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libero_10_2B/starvla_qwen_pi/config.json

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+{
+  "run_id": "starvla_qwen_pi",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_10_2B",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": false,
+  "mee_weight": 0.01,
+  "framework": {
+    "name": "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
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+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/share/project/baishuanghao/data/libero_lerobot",
+      "data_mix": "libero_10",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
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+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
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+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 30000,
+    "learning_rate": {
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+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
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+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
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+    "freeze_modules": null,
+    "loss_scale": {
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+      "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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+        0.95
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+      "eps": 1e-08,
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+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_10_2B/starvla_qwen_pi"
+}

libero_10_2B/starvla_qwen_pi/dataset_statistics.json

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libero_10_2B/starvla_qwen_pi/final_model/pytorch_model.pt

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+size 6825856850

libero_10_2B/starvla_qwen_pi/libero_10.log

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+Step 12700, Loss: {'mse_loss': 0.05853917449712753, 'totoal_loss': 0.05853917449712753, 'data_time': 0.015836885664612055, 'model_time': 0.7571614729240537, 'learning_rate': 7.89043612699294e-06, 'epoch': 16.12})
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+Step 18600, Loss: {'mse_loss': 0.05203885957598686, 'totoal_loss': 0.05203885957598686, 'data_time': 0.017422663047909737, 'model_time': 0.7433624230325222, 'learning_rate': 4.45327233291239e-06, 'epoch': 23.6})
+Step 18700, Loss: {'mse_loss': 0.02557130716741085, 'totoal_loss': 0.02557130716741085, 'data_time': 0.01886606914922595, 'model_time': 0.7440478983335197, 'learning_rate': 4.39265025303631e-06, 'epoch': 23.73})
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+Step 18900, Loss: {'mse_loss': 0.01578630320727825, 'totoal_loss': 0.01578630320727825, 'data_time': 0.01491283904761076, 'model_time': 0.7636307859793305, 'learning_rate': 4.271762587495529e-06, 'epoch': 23.98})
+Step 19000, Loss: {'mse_loss': 0.023069972172379494, 'totoal_loss': 0.023069972172379494, 'data_time': 0.02340392069891095, 'model_time': 0.7566694929264486, 'learning_rate': 4.2115160913945914e-06, 'epoch': 24.11})
+Step 19100, Loss: {'mse_loss': 0.060198381543159485, 'totoal_loss': 0.060198381543159485, 'data_time': 0.02363934274762869, 'model_time': 0.7255875873379409, 'learning_rate': 4.151413844992267e-06, 'epoch': 24.24})
+Step 19200, Loss: {'mse_loss': 0.024800928309559822, 'totoal_loss': 0.024800928309559822, 'data_time': 0.0245091593824327, 'model_time': 0.7461005849763751, 'learning_rate': 4.091465339129985e-06, 'epoch': 24.37})
+Step 19300, Loss: {'mse_loss': 0.01560334675014019, 'totoal_loss': 0.01560334675014019, 'data_time': 0.025510326959192753, 'model_time': 0.7606744379736483, 'learning_rate': 4.031680040371768e-06, 'epoch': 24.49})
+Step 19400, Loss: {'mse_loss': 0.011166260577738285, 'totoal_loss': 0.011166260577738285, 'data_time': 0.02266567014157772, 'model_time': 0.7136264690198004, 'learning_rate': 3.972067389509344e-06, 'epoch': 24.62})
+Step 19500, Loss: {'mse_loss': 0.04594065621495247, 'totoal_loss': 0.04594065621495247, 'data_time': 0.025407331995666027, 'model_time': 0.7506036008708179, 'learning_rate': 3.912636800071335e-06, 'epoch': 24.75})
+Step 19600, Loss: {'mse_loss': 0.013871864415705204, 'totoal_loss': 0.013871864415705204, 'data_time': 0.03012346290051937, 'model_time': 0.7373063759878278, 'learning_rate': 3.853397656836754e-06, 'epoch': 24.87})
+Step 19700, Loss: {'mse_loss': 0.07733973860740662, 'totoal_loss': 0.07733973860740662, 'data_time': 1.535412868950516, 'model_time': 0.7759799398481846, 'learning_rate': 3.7943593143530404e-06, 'epoch': 25.0})
+Step 19800, Loss: {'mse_loss': 0.02915571630001068, 'totoal_loss': 0.02915571630001068, 'data_time': 0.020919122733175755, 'model_time': 0.7367320600897074, 'learning_rate': 3.735531095458867e-06, 'epoch': 25.13})
+Step 19900, Loss: {'mse_loss': 0.023684145882725716, 'totoal_loss': 0.023684145882725716, 'data_time': 0.021394452080130577, 'model_time': 0.7540517388843, 'learning_rate': 3.6769222898119562e-06, 'epoch': 25.25})
+Step 20000, Loss: {'mse_loss': 0.012145203538239002, 'totoal_loss': 0.012145203538239002, 'data_time': 0.02215716801583767, 'model_time': 0.7507941308431327, 'learning_rate': 3.618542152422132e-06, 'epoch': 25.38})
+Step 20100, Loss: {'mse_loss': 0.013492057099938393, 'totoal_loss': 0.013492057099938393, 'data_time': 0.021714783273637295, 'model_time': 0.7289023119956255, 'learning_rate': 3.560399902189855e-06, 'epoch': 25.51})
+Step 20200, Loss: {'mse_loss': 0.009940792806446552, 'totoal_loss': 0.009940792806446552, 'data_time': 0.022368924226611853, 'model_time': 0.7527616950683296, 'learning_rate': 3.502504720450441e-06, 'epoch': 25.63})
+Step 20300, Loss: {'mse_loss': 0.01747497171163559, 'totoal_loss': 0.01747497171163559, 'data_time': 0.014978242106735706, 'model_time': 0.7733405688777566, 'learning_rate': 3.4448657495242304e-06, 'epoch': 25.76})
+Step 20400, Loss: {'mse_loss': 0.03299151360988617, 'totoal_loss': 0.03299151360988617, 'data_time': 0.016063372138887644, 'model_time': 0.7944330852478743, 'learning_rate': 3.387492091272904e-06, 'epoch': 25.89})
+Step 20500, Loss: {'mse_loss': 0.019465936347842216, 'totoal_loss': 0.019465936347842216, 'data_time': 0.021230280864983797, 'model_time': 0.726529966108501, 'learning_rate': 3.3303928056621955e-06, 'epoch': 26.02})
+Step 20600, Loss: {'mse_loss': 0.04801729694008827, 'totoal_loss': 0.04801729694008827, 'data_time': 0.02177868178114295, 'model_time': 0.73876349395141, 'learning_rate': 3.2735769093312202e-06, 'epoch': 26.14})
+Step 20700, Loss: {'mse_loss': 0.03261314332485199, 'totoal_loss': 0.03261314332485199, 'data_time': 0.023888139985501766, 'model_time': 0.7370286248624325, 'learning_rate': 3.217053374168639e-06, 'epoch': 26.27})
+Step 20800, Loss: {'mse_loss': 0.016347242519259453, 'totoal_loss': 0.016347242519259453, 'data_time': 0.020850373897701502, 'model_time': 0.8331037987954915, 'learning_rate': 3.1608311258958953e-06, 'epoch': 26.4})
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+Step 28900, Loss: {'mse_loss': 0.00796540267765522, 'totoal_loss': 0.00796540267765522, 'data_time': 0.017402068246155977, 'model_time': 0.8355230037122965, 'learning_rate': 2.9650054972882544e-07, 'epoch': 36.68})
+Step 29000, Loss: {'mse_loss': 0.011633164249360561, 'totoal_loss': 0.011633164249360561, 'data_time': 0.014687507878988981, 'model_time': 0.745209373999387, 'learning_rate': 2.884408310919209e-07, 'epoch': 36.8})
+Step 29100, Loss: {'mse_loss': 0.009484630078077316, 'totoal_loss': 0.009484630078077316, 'data_time': 0.015165808144956827, 'model_time': 0.821868559345603, 'learning_rate': 2.8114486121495906e-07, 'epoch': 36.93})
+Step 29200, Loss: {'mse_loss': 0.0038788598030805588, 'totoal_loss': 0.0038788598030805588, 'data_time': 0.01570770237594843, 'model_time': 0.7346317181363702, 'learning_rate': 2.746137922161617e-07, 'epoch': 37.06})
+Step 29300, Loss: {'mse_loss': 0.01024983637034893, 'totoal_loss': 0.01024983637034893, 'data_time': 0.014884913340210915, 'model_time': 0.7708192141726613, 'learning_rate': 2.68848655427034e-07, 'epoch': 37.18})
+Step 29400, Loss: {'mse_loss': 0.014825118705630302, 'totoal_loss': 0.014825118705630302, 'data_time': 0.017705109901726246, 'model_time': 0.7548313839361072, 'learning_rate': 2.638503612295071e-07, 'epoch': 37.31})
+Step 29500, Loss: {'mse_loss': 0.013066071085631847, 'totoal_loss': 0.013066071085631847, 'data_time': 0.018179214093834162, 'model_time': 0.7377170869149268, 'learning_rate': 2.5961969891217614e-07, 'epoch': 37.44})
+Step 29600, Loss: {'mse_loss': 0.011307214386761189, 'totoal_loss': 0.011307214386761189, 'data_time': 0.018070524092763662, 'model_time': 0.7500284709967673, 'learning_rate': 2.5615733654566483e-07, 'epoch': 37.56})
+Step 29700, Loss: {'mse_loss': 0.0071637132205069065, 'totoal_loss': 0.0071637132205069065, 'data_time': 0.016419419087469578, 'model_time': 0.7643612422980368, 'learning_rate': 2.5346382087712764e-07, 'epoch': 37.69})
+Step 29800, Loss: {'mse_loss': 0.015479196794331074, 'totoal_loss': 0.015479196794331074, 'data_time': 0.015293370932340622, 'model_time': 0.7414186550304294, 'learning_rate': 2.515395772439128e-07, 'epoch': 37.82})
+Step 29900, Loss: {'mse_loss': 0.011683176271617413, 'totoal_loss': 0.011683176271617413, 'data_time': 0.028071977198123932, 'model_time': 0.741732673253864, 'learning_rate': 2.5038490950639644e-07, 'epoch': 37.94})
+Step 30000, Loss: {'mse_loss': 0.013048053719103336, 'totoal_loss': 0.013048053719103336, 'mse_score': 0.0010522522165306977, 'data_time': 0.015741227194666862, 'model_time': 0.8000133810564876, 'learning_rate': 2.5e-07, 'epoch': 38.07})

