939225004520267, 'model_time': 0.7531054340070114, 'learning_rate': 2.5128443744773904e-06, 'epoch': 53.27})
+Step 22100, Loss: {'mse_loss': 0.01564141921699047, 'mee_loss': 0.15105396509170532, 'totoal_loss': 0.015792472288012505, 'data_time': 0.008196533002774231, 'model_time': 0.778391730011208, 'learning_rate': 2.4613275596704386e-06, 'epoch': 53.51})
+Step 22200, Loss: {'mse_loss': 0.03994010388851166, 'mee_loss': 0.18257802724838257, 'totoal_loss': 0.040122680366039276, 'data_time': 0.007783105000271462, 'model_time': 0.7530997009889688, 'learning_rate': 2.4102313696200853e-06, 'epoch': 53.75})
+Step 22300, Loss: {'mse_loss': 0.01902776211500168, 'mee_loss': 0.18793943524360657, 'totoal_loss': 0.019215701147913933, 'data_time': 0.007752403005724773, 'model_time': 0.7097986599983415, 'learning_rate': 2.359563873007063e-06, 'epoch': 54.0})
+Step 22400, Loss: {'mse_loss': 0.018408801406621933, 'mee_loss': 0.15874862670898438, 'totoal_loss': 0.01856755092740059, 'data_time': 0.01120455699856393, 'model_time': 0.8506950110022444, 'learning_rate': 2.3093330708164465e-06, 'epoch': 54.24})
+Step 22500, Loss: {'mse_loss': 0.020295143127441406, 'mee_loss': 0.20074254274368286, 'totoal_loss': 0.020495885983109474, 'data_time': 0.011024689010810107, 'model_time': 0.8236282189900521, 'learning_rate': 2.2595468950741943e-06, 'epoch': 54.48})
+Step 22600, Loss: {'mse_loss': 0.017461609095335007, 'mee_loss': 0.20469523966312408, 'totoal_loss': 0.017666304484009743, 'data_time': 0.007605209990288131, 'model_time': 0.7247549720050301, 'learning_rate': 2.2102132075945974e-06, 'epoch': 54.72})
+Step 22700, Loss: {'mse_loss': 0.012090045027434826, 'mee_loss': 0.13543660938739777, 'totoal_loss': 0.012225481681525707, 'data_time': 0.008676546000060625, 'model_time': 0.72650077099388, 'learning_rate': 2.1613397987388e-06, 'epoch': 54.96})
+Step 22800, Loss: {'mse_loss': 0.027247847989201546, 'mee_loss': 0.17751041054725647, 'totoal_loss': 0.027425358071923256, 'data_time': 0.0003870170039590448, 'model_time': 0.7475573069968959, 'learning_rate': 2.1129343861846207e-06, 'epoch': 55.21})
+Step 22900, Loss: {'mse_loss': 0.021732335910201073, 'mee_loss': 0.12859205901622772, 'totoal_loss': 0.02186092734336853, 'data_time': 0.0007176990038715303, 'model_time': 0.8220449969958281, 'learning_rate': 2.065004613707836e-06, 'epoch': 55.45})
+Step 23000, Loss: {'mse_loss': 0.019385088235139847, 'mee_loss': 0.2276148498058319, 'totoal_loss': 0.01961270347237587, 'data_time': 0.00037379999412223697, 'model_time': 0.7358569700008957, 'learning_rate': 2.0175580499751375e-06, 'epoch': 55.69})
+Step 23100, Loss: {'mse_loss': 0.026152106001973152, 'mee_loss': 0.1575966775417328, 'totoal_loss': 0.026309702545404434, 'data_time': 0.0003889399959007278, 'model_time': 0.7371374609938357, 'learning_rate': 1.9706021873489604e-06, 'epoch': 55.93})
+Step 23200, Loss: {'mse_loss': 0.024319300428032875, 'mee_loss': 0.20171628892421722, 'totoal_loss': 0.02452101744711399, 'data_time': 0.015469887002836913, 'model_time': 0.7285528700012947, 'learning_rate': 1.924144440704338e-06, 'epoch': 56.17})
+Step 23300, Loss: {'mse_loss': 0.021788010373711586, 'mee_loss': 0.20946283638477325, 'totoal_loss': 0.021997474133968353, 'data_time': 0.017561797008966096, 'model_time': 0.7414408409968019, 'learning_rate': 1.8781921462580238e-06, 'epoch': 56.42})
+Step 23400, Loss: {'mse_loss': 0.029694171622395515, 'mee_loss': 0.1794554442167282, 'totoal_loss': 0.029873626306653023, 'data_time': 0.02146723099576775, 'model_time': 0.8392622900137212, 'learning_rate': 1.8327525604100058e-06, 'epoch': 56.66})
+Step 23500, Loss: {'mse_loss': 0.020891519263386726, 'mee_loss': 0.18132193386554718, 'totoal_loss': 0.021072840318083763, 'data_time': 0.01663981899037026, 'model_time': 0.7416215859993827, 'learning_rate': 1.7878328585976426e-06, 'epoch': 56.9})