libero_10_2B/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
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+# episodes completed so far: 2
+# successes: 2 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 3 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 4 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 5 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 6 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 7 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 8 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 9 (100.0%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 10 (100.0%)
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 11 (100.0%)
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 12 (100.0%)
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 14 (100.0%)
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 30 (90.9%)
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 34 (91.9%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 35 (92.1%)
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 36 (92.3%)
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+# successes: 38 (92.7%)
+
+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
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+Task: put both the alphabet soup and the tomato sauce in the basket
+Success: False
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+Current task success rate: 0.92
+Current total success rate: 0.92
+
+Task: put both the cream cheese box and the butter in the basket
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+# successes: 47 (92.2%)
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: put both the cream cheese box and the butter in the basket
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
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+Task: turn on the stove and put the moka pot on it
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+# successes: 137 (96.5%)
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+Task: turn on the stove and put the moka pot on it
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+# successes: 138 (96.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 144
+# successes: 139 (96.5%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 145
+# successes: 140 (96.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 146
+# successes: 141 (96.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 147
+# successes: 142 (96.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 148
+# successes: 143 (96.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 149
+# successes: 144 (96.6%)
+
+Task: turn on the stove and put the moka pot on it
+Success: True
+# episodes completed so far: 150
+# successes: 145 (96.7%)
+Current task success rate: 1.0
+Current total success rate: 0.9666666666666667
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 151
+# successes: 146 (96.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 152
+# successes: 147 (96.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 153
+# successes: 148 (96.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 154
+# successes: 149 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 155
+# successes: 150 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 156
+# successes: 151 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 157
+# successes: 152 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 158
+# successes: 153 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 159
+# successes: 154 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 160
+# successes: 155 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 161
+# successes: 156 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 162
+# successes: 157 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 163
+# successes: 158 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 164
+# successes: 159 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 165
+# successes: 160 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 166
+# successes: 161 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 167
+# successes: 162 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 168
+# successes: 163 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 169
+# successes: 164 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 170
+# successes: 165 (97.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 171
+# successes: 166 (97.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 172
+# successes: 167 (97.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 173
+# successes: 168 (97.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 174
+# successes: 169 (97.1%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: False
+# episodes completed so far: 175
+# successes: 169 (96.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 176
+# successes: 170 (96.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 177
+# successes: 171 (96.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 178
+# successes: 172 (96.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 179
+# successes: 173 (96.6%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 180
+# successes: 174 (96.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 181
+# successes: 175 (96.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 182
+# successes: 176 (96.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 183
+# successes: 177 (96.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 184
+# successes: 178 (96.7%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 185
+# successes: 179 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 186
+# successes: 180 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 187
+# successes: 181 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 188
+# successes: 182 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 189
+# successes: 183 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 190
+# successes: 184 (96.8%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 191
+# successes: 185 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 192
+# successes: 186 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 193
+# successes: 187 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 194
+# successes: 188 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 195
+# successes: 189 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 196
+# successes: 190 (96.9%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 197
+# successes: 191 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 198
+# successes: 192 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 199
+# successes: 193 (97.0%)
+
+Task: put the black bowl in the bottom drawer of the cabinet and close it
+Success: True
+# episodes completed so far: 200
+# successes: 194 (97.0%)
+Current task success rate: 0.98
+Current total success rate: 0.97
+
+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: 195 (97.0%)
+
+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: 196 (97.0%)
+
+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: 203
+# successes: 197 (97.0%)
+
+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: 204
+# successes: 198 (97.1%)
+
+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: 199 (97.1%)
+
+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: 200 (97.1%)
+
+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: 207
+# successes: 201 (97.1%)
+
+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: 208
+# successes: 202 (97.1%)
+
+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: 209
+# successes: 203 (97.1%)
+
+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: 210
+# successes: 204 (97.1%)
+
+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: 211
+# successes: 205 (97.2%)
+
+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: 212
+# successes: 206 (97.2%)
+
+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: 213
+# successes: 207 (97.2%)
+
+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: 214
+# successes: 208 (97.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 215
+# successes: 209 (97.2%)
+
+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: 216
+# successes: 210 (97.2%)
+
+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: 217
+# successes: 211 (97.2%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 218
+# successes: 212 (97.2%)
+
+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: 219
+# successes: 213 (97.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 220
+# successes: 214 (97.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 221
+# successes: 215 (97.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 222
+# successes: 216 (97.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 223
+# successes: 217 (97.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 224
+# successes: 218 (97.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 225
+# successes: 219 (97.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 226
+# successes: 220 (97.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 227
+# successes: 221 (97.4%)
+
+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 (96.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 229
+# successes: 222 (96.9%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 230
+# successes: 223 (97.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 231
+# successes: 224 (97.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 232
+# successes: 225 (97.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 233
+# successes: 226 (97.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 234
+# successes: 227 (97.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 235
+# successes: 228 (97.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 236
+# successes: 229 (97.0%)
+
+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: 237
+# successes: 230 (97.0%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 238
+# successes: 230 (96.6%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 239
+# successes: 231 (96.7%)
+
+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: 240
+# successes: 232 (96.7%)
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+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 241
+# successes: 233 (96.7%)
+
+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: 242
+# successes: 233 (96.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 243
+# successes: 234 (96.3%)
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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: 244
+# successes: 235 (96.3%)
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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: 245
+# successes: 236 (96.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 246
+# successes: 237 (96.3%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 247
+# successes: 238 (96.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 248
+# successes: 239 (96.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
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+# episodes completed so far: 249
+# successes: 240 (96.4%)
+
+Task: put the white mug on the left plate and put the yellow and white mug on the right plate
+Success: True
+# episodes completed so far: 250
+# successes: 241 (96.4%)
+Current task success rate: 0.94
+Current total success rate: 0.964
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 251
+# successes: 242 (96.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
+Success: True
+# episodes completed so far: 252
+# successes: 243 (96.4%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 253
+# successes: 244 (96.4%)
+
+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: 245 (96.5%)
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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: 255
+# successes: 246 (96.5%)
+
+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: 247 (96.5%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 257
+# successes: 248 (96.5%)
+
+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: 248 (96.1%)
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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: 259
+# successes: 249 (96.1%)
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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: 260
+# successes: 250 (96.2%)
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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: 261
+# successes: 251 (96.2%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 252 (96.2%)
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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: 263
+# successes: 253 (96.2%)
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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: 264
+# successes: 254 (96.2%)
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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 (96.2%)
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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: 266
+# successes: 256 (96.2%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 257 (96.3%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 258 (96.3%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 259 (96.3%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 270
+# successes: 260 (96.3%)
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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: 271
+# successes: 261 (96.3%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 272
+# successes: 262 (96.3%)
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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: 263 (96.3%)
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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: 264 (96.4%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 275
+# successes: 265 (96.4%)
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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: 266 (96.4%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 277
+# successes: 267 (96.4%)
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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: 268 (96.4%)
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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: 279
+# successes: 269 (96.4%)
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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: 270 (96.4%)
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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: 281
+# successes: 271 (96.4%)
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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: 282
+# successes: 272 (96.5%)
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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: 283
+# successes: 273 (96.5%)
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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: 274 (96.5%)
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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: 285
+# successes: 275 (96.5%)
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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: 286
+# successes: 276 (96.5%)
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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: 287
+# successes: 277 (96.5%)
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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: 288
+# successes: 278 (96.5%)
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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: 289
+# successes: 279 (96.5%)
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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: 290
+# successes: 280 (96.6%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 291
+# successes: 281 (96.6%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 292
+# successes: 282 (96.6%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 293
+# successes: 283 (96.6%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# successes: 284 (96.6%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 295
+# successes: 285 (96.6%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 296
+# successes: 286 (96.6%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 297
+# successes: 287 (96.6%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 298
+# successes: 288 (96.6%)
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+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 299
+# successes: 289 (96.7%)
+
+Task: pick up the book and place it in the back compartment of the caddy
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+# episodes completed so far: 300
+# successes: 290 (96.7%)
+Current task success rate: 0.98
+Current total success rate: 0.9666666666666667
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 301
+# successes: 291 (96.7%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 292 (96.7%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 293 (96.7%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 294 (96.7%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 295 (96.7%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 296 (96.7%)
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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: 297 (96.7%)
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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: 297 (96.4%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 298 (96.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# successes: 299 (96.5%)
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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: 300 (96.5%)
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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: 312
+# successes: 301 (96.5%)
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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: 302 (96.5%)
+
+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 (96.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: False
+# episodes completed so far: 315
+# successes: 303 (96.2%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 316
+# successes: 304 (96.2%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 317
+# successes: 305 (96.2%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 318
+# successes: 306 (96.2%)
+
+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: 319
+# successes: 307 (96.2%)
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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: 320
+# successes: 308 (96.2%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: False
+# episodes completed so far: 321
+# successes: 308 (96.0%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 322
+# successes: 308 (95.7%)
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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: 323
+# successes: 309 (95.7%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: False
+# episodes completed so far: 324
+# successes: 309 (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: 325
+# 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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+# episodes completed so far: 327
+# 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: 312 (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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+# episodes completed so far: 329
+# successes: 313 (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: 313 (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: 313 (94.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 332
+# successes: 314 (94.6%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 333
+# successes: 314 (94.3%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 334
+# successes: 315 (94.3%)
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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: 316 (94.3%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 336
+# successes: 317 (94.3%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
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+# episodes completed so far: 337
+# successes: 318 (94.4%)
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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: 319 (94.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 339
+# successes: 320 (94.4%)
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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: 340
+# successes: 321 (94.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 341
+# successes: 322 (94.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 342
+# successes: 323 (94.4%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 343
+# successes: 324 (94.5%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 344
+# successes: 325 (94.5%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: False
+# episodes completed so far: 345
+# successes: 325 (94.2%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 346
+# successes: 326 (94.2%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: False
+# episodes completed so far: 347
+# successes: 326 (93.9%)
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+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 348
+# successes: 327 (94.0%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 349
+# successes: 328 (94.0%)
+
+Task: put the white mug on the plate and put the chocolate pudding to the right of the plate
+Success: True
+# episodes completed so far: 350
+# successes: 329 (94.0%)
+Current task success rate: 0.78
+Current total success rate: 0.94
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 351
+# successes: 330 (94.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 352
+# successes: 331 (94.0%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 353
+# successes: 332 (94.1%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: False
+# episodes completed so far: 354
+# successes: 332 (93.8%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 355
+# successes: 333 (93.8%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 356
+# successes: 334 (93.8%)
+
+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: True
+# episodes completed so far: 357
+# successes: 335 (93.8%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 358
+# successes: 336 (93.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
+Success: False
+# episodes completed so far: 359
+# successes: 336 (93.6%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 360
+# successes: 337 (93.6%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 361
+# successes: 338 (93.6%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 362
+# successes: 339 (93.6%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 363
+# successes: 340 (93.7%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 364
+# successes: 341 (93.7%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 365
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 364 (93.8%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 365 (93.8%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 390
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 369 (93.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 370 (93.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 395
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 396
+# successes: 372 (93.9%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 374 (94.0%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# successes: 375 (94.0%)
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+Task: put both the alphabet soup and the cream cheese box in the basket
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+# episodes completed so far: 400
+# successes: 376 (94.0%)
+Current task success rate: 0.94
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+Task: put both moka pots on the stove
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+# episodes completed so far: 401
+# successes: 377 (94.0%)
+
+Task: put both moka pots on the stove
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+# episodes completed so far: 402
+# successes: 378 (94.0%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 403
+# successes: 379 (94.0%)
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+Task: put both moka pots on the stove
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+# successes: 379 (93.8%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# episodes completed so far: 407
+# successes: 381 (93.6%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 408
+# successes: 382 (93.6%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 409
+# successes: 383 (93.6%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# successes: 384 (93.2%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# successes: 386 (93.2%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# successes: 401 (93.0%)
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+Task: put both moka pots on the stove
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+# successes: 401 (92.8%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# successes: 403 (92.9%)
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+Task: put both moka pots on the stove
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+# successes: 404 (92.9%)
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+Task: put both moka pots on the stove
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+# successes: 405 (92.9%)
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+Task: put both moka pots on the stove
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+# successes: 406 (92.9%)
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+Task: put both moka pots on the stove
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+Task: put both moka pots on the stove
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+# episodes completed so far: 439
+# successes: 408 (92.9%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 440
+# successes: 408 (92.7%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 441
+# successes: 409 (92.7%)
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+Task: put both moka pots on the stove
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+# successes: 409 (92.5%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 443
+# successes: 409 (92.3%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 444
+# successes: 410 (92.3%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 445
+# successes: 410 (92.1%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 446
+# successes: 410 (91.9%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 447
+# successes: 411 (91.9%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 448
+# successes: 412 (92.0%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 449
+# successes: 413 (92.0%)
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+Task: put both moka pots on the stove
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+# episodes completed so far: 450
+# successes: 414 (92.0%)
+Current task success rate: 0.76
+Current total success rate: 0.92
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 451
+# successes: 415 (92.0%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 452
+# successes: 416 (92.0%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 453
+# successes: 417 (92.1%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 454
+# successes: 418 (92.1%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 455
+# successes: 419 (92.1%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 456
+# successes: 420 (92.1%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 457
+# successes: 421 (92.1%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 458
+# successes: 422 (92.1%)
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+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 459
+# successes: 423 (92.2%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 460
+# successes: 424 (92.2%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 461
+# successes: 425 (92.2%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 462
+# successes: 426 (92.2%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 463
+# successes: 427 (92.2%)
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+Task: put the yellow and white mug in the microwave and close it
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+# episodes completed so far: 464
+# successes: 428 (92.2%)
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+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 465
+# successes: 429 (92.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 466
+# successes: 430 (92.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 467
+# successes: 431 (92.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 468
+# successes: 432 (92.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 469
+# successes: 433 (92.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 470
+# successes: 434 (92.3%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 471
+# successes: 435 (92.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 472
+# successes: 436 (92.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 473
+# successes: 437 (92.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 474
+# successes: 438 (92.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 475
+# successes: 439 (92.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 476
+# successes: 440 (92.4%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 477
+# successes: 441 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 478
+# successes: 442 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 479
+# successes: 443 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 480
+# successes: 444 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 481
+# successes: 445 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 482
+# successes: 446 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 483
+# successes: 447 (92.5%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 484
+# successes: 448 (92.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 485
+# successes: 449 (92.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 486
+# successes: 450 (92.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 487
+# successes: 451 (92.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 488
+# successes: 452 (92.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 489
+# successes: 453 (92.6%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 490
+# successes: 454 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 491
+# successes: 455 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 492
+# successes: 456 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 493
+# successes: 457 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 494
+# successes: 458 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 495
+# successes: 459 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 496
+# successes: 460 (92.7%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 497
+# successes: 461 (92.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 498
+# successes: 462 (92.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 499
+# successes: 463 (92.8%)
+
+Task: put the yellow and white mug in the microwave and close it
+Success: True
+# episodes completed so far: 500
+# successes: 464 (92.8%)
+Current task success rate: 1.0
+Current total success rate: 0.928