+Step 23600, Loss: {'mse_loss': 0.01681181602180004, 'mee_loss': 0.14801694452762604, 'totoal_loss': 0.01695983298122883, 'data_time': 0.00038722400495316833, 'model_time': 0.9891212609945796, 'learning_rate': 1.7434401341625765e-06, 'epoch': 57.14})
+Step 23700, Loss: {'mse_loss': 0.012831147760152817, 'mee_loss': 0.16041839122772217, 'totoal_loss': 0.012991566210985184, 'data_time': 0.0003588330000638962, 'model_time': 0.7296607320022304, 'learning_rate': 1.6995813972306108e-06, 'epoch': 57.38})
+Step 23800, Loss: {'mse_loss': 0.03126835823059082, 'mee_loss': 0.19946175813674927, 'totoal_loss': 0.03146782144904137, 'data_time': 0.00036940499558113515, 'model_time': 0.7246269980096258, 'learning_rate': 1.656263573604734e-06, 'epoch': 57.63})
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+Step 28800, Loss: {'mse_loss': 0.02504710666835308, 'mee_loss': 0.1657947301864624, 'totoal_loss': 0.025212900713086128, 'data_time': 0.011455814994405955, 'model_time': 0.8215349140082253, 'learning_rate': 3.053227444026695e-07, 'epoch': 69.73})
+Step 28900, Loss: {'mse_loss': 0.009169354103505611, 'mee_loss': 0.13225999474525452, 'totoal_loss': 0.00930161401629448, 'data_time': 0.013102107986924239, 'model_time': 0.7355864109995309, 'learning_rate': 2.9650054972882544e-07, 'epoch': 69.98})
+Step 29000, Loss: {'mse_loss': 0.011661538854241371, 'mee_loss': 0.16276885569095612, 'totoal_loss': 0.011824307963252068, 'data_time': 0.0003941710019716993, 'model_time': 0.8373369239998283, 'learning_rate': 2.884408310919209e-07, 'epoch': 70.22})
+Step 29100, Loss: {'mse_loss': 0.020261714234948158, 'mee_loss': 0.1388828605413437, 'totoal_loss': 0.020400596782565117, 'data_time': 0.0003774359938688576, 'model_time': 0.7457244590041228, 'learning_rate': 2.8114486121495906e-07, 'epoch': 70.46})
+Step 29200, Loss: {'mse_loss': 0.009529086761176586, 'mee_loss': 0.12724252045154572, 'totoal_loss': 0.009656329639256, 'data_time': 0.00036236800951883197, 'model_time': 0.8195381729892688, 'learning_rate': 2.746137922161617e-07, 'epoch': 70.7})
+Step 29300, Loss: {'mse_loss': 0.0210191048681736, 'mee_loss': 0.13868261873722076, 'totoal_loss': 0.02115778811275959, 'data_time': 0.0004916710022371262, 'model_time': 0.7314830830000574, 'learning_rate': 2.68848655427034e-07, 'epoch': 70.94})
+Step 29400, Loss: {'mse_loss': 0.007577946409583092, 'mee_loss': 0.10997936129570007, 'totoal_loss': 0.007687925826758146, 'data_time': 0.0004666820022976026, 'model_time': 0.7475061400036793, 'learning_rate': 2.638503612295071e-07, 'epoch': 71.19})
+Step 29500, Loss: {'mse_loss': 0.013131593354046345, 'mee_loss': 0.12802046537399292, 'totoal_loss': 0.013259613886475563, 'data_time': 0.0003908299986505881, 'model_time': 0.8250877009995747, 'learning_rate': 2.5961969891217614e-07, 'epoch': 71.43})
+Step 29600, Loss: {'mse_loss': 0.01795584335923195, 'mee_loss': 0.1726832538843155, 'totoal_loss': 0.018128527328372, 'data_time': 0.00040054200508166105, 'model_time': 0.7666589250002289, 'learning_rate': 2.5615733654566483e-07, 'epoch': 71.67})
+Step 29700, Loss: {'mse_loss': 0.006741996854543686, 'mee_loss': 0.11678802222013474, 'totoal_loss': 0.006858784705400467, 'data_time': 0.0003927029902115464, 'model_time': 0.8017257290048292, 'learning_rate': 2.5346382087712764e-07, 'epoch': 71.91})
+Step 29800, Loss: {'mse_loss': 0.028943944722414017, 'mee_loss': 0.2141970843076706, 'totoal_loss': 0.02915814146399498, 'data_time': 0.008863708993885666, 'model_time': 0.758852801998728, 'learning_rate': 2.515395772439128e-07, 'epoch': 72.15})
+Step 29900, Loss: {'mse_loss': 0.011942188255488873, 'mee_loss': 0.13868330419063568, 'totoal_loss': 0.012080871500074863, 'data_time': 0.00798069400480017, 'model_time': 0.8251380370056722, 'learning_rate': 2.5038490950639644e-07, 'epoch': 72.4})
+Step 30000, Loss: {'mse_loss': 0.014468908309936523, 'mee_loss': 0.18244053423404694, 'totoal_loss': 0.014651348814368248, 'data_time': 0.0068915349984308705, 'model_time': 0.8240163510054117, 'learning_rate': 2.5e-07, 'epoch': 72.64})