libero_goal_2B/starvla_qwen_pi/config.json

@@ -0,0 +1,129 @@
+{
+  "run_id": "starvla_qwen_pi",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_3/libero_goal_2B_mee0e-2",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": true,
+  "mee_weight": 0.0,
+  "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
+    },
+    "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_3/libero_goal_2B_mee0e-2/starvla_qwen_pi"
+}

libero_goal_2B/starvla_qwen_pi/dataset_statistics.json

@@ -0,0 +1,133 @@
+{
+  "franka": {
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+      "mask": [
+        true,
+        true,
+        true,
+        true,
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+        true,
+        false
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+    },
+    "state": {
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+        0.013597904704511166,
+        1.0694637298583984,
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+        -1.130668159723282,
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+        -0.040336399003863335
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+        0.4659483411908149,
+        0.040610933862626555,
+        -0.0015016929572448147
+      ]
+    },
+    "num_transitions": 51851,
+    "num_trajectories": 428
+  }
+}

libero_goal_2B/starvla_qwen_pi/final_model/pytorch_model.pt

@@ -0,0 +1,3 @@
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+size 6825856850

libero_goal_2B/starvla_qwen_pi/libero_eval_libero_goal.log

@@ -0,0 +1,2521 @@
+Task suite: libero_goal
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 3
+# successes: 3 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# successes: 4 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 5
+# successes: 5 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# successes: 6 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# successes: 7 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# successes: 8 (100.0%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# successes: 10 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 11
+# successes: 11 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 12
+# successes: 12 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 13
+# successes: 13 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 14
+# successes: 14 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 15
+# successes: 15 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 16
+# successes: 16 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 17
+# successes: 17 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 18
+# successes: 18 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 19
+# successes: 19 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 20
+# successes: 20 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# successes: 21 (100.0%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 23
+# successes: 23 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 24
+# successes: 24 (100.0%)
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+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 25
+# successes: 25 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 26
+# successes: 26 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 27
+# successes: 27 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 28
+# successes: 28 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 29
+# successes: 29 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 30
+# successes: 30 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 31
+# successes: 31 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 32
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+Task: open the middle drawer of the cabinet
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+# successes: 33 (100.0%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 40
+# successes: 40 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 41
+# successes: 41 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 42
+# successes: 42 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 43
+# successes: 43 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 44
+# successes: 44 (100.0%)
+
+Task: open the middle drawer of the cabinet
+Success: True
+# episodes completed so far: 45
+# successes: 45 (100.0%)
+
+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 46
+# successes: 46 (100.0%)
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 49
+# successes: 49 (100.0%)
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+Task: open the middle drawer of the cabinet
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+# episodes completed so far: 50
+# successes: 50 (100.0%)
+Current task success rate: 1.0
+Current total success rate: 1.0
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+Task: put the bowl on the stove
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+# episodes completed so far: 51
+# successes: 51 (100.0%)
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+Task: put the bowl on the stove
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+# episodes completed so far: 52
+# successes: 52 (100.0%)
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+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 53
+# successes: 53 (100.0%)
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+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 54
+# successes: 54 (100.0%)
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+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 55
+# successes: 55 (100.0%)
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+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 56
+# successes: 56 (100.0%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 57
+# successes: 57 (100.0%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 58
+# successes: 58 (100.0%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 59
+# successes: 59 (100.0%)
+
+Task: put the bowl on the stove
+Success: False
+# episodes completed so far: 60
+# successes: 59 (98.3%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 61
+# successes: 60 (98.4%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 62
+# successes: 61 (98.4%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 63
+# successes: 62 (98.4%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 64
+# successes: 63 (98.4%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 65
+# successes: 64 (98.5%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 66
+# successes: 65 (98.5%)
+
+Task: put the bowl on the stove
+Success: True
+# episodes completed so far: 67
+# successes: 66 (98.5%)
+
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the bowl on the stove
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the wine bottle on top of the cabinet
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+Task: put the bowl on top of the cabinet
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+# episodes completed so far: 440
+# successes: 424 (96.4%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 441
+# successes: 425 (96.4%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 442
+# successes: 426 (96.4%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 443
+# successes: 427 (96.4%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 444
+# successes: 428 (96.4%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 445
+# successes: 429 (96.4%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 446
+# successes: 430 (96.4%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 447
+# successes: 431 (96.4%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 448
+# successes: 432 (96.4%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 449
+# successes: 433 (96.4%)
+
+Task: put the bowl on the plate
+Success: True
+# episodes completed so far: 450
+# successes: 434 (96.4%)
+Current task success rate: 0.94
+Current total success rate: 0.9644444444444444
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 451
+# successes: 435 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 452
+# successes: 436 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 453
+# successes: 437 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 454
+# successes: 438 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 455
+# successes: 439 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 456
+# successes: 440 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 457
+# successes: 441 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 458
+# successes: 442 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 459
+# successes: 443 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 460
+# successes: 443 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 461
+# successes: 444 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 462
+# successes: 445 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 463
+# successes: 446 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 464
+# successes: 447 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 465
+# successes: 448 (96.3%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 466
+# successes: 449 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 467
+# successes: 450 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 468
+# successes: 451 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 469
+# successes: 452 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 470
+# successes: 453 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 471
+# successes: 454 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 472
+# successes: 455 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 473
+# successes: 456 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 474
+# successes: 457 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 475
+# successes: 458 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 476
+# successes: 459 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 477
+# successes: 460 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 478
+# successes: 461 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 479
+# successes: 462 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 480
+# successes: 463 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 481
+# successes: 464 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 482
+# successes: 465 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 483
+# successes: 466 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 484
+# successes: 467 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 485
+# successes: 468 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 486
+# successes: 469 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 487
+# successes: 470 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 488
+# successes: 471 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 489
+# successes: 472 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 490
+# successes: 473 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 491
+# successes: 474 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 492
+# successes: 475 (96.5%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 493
+# successes: 476 (96.6%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 494
+# successes: 477 (96.6%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 495
+# successes: 478 (96.6%)
+
+Task: put the wine bottle on the rack
+Success: False
+# episodes completed so far: 496
+# successes: 478 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 497
+# successes: 479 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 498
+# successes: 480 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 499
+# successes: 481 (96.4%)
+
+Task: put the wine bottle on the rack
+Success: True
+# episodes completed so far: 500
+# successes: 482 (96.4%)
+Current task success rate: 0.96
+Current total success rate: 0.964

libero_goal_2B/starvla_qwen_pi/libero_goal.log

@@ -0,0 +1,300 @@
+Step 100, Loss: {'mse_loss': 3990.541015625, 'mee_loss': 5.545175075531006, 'totoal_loss': 3990.541015625, 'data_time': 0.021054801996797323, 'model_time': 0.7243882571347058, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.25})
+Step 200, Loss: {'mse_loss': 1139.66259765625, 'mee_loss': 5.545175075531006, 'totoal_loss': 1139.66259765625, 'data_time': 0.017374943010509014, 'model_time': 0.7457906338386238, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.49})
+Step 300, Loss: {'mse_loss': 1.4014493227005005, 'mee_loss': 5.474062919616699, 'totoal_loss': 1.4014493227005005, 'data_time': 0.017681393306702375, 'model_time': 0.731398593634367, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.74})
+Step 400, Loss: {'mse_loss': 0.9798861742019653, 'mee_loss': 5.397450923919678, 'totoal_loss': 0.9798861742019653, 'data_time': 0.014565281104296446, 'model_time': 0.7436092738062143, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.99})
+Step 500, Loss: {'mse_loss': 0.7584036588668823, 'mee_loss': 5.187081813812256, 'totoal_loss': 0.7584036588668823, 'data_time': 0.009112514089792967, 'model_time': 0.7648255466483533, 'learning_rate': 1.0000000000000002e-06, 'epoch': 1.23})
+Step 600, Loss: {'mse_loss': 0.6193280220031738, 'mee_loss': 4.8962554931640625, 'totoal_loss': 0.6193280220031738, 'data_time': 0.013369448017328978, 'model_time': 0.7147792889736593, 'learning_rate': 1.2000000000000002e-06, 'epoch': 1.48})
+Step 700, Loss: {'mse_loss': 0.5538202524185181, 'mee_loss': 4.3941426277160645, 'totoal_loss': 0.5538202524185181, 'data_time': 0.008021290879696608, 'model_time': 0.7140780361369252, 'learning_rate': 1.4000000000000001e-06, 'epoch': 1.72})
+Step 800, Loss: {'mse_loss': 0.41575586795806885, 'mee_loss': 3.9623844623565674, 'totoal_loss': 0.41575586795806885, 'data_time': 0.013683856930583715, 'model_time': 0.7398267616517842, 'learning_rate': 1.6000000000000001e-06, 'epoch': 1.97})
+Step 900, Loss: {'mse_loss': 0.3192206621170044, 'mee_loss': 2.9715616703033447, 'totoal_loss': 0.3192206621170044, 'data_time': 0.024808531161397696, 'model_time': 0.8300199378281832, 'learning_rate': 1.8000000000000001e-06, 'epoch': 2.22})
+Step 1000, Loss: {'mse_loss': 0.24766623973846436, 'mee_loss': 2.4126579761505127, 'totoal_loss': 0.24766623973846436, 'data_time': 0.0241480297408998, 'model_time': 0.7442477219738066, 'learning_rate': 2.0000000000000003e-06, 'epoch': 2.46})
+Step 1100, Loss: {'mse_loss': 0.1497509479522705, 'mee_loss': 1.8460499048233032, 'totoal_loss': 0.1497509479522705, 'data_time': 0.022035029251128435, 'model_time': 0.7333609438501298, 'learning_rate': 2.2e-06, 'epoch': 2.71})
+Step 1200, Loss: {'mse_loss': 0.20154115557670593, 'mee_loss': 2.10908842086792, 'totoal_loss': 0.20154115557670593, 'data_time': 0.023050757125020027, 'model_time': 0.7134847892448306, 'learning_rate': 2.4000000000000003e-06, 'epoch': 2.96})
+Step 1300, Loss: {'mse_loss': 0.17352887988090515, 'mee_loss': 2.043856143951416, 'totoal_loss': 0.17352887988090515, 'data_time': 0.008560704067349434, 'model_time': 0.7424727990292013, 'learning_rate': 2.6e-06, 'epoch': 3.2})
+Step 1400, Loss: {'mse_loss': 0.2395610213279724, 'mee_loss': 2.0066702365875244, 'totoal_loss': 0.2395610213279724, 'data_time': 0.007865217048674822, 'model_time': 0.7187297008931637, 'learning_rate': 2.8000000000000003e-06, 'epoch': 3.45})
+Step 1500, Loss: {'mse_loss': 0.3142419755458832, 'mee_loss': 2.0509185791015625, 'totoal_loss': 0.3142419755458832, 'data_time': 0.008620243053883314, 'model_time': 0.7608408429659903, 'learning_rate': 3e-06, 'epoch': 3.69})
+Step 1600, Loss: {'mse_loss': 0.2194521129131317, 'mee_loss': 1.8351619243621826, 'totoal_loss': 0.2194521129131317, 'data_time': 0.007904136087745428, 'model_time': 0.7948107239790261, 'learning_rate': 3.2000000000000003e-06, 'epoch': 3.94})
+Step 1700, Loss: {'mse_loss': 0.21092920005321503, 'mee_loss': 1.8663140535354614, 'totoal_loss': 0.21092920005321503, 'data_time': 0.00852662930265069, 'model_time': 0.7363459528423846, 'learning_rate': 3.4000000000000005e-06, 'epoch': 4.19})
+Step 1800, Loss: {'mse_loss': 0.07487012445926666, 'mee_loss': 1.363986849784851, 'totoal_loss': 0.07487012445926666, 'data_time': 0.008981955703347921, 'model_time': 0.7703578416258097, 'learning_rate': 3.6000000000000003e-06, 'epoch': 4.43})
+Step 1900, Loss: {'mse_loss': 0.1985255926847458, 'mee_loss': 1.8912720680236816, 'totoal_loss': 0.1985255926847458, 'data_time': 0.011369241401553154, 'model_time': 0.7453987551853061, 'learning_rate': 3.8000000000000005e-06, 'epoch': 4.68})
+Step 2000, Loss: {'mse_loss': 0.11268928647041321, 'mee_loss': 1.51338529586792, 'totoal_loss': 0.11268928647041321, 'data_time': 0.008786388207226992, 'model_time': 0.7623406019993126, 'learning_rate': 4.000000000000001e-06, 'epoch': 4.93})
+Step 2100, Loss: {'mse_loss': 0.11870723962783813, 'mee_loss': 1.4753739833831787, 'totoal_loss': 0.11870723962783813, 'data_time': 0.00032708095386624336, 'model_time': 0.8561276267282665, 'learning_rate': 4.2000000000000004e-06, 'epoch': 5.17})
+Step 2200, Loss: {'mse_loss': 0.09191426634788513, 'mee_loss': 1.280185580253601, 'totoal_loss': 0.09191426634788513, 'data_time': 0.0004890621639788151, 'model_time': 0.811174139380455, 'learning_rate': 4.4e-06, 'epoch': 5.42})
+Step 2300, Loss: {'mse_loss': 0.14317333698272705, 'mee_loss': 1.5930641889572144, 'totoal_loss': 0.14317333698272705, 'data_time': 0.0003887396305799484, 'model_time': 0.7682437999173999, 'learning_rate': 4.600000000000001e-06, 'epoch': 5.67})
+Step 2400, Loss: {'mse_loss': 0.19394658505916595, 'mee_loss': 1.843616247177124, 'totoal_loss': 0.19394658505916595, 'data_time': 0.00038842204958200455, 'model_time': 0.7572923889383674, 'learning_rate': 4.800000000000001e-06, 'epoch': 5.91})
+Step 2500, Loss: {'mse_loss': 0.13904061913490295, 'mee_loss': 1.2926745414733887, 'totoal_loss': 0.13904061913490295, 'data_time': 0.014903211034834385, 'model_time': 0.7893329737707973, 'learning_rate': 5e-06, 'epoch': 6.16})
+Step 2600, Loss: {'mse_loss': 0.16609366238117218, 'mee_loss': 1.7987258434295654, 'totoal_loss': 0.16609366238117218, 'data_time': 0.016579071059823036, 'model_time': 0.7164269741624594, 'learning_rate': 5.2e-06, 'epoch': 6.4})
+Step 2700, Loss: {'mse_loss': 0.13945768773555756, 'mee_loss': 1.7188701629638672, 'totoal_loss': 0.13945768773555756, 'data_time': 0.017756585031747818, 'model_time': 0.8170354221947491, 'learning_rate': 5.400000000000001e-06, 'epoch': 6.65})
+Step 2800, Loss: {'mse_loss': 0.10792955756187439, 'mee_loss': 1.3125696182250977, 'totoal_loss': 0.10792955756187439, 'data_time': 0.016866866033524275, 'model_time': 0.7455455269664526, 'learning_rate': 5.600000000000001e-06, 'epoch': 6.9})
+Step 2900, Loss: {'mse_loss': 0.08316008001565933, 'mee_loss': 1.1671677827835083, 'totoal_loss': 0.08316008001565933, 'data_time': 0.000372045673429966, 'model_time': 0.7689330680295825, 'learning_rate': 5.8e-06, 'epoch': 7.14})
+Step 3000, Loss: {'mse_loss': 0.1447703242301941, 'mee_loss': 1.7276808023452759, 'totoal_loss': 0.1447703242301941, 'data_time': 0.00035650376230478287, 'model_time': 0.7643675850704312, 'learning_rate': 6e-06, 'epoch': 7.39})
+Step 3100, Loss: {'mse_loss': 0.13367238640785217, 'mee_loss': 1.3684662580490112, 'totoal_loss': 0.13367238640785217, 'data_time': 0.0003869510255753994, 'model_time': 0.7723564021289349, 'learning_rate': 6.200000000000001e-06, 'epoch': 7.64})
+Step 3200, Loss: {'mse_loss': 0.14769935607910156, 'mee_loss': 1.520264744758606, 'totoal_loss': 0.14769935607910156, 'data_time': 0.00041394494473934174, 'model_time': 0.8209889940917492, 'learning_rate': 6.4000000000000006e-06, 'epoch': 7.88})
+Step 3300, Loss: {'mse_loss': 0.1317029744386673, 'mee_loss': 1.4307739734649658, 'totoal_loss': 0.1317029744386673, 'data_time': 0.017351032700389624, 'model_time': 0.7196842418052256, 'learning_rate': 6.600000000000001e-06, 'epoch': 8.13})
+Step 3400, Loss: {'mse_loss': 0.1319637894630432, 'mee_loss': 1.4343267679214478, 'totoal_loss': 0.1319637894630432, 'data_time': 0.01958006015047431, 'model_time': 0.7177344500087202, 'learning_rate': 6.800000000000001e-06, 'epoch': 8.37})
+Step 3500, Loss: {'mse_loss': 0.12561410665512085, 'mee_loss': 1.4496855735778809, 'totoal_loss': 0.12561410665512085, 'data_time': 0.016413703095167875, 'model_time': 0.7578951669856906, 'learning_rate': 7e-06, 'epoch': 8.62})
+Step 3600, Loss: {'mse_loss': 0.0925801545381546, 'mee_loss': 1.184812068939209, 'totoal_loss': 0.0925801545381546, 'data_time': 0.018611461855471134, 'model_time': 0.7228366890922189, 'learning_rate': 7.2000000000000005e-06, 'epoch': 8.87})
+Step 3700, Loss: {'mse_loss': 0.14313310384750366, 'mee_loss': 1.3848623037338257, 'totoal_loss': 0.14313310384750366, 'data_time': 0.0005093300715088844, 'model_time': 0.7170651792548597, 'learning_rate': 7.4e-06, 'epoch': 9.11})
+Step 3800, Loss: {'mse_loss': 0.09230794757604599, 'mee_loss': 1.281951665878296, 'totoal_loss': 0.09230794757604599, 'data_time': 0.00043110689148306847, 'model_time': 0.7615909948945045, 'learning_rate': 7.600000000000001e-06, 'epoch': 9.36})
+Step 3900, Loss: {'mse_loss': 0.10670918971300125, 'mee_loss': 1.5026741027832031, 'totoal_loss': 0.10670918971300125, 'data_time': 0.00037204986438155174, 'model_time': 0.7670911988243461, 'learning_rate': 7.800000000000002e-06, 'epoch': 9.61})
+Step 4000, Loss: {'mse_loss': 0.12340332567691803, 'mee_loss': 1.1956347227096558, 'totoal_loss': 0.12340332567691803, 'data_time': 0.00036130892112851143, 'model_time': 0.8132055862806737, 'learning_rate': 8.000000000000001e-06, 'epoch': 9.85})
+Step 4100, Loss: {'mse_loss': 0.12650330364704132, 'mee_loss': 1.2789138555526733, 'totoal_loss': 0.12650330364704132, 'data_time': 0.023285991977900267, 'model_time': 0.7341761789284647, 'learning_rate': 8.2e-06, 'epoch': 10.1})
+Step 4200, Loss: {'mse_loss': 0.07695094496011734, 'mee_loss': 1.0908827781677246, 'totoal_loss': 0.07695094496011734, 'data_time': 0.02282718103379011, 'model_time': 0.7523046121932566, 'learning_rate': 8.400000000000001e-06, 'epoch': 10.34})
+Step 4300, Loss: {'mse_loss': 0.0941103920340538, 'mee_loss': 1.097862720489502, 'totoal_loss': 0.0941103920340538, 'data_time': 0.02609681524336338, 'model_time': 0.7560358042828739, 'learning_rate': 8.6e-06, 'epoch': 10.59})
+Step 4400, Loss: {'mse_loss': 0.14969594776630402, 'mee_loss': 1.391910433769226, 'totoal_loss': 0.14969594776630402, 'data_time': 0.023250923957675695, 'model_time': 0.8195376247167587, 'learning_rate': 8.8e-06, 'epoch': 10.84})
+Step 4500, Loss: {'mse_loss': 0.11512335389852524, 'mee_loss': 1.1586503982543945, 'totoal_loss': 0.11512335389852524, 'data_time': 0.00040020886808633804, 'model_time': 0.97508884081617, 'learning_rate': 9e-06, 'epoch': 11.08})
+Step 4600, Loss: {'mse_loss': 0.10917346179485321, 'mee_loss': 0.9494284391403198, 'totoal_loss': 0.10917346179485321, 'data_time': 0.00037228595465421677, 'model_time': 0.7589545683003962, 'learning_rate': 9.200000000000002e-06, 'epoch': 11.33})
+Step 4700, Loss: {'mse_loss': 0.11204680055379868, 'mee_loss': 1.2205677032470703, 'totoal_loss': 0.11204680055379868, 'data_time': 0.00047211209312081337, 'model_time': 0.7647760161198676, 'learning_rate': 9.4e-06, 'epoch': 11.58})
+Step 4800, Loss: {'mse_loss': 0.09740069508552551, 'mee_loss': 0.8856489062309265, 'totoal_loss': 0.09740069508552551, 'data_time': 0.0004231599159538746, 'model_time': 0.779023848939687, 'learning_rate': 9.600000000000001e-06, 'epoch': 11.82})
+Step 4900, Loss: {'mse_loss': 0.0950835645198822, 'mee_loss': 1.1025739908218384, 'totoal_loss': 0.0950835645198822, 'data_time': 0.01117740385234356, 'model_time': 0.7702527660876513, 'learning_rate': 9.800000000000001e-06, 'epoch': 12.07})
+Step 5000, Loss: {'mse_loss': 0.11702832579612732, 'mee_loss': 1.2762682437896729, 'totoal_loss': 0.11702832579612732, 'data_time': 0.008692402392625809, 'model_time': 0.717869361396879, 'learning_rate': 1e-05, 'epoch': 12.32})
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+Step 11500, Loss: {'mse_loss': 0.06817018240690231, 'mee_loss': 0.6890828013420105, 'totoal_loss': 0.06817018240690231, 'data_time': 0.008440421894192696, 'model_time': 0.7258102539926767, 'learning_rate': 8.462167141402359e-06, 'epoch': 28.33})
+Step 11600, Loss: {'mse_loss': 0.034014925360679626, 'mee_loss': 0.43239670991897583, 'totoal_loss': 0.034014925360679626, 'data_time': 0.008360461797565222, 'model_time': 0.7388883428648114, 'learning_rate': 8.417247439589994e-06, 'epoch': 28.57})
+Step 11700, Loss: {'mse_loss': 0.05878295376896858, 'mee_loss': 0.6612282991409302, 'totoal_loss': 0.05878295376896858, 'data_time': 0.00797033216804266, 'model_time': 0.7758619720116258, 'learning_rate': 8.371807853741978e-06, 'epoch': 28.82})
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+Step 16400, Loss: {'mse_loss': 0.03626970946788788, 'mee_loss': 0.3383682370185852, 'totoal_loss': 0.03626970946788788, 'data_time': 0.02646799013018608, 'model_time': 0.7766889398917556, 'learning_rate': 5.796727667087611e-06, 'epoch': 40.39})
+Step 16500, Loss: {'mse_loss': 0.0371861532330513, 'mee_loss': 0.39984193444252014, 'totoal_loss': 0.0371861532330513, 'data_time': 0.023722023703157902, 'model_time': 0.7780426749959588, 'learning_rate': 5.735999513625984e-06, 'epoch': 40.64})
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+Step 16700, Loss: {'mse_loss': 0.04936986416578293, 'mee_loss': 0.49125784635543823, 'totoal_loss': 0.04936986416578293, 'data_time': 0.0005022529512643814, 'model_time': 0.8380264020524919, 'learning_rate': 5.614263359899673e-06, 'epoch': 41.13})
+Step 16800, Loss: {'mse_loss': 0.039454903453588486, 'mee_loss': 0.3772435188293457, 'totoal_loss': 0.039454903453588486, 'data_time': 0.00033691106364130974, 'model_time': 0.7295124600641429, 'learning_rate': 5.553274583184875e-06, 'epoch': 41.38})
+Step 16900, Loss: {'mse_loss': 0.035756126046180725, 'mee_loss': 0.3939059376716614, 'totoal_loss': 0.035756126046180725, 'data_time': 0.0003718249499797821, 'model_time': 0.7664077449589968, 'learning_rate': 5.492218176948673e-06, 'epoch': 41.63})
+Step 17000, Loss: {'mse_loss': 0.04170091822743416, 'mee_loss': 0.4349372088909149, 'totoal_loss': 0.04170091822743416, 'data_time': 0.00036660395562648773, 'model_time': 0.8236108208075166, 'learning_rate': 5.431103782705404e-06, 'epoch': 41.87})
+Step 17100, Loss: {'mse_loss': 0.02216293290257454, 'mee_loss': 0.38722965121269226, 'totoal_loss': 0.02216293290257454, 'data_time': 0.016204447019845247, 'model_time': 0.7958501977846026, 'learning_rate': 5.369941051126377e-06, 'epoch': 42.12})
+Step 17200, Loss: {'mse_loss': 0.044001054018735886, 'mee_loss': 0.3899576961994171, 'totoal_loss': 0.044001054018735886, 'data_time': 0.014592773746699095, 'model_time': 0.739103274885565, 'learning_rate': 5.308739640515932e-06, 'epoch': 42.36})
+Step 17300, Loss: {'mse_loss': 0.02850702404975891, 'mee_loss': 0.41351234912872314, 'totoal_loss': 0.02850702404975891, 'data_time': 0.015693738125264645, 'model_time': 0.7409196831285954, 'learning_rate': 5.24750921528627e-06, 'epoch': 42.61})
+Step 17400, Loss: {'mse_loss': 0.03445722162723541, 'mee_loss': 0.4784342646598816, 'totoal_loss': 0.03445722162723541, 'data_time': 0.015002488158643246, 'model_time': 0.7525843419134617, 'learning_rate': 5.186259444431344e-06, 'epoch': 42.86})
+Step 17500, Loss: {'mse_loss': 0.01593991182744503, 'mee_loss': 0.3139263689517975, 'totoal_loss': 0.01593991182744503, 'data_time': 0.0004989588633179665, 'model_time': 0.7971111806109548, 'learning_rate': 5.125e-06, 'epoch': 43.1})
+Step 17600, Loss: {'mse_loss': 0.022524842992424965, 'mee_loss': 0.4316689670085907, 'totoal_loss': 0.022524842992424965, 'data_time': 0.00037299608811736107, 'model_time': 0.7281897510401905, 'learning_rate': 5.063740555568656e-06, 'epoch': 43.35})
+Step 17700, Loss: {'mse_loss': 0.02316790446639061, 'mee_loss': 0.37020376324653625, 'totoal_loss': 0.02316790446639061, 'data_time': 0.00037558097392320633, 'model_time': 0.7543117552995682, 'learning_rate': 5.002490784713731e-06, 'epoch': 43.6})
+Step 17800, Loss: {'mse_loss': 0.04516025260090828, 'mee_loss': 0.4120321571826935, 'totoal_loss': 0.04516025260090828, 'data_time': 0.0003404580056667328, 'model_time': 0.7691729017533362, 'learning_rate': 4.9412603594840695e-06, 'epoch': 43.84})
+Step 17900, Loss: {'mse_loss': 0.028376951813697815, 'mee_loss': 0.38164767622947693, 'totoal_loss': 0.028376951813697815, 'data_time': 0.019677592907100916, 'model_time': 0.7582350461743772, 'learning_rate': 4.8800589488736245e-06, 'epoch': 44.09})
+Step 18000, Loss: {'mse_loss': 0.03258206695318222, 'mee_loss': 0.49964845180511475, 'totoal_loss': 0.03258206695318222, 'data_time': 0.014819690957665443, 'model_time': 0.8307328391820192, 'learning_rate': 4.818896217294598e-06, 'epoch': 44.33})
+Step 18100, Loss: {'mse_loss': 0.03731434419751167, 'mee_loss': 0.3667421042919159, 'totoal_loss': 0.03731434419751167, 'data_time': 0.01841471903026104, 'model_time': 0.72354790661484, 'learning_rate': 4.757781823051329e-06, 'epoch': 44.58})
+Step 18200, Loss: {'mse_loss': 0.014267760328948498, 'mee_loss': 0.22774657607078552, 'totoal_loss': 0.014267760328948498, 'data_time': 0.017173360101878643, 'model_time': 0.7066851579584181, 'learning_rate': 4.696725416815128e-06, 'epoch': 44.83})
+Step 18300, Loss: {'mse_loss': 0.019271187484264374, 'mee_loss': 0.3667270541191101, 'totoal_loss': 0.019271187484264374, 'data_time': 0.00038952287286520004, 'model_time': 0.8114607129245996, 'learning_rate': 4.635736640100327e-06, 'epoch': 45.07})
+Step 18400, Loss: {'mse_loss': 0.046960994601249695, 'mee_loss': 0.3689613342285156, 'totoal_loss': 0.046960994601249695, 'data_time': 0.000393423717468977, 'model_time': 0.7539962022565305, 'learning_rate': 4.574825123741778e-06, 'epoch': 45.32})
+Step 18500, Loss: {'mse_loss': 0.023013081401586533, 'mee_loss': 0.40140220522880554, 'totoal_loss': 0.023013081401586533, 'data_time': 0.0003632800653576851, 'model_time': 0.7689139149151742, 'learning_rate': 4.5140004863740165e-06, 'epoch': 45.57})
+Step 18600, Loss: {'mse_loss': 0.050324294716119766, 'mee_loss': 0.4061448872089386, 'totoal_loss': 0.050324294716119766, 'data_time': 0.0003909510560333729, 'model_time': 0.7374269138090312, 'learning_rate': 4.45327233291239e-06, 'epoch': 45.81})
+Step 18700, Loss: {'mse_loss': 0.05166851729154587, 'mee_loss': 0.3279969394207001, 'totoal_loss': 0.05166851729154587, 'data_time': 0.02322786720469594, 'model_time': 0.73169499123469, 'learning_rate': 4.39265025303631e-06, 'epoch': 46.06})
+Step 18800, Loss: {'mse_loss': 0.03537939488887787, 'mee_loss': 0.4037928581237793, 'totoal_loss': 0.03537939488887787, 'data_time': 0.02181865181773901, 'model_time': 0.8069839118979871, 'learning_rate': 4.332143819674943e-06, 'epoch': 46.31})
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+Step 23800, Loss: {'mse_loss': 0.01091008260846138, 'mee_loss': 0.17052096128463745, 'totoal_loss': 0.01091008260846138, 'data_time': 0.008982882834970951, 'model_time': 0.7399577810429037, 'learning_rate': 1.656263573604734e-06, 'epoch': 58.62})
+Step 23900, Loss: {'mse_loss': 0.01634112372994423, 'mee_loss': 0.22871319949626923, 'totoal_loss': 0.01634112372994423, 'data_time': 0.007637525908648968, 'model_time': 0.7451618611812592, 'learning_rate': 1.613493503671454e-06, 'epoch': 58.87})
+Step 24000, Loss: {'mse_loss': 0.02898697927594185, 'mee_loss': 0.33691099286079407, 'totoal_loss': 0.02898697927594185, 'data_time': 0.00036671198904514313, 'model_time': 0.7427481110207736, 'learning_rate': 1.5712779413206198e-06, 'epoch': 59.11})
+Step 24100, Loss: {'mse_loss': 0.037864234298467636, 'mee_loss': 0.30358850955963135, 'totoal_loss': 0.037864234298467636, 'data_time': 0.00037815701216459274, 'model_time': 0.7576883789151907, 'learning_rate': 1.5296235528789028e-06, 'epoch': 59.36})
+Step 24200, Loss: {'mse_loss': 0.02118254266679287, 'mee_loss': 0.2693711519241333, 'totoal_loss': 0.02118254266679287, 'data_time': 0.0003583650104701519, 'model_time': 0.762605250813067, 'learning_rate': 1.4885369160571124e-06, 'epoch': 59.61})
+Step 24300, Loss: {'mse_loss': 0.010495397262275219, 'mee_loss': 0.24366815388202667, 'totoal_loss': 0.010495397262275219, 'data_time': 0.0005410858429968357, 'model_time': 0.8461631988175213, 'learning_rate': 1.4480245189114938e-06, 'epoch': 59.85})
+Step 24400, Loss: {'mse_loss': 0.029379520565271378, 'mee_loss': 0.3756038546562195, 'totoal_loss': 0.029379520565271378, 'data_time': 0.023825952783226967, 'model_time': 0.7221802952699363, 'learning_rate': 1.408092758819191e-06, 'epoch': 60.1})
+Step 24500, Loss: {'mse_loss': 0.00856106262654066, 'mee_loss': 0.17942042648792267, 'totoal_loss': 0.00856106262654066, 'data_time': 0.026142755057662725, 'model_time': 0.8151237280108035, 'learning_rate': 1.368747941468028e-06, 'epoch': 60.34})
+Step 24600, Loss: {'mse_loss': 0.023658474907279015, 'mee_loss': 0.31152108311653137, 'totoal_loss': 0.023658474907279015, 'data_time': 0.023125431034713984, 'model_time': 0.7140239188447595, 'learning_rate': 1.3299962798607614e-06, 'epoch': 60.59})
+Step 24700, Loss: {'mse_loss': 0.019509417936205864, 'mee_loss': 0.2967301905155182, 'totoal_loss': 0.019509417936205864, 'data_time': 0.02583051286637783, 'model_time': 0.7289070771075785, 'learning_rate': 1.2918438933339827e-06, 'epoch': 60.84})
+Step 24800, Loss: {'mse_loss': 0.011377936229109764, 'mee_loss': 0.1891167312860489, 'totoal_loss': 0.011377936229109764, 'data_time': 0.00035943277180194855, 'model_time': 0.7896756669506431, 'learning_rate': 1.2542968065918027e-06, 'epoch': 61.08})
+Step 24900, Loss: {'mse_loss': 0.014741861261427402, 'mee_loss': 0.23172074556350708, 'totoal_loss': 0.014741861261427402, 'data_time': 0.0003821090795099735, 'model_time': 0.7389728147536516, 'learning_rate': 1.217360948754476e-06, 'epoch': 61.33})
+Step 25000, Loss: {'mse_loss': 0.04220208153128624, 'mee_loss': 0.26535946130752563, 'totoal_loss': 0.04220208153128624, 'data_time': 0.0004024570807814598, 'model_time': 0.7763959411531687, 'learning_rate': 1.1810421524221318e-06, 'epoch': 61.58})
+Step 25100, Loss: {'mse_loss': 0.011246977373957634, 'mee_loss': 0.20302638411521912, 'totoal_loss': 0.011246977373957634, 'data_time': 0.00047211814671754837, 'model_time': 0.7691056840121746, 'learning_rate': 1.1453461527537284e-06, 'epoch': 61.82})
+Step 25200, Loss: {'mse_loss': 0.0063846721313893795, 'mee_loss': 0.15369682013988495, 'totoal_loss': 0.0063846721313893795, 'data_time': 0.021580711007118225, 'model_time': 0.7440026528201997, 'learning_rate': 1.1102785865614162e-06, 'epoch': 62.07})
+Step 25300, Loss: {'mse_loss': 0.032355986535549164, 'mee_loss': 0.36810141801834106, 'totoal_loss': 0.032355986535549164, 'data_time': 0.0282350848428905, 'model_time': 0.7412814688868821, 'learning_rate': 1.0758449914204127e-06, 'epoch': 62.32})
+Step 25400, Loss: {'mse_loss': 0.011614861898124218, 'mee_loss': 0.2310769408941269, 'totoal_loss': 0.011614861898124218, 'data_time': 0.02238401211798191, 'model_time': 0.733771821949631, 'learning_rate': 1.0420508047945595e-06, 'epoch': 62.56})
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libero_object_2B/starvla_qwen_pi/config.json

@@ -0,0 +1,129 @@
+{
+  "run_id": "starvla_qwen_pi",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_object_2B",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": false,
+  "mee_weight": 0.01,
+  "framework": {
+    "name": "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_object",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 30000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
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+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
+    },
+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_object_2B/starvla_qwen_pi"
+}

libero_object_2B/starvla_qwen_pi/dataset_statistics.json

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

libero_object_2B/starvla_qwen_pi/final_model/pytorch_model.pt

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libero_object_2B/starvla_qwen_pi/libero_eval_libero_object.log

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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the bbq sauce and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the ketchup and place it in the basket
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+Task: pick up the tomato sauce and place it in the basket
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+Task: pick up the tomato sauce and place it in the basket
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+Task: pick up the tomato sauce and place it in the basket
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+Task: pick up the tomato sauce and place it in the basket
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+Task: pick up the tomato sauce and place it in the basket
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libero_object_2B/starvla_qwen_pi/libero_object.log

@@ -0,0 +1,300 @@
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+Step 24100, Loss: {'mse_loss': 0.013728015124797821, 'totoal_loss': 0.013728015124797821, 'data_time': 0.010627165029291064, 'model_time': 0.7733530700206757, 'learning_rate': 1.5296235528789028e-06, 'epoch': 46.26})
+Step 24200, Loss: {'mse_loss': 0.02372301183640957, 'totoal_loss': 0.02372301183640957, 'data_time': 0.008225878002122045, 'model_time': 0.8297210070304573, 'learning_rate': 1.4885369160571124e-06, 'epoch': 46.45})
+Step 24300, Loss: {'mse_loss': 0.009844083338975906, 'totoal_loss': 0.009844083338975906, 'data_time': 0.008274265041109174, 'model_time': 0.7519435680005699, 'learning_rate': 1.4480245189114938e-06, 'epoch': 46.64})
+Step 24400, Loss: {'mse_loss': 0.02692519500851631, 'totoal_loss': 0.02692519500851631, 'data_time': 0.01201973803108558, 'model_time': 0.7254122570157051, 'learning_rate': 1.408092758819191e-06, 'epoch': 46.83})
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libero_spatial_2B/starvla_qwen_pi/config.json

@@ -0,0 +1,129 @@
+{
+  "run_id": "starvla_qwen_pi",
+  "run_root_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_spatial_2B",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_project": "starVLA",
+  "is_debug": false,
+  "enable_mee": false,
+  "mee_weight": 0.01,
+  "framework": {
+    "name": "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_spatial",
+      "action_type": "delta_qpos",
+      "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.",
+      "CoT_answer": "bbox",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 16,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ]
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 30000,
+    "num_warmup_steps": 5000,
+    "save_interval": 60000,
+    "eval_interval": 30000,
+    "learning_rate": {
+      "base": 4e-05,
+      "qwen_vl_interface": 1e-05,
+      "action_model": 0.0001
+    },
+    "lr_scheduler_type": "cosine_with_min_lr",
+    "scheduler_specific_kwargs": {
+      "min_lr": 1e-06
+    },
+    "freeze_modules": null,
+    "loss_scale": {
+      "vla": 1.0,
+      "vlm": 0.1
+    },
+    "max_grad_norm": 1.0,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 100,
+    "gradient_clipping": 1.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
+    },
+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "/share/project/baishuanghao/code/starVLA/pretrained_models_2/libero_spatial_2B/starvla_qwen_pi"
+}

libero_spatial_2B/starvla_qwen_pi/dataset_statistics.json

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

libero_spatial_2B/starvla_qwen_pi/final_model/pytorch_model.pt

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+size 6825856850

libero_spatial_2B/starvla_qwen_pi/libero_eval_libero_spatial.log

@@ -0,0 +1,2521 @@
+Task suite: libero_spatial
+
+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
+Success: True
+# episodes completed so far: 1
+# successes: 1 (100.0%)
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
+Success: True
+# episodes completed so far: 2
+# successes: 2 (100.0%)
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Task: pick up the black bowl between the plate and the ramekin and place it on the plate
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+Current task success rate: 1.0
+Current total success rate: 1.0
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+Task: pick up the black bowl next to the ramekin and place it on the plate
+Success: True
+# episodes completed so far: 51
+# successes: 51 (100.0%)
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl next to the ramekin and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+Task: pick up the black bowl from table center and place it on the plate
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+# successes: 150 (100.0%)
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl on the cookie box and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl on the ramekin and place it on the plate
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+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 449
+# successes: 446 (99.3%)
+
+Task: pick up the black bowl next to the plate and place it on the plate
+Success: True
+# episodes completed so far: 450
+# successes: 447 (99.3%)
+Current task success rate: 1.0
+Current total success rate: 0.9933333333333333
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 451
+# successes: 448 (99.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 452
+# successes: 449 (99.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 453
+# successes: 450 (99.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 454
+# successes: 451 (99.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 455
+# successes: 452 (99.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 456
+# successes: 453 (99.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 457
+# successes: 454 (99.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 458
+# successes: 455 (99.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 459
+# successes: 456 (99.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 460
+# successes: 457 (99.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 461
+# successes: 458 (99.3%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 462
+# successes: 459 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 463
+# successes: 460 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 464
+# successes: 461 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 465
+# successes: 462 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 466
+# successes: 463 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 467
+# successes: 464 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 468
+# successes: 465 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 469
+# successes: 466 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 470
+# successes: 467 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 471
+# successes: 468 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 472
+# successes: 469 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 473
+# successes: 470 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 474
+# successes: 471 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 475
+# successes: 472 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 476
+# successes: 473 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 477
+# successes: 474 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 478
+# successes: 475 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 479
+# successes: 476 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 480
+# successes: 477 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 481
+# successes: 478 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 482
+# successes: 479 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# episodes completed so far: 483
+# successes: 480 (99.4%)
+
+Task: pick up the black bowl on the wooden cabinet and place it on the plate
+Success: True
+# 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: 1.0
+Current total success rate: 0.994

libero_spatial_2B/starvla_qwen_pi/libero_spatial.log

@@ -0,0 +1,300 @@
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+Step 4600, Loss: {'mse_loss': 0.16483744978904724, 'totoal_loss': 0.16483744978904724, 'data_time': 0.0004386119544506073, 'model_time': 1.0121101629920304, 'learning_rate': 9.200000000000002e-06, 'epoch': 11.14})
+Step 4700, Loss: {'mse_loss': 0.05428924411535263, 'totoal_loss': 0.05428924411535263, 'data_time': 0.0005667801015079021, 'model_time': 0.7830101728904992, 'learning_rate': 9.4e-06, 'epoch': 11.38})
+Step 4800, Loss: {'mse_loss': 0.1584121733903885, 'totoal_loss': 0.1584121733903885, 'data_time': 0.0003702370449900627, 'model_time': 0.7698897211812437, 'learning_rate': 9.600000000000001e-06, 'epoch': 11.62})
+Step 4900, Loss: {'mse_loss': 0.09654010087251663, 'totoal_loss': 0.09654010087251663, 'data_time': 0.0004106259439140558, 'model_time': 0.7406456710305065, 'learning_rate': 9.800000000000001e-06, 'epoch': 11.86})
+Step 5000, Loss: {'mse_loss': 0.07786589860916138, 'totoal_loss': 0.07786589860916138, 'data_time': 0.014452029950916767, 'model_time': 0.8230068190023303, 'learning_rate': 1e-05, 'epoch': 12.11})
+Step 5100, Loss: {'mse_loss': 0.07787454128265381, 'totoal_loss': 0.07787454128265381, 'data_time': 0.016491837101057172, 'model_time': 0.7635719131212682, 'learning_rate': 9.999615090493604e-06, 'epoch': 12.35})
+Step 5200, Loss: {'mse_loss': 0.11475516110658646, 'totoal_loss': 0.11475516110658646, 'data_time': 0.015011226991191506, 'model_time': 0.7580305740702897, 'learning_rate': 9.998460422756089e-06, 'epoch': 12.59})
+Step 5300, Loss: {'mse_loss': 0.10438837110996246, 'totoal_loss': 0.10438837110996246, 'data_time': 0.015107284998521209, 'model_time': 0.8138397128786892, 'learning_rate': 9.996536179122874e-06, 'epoch': 12.83})
+Step 5400, Loss: {'mse_loss': 0.10287881642580032, 'totoal_loss': 0.10287881642580032, 'data_time': 0.01219948404468596, 'model_time': 0.758510721148923, 'learning_rate': 9.993842663454337e-06, 'epoch': 13.08})
+Step 5500, Loss: {'mse_loss': 0.09251940995454788, 'totoal_loss': 0.09251940995454788, 'data_time': 0.007936644135043025, 'model_time': 0.7598996490705758, 'learning_rate': 9.990380301087824e-06, 'epoch': 13.32})
+Step 5600, Loss: {'mse_loss': 0.12677624821662903, 'totoal_loss': 0.12677624821662903, 'data_time': 0.007738539949059486, 'model_time': 0.9838642461691052, 'learning_rate': 9.986149638770493e-06, 'epoch': 13.56})
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+Step 20000, Loss: {'mse_loss': 0.01025340985506773, 'totoal_loss': 0.01025340985506773, 'data_time': 0.008886310970410705, 'model_time': 0.7429966269992292, 'learning_rate': 3.618542152422132e-06, 'epoch': 48.43})
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+Step 20900, Loss: {'mse_loss': 0.02489997074007988, 'totoal_loss': 0.02489997074007988, 'data_time': 0.007926391903311014, 'model_time': 0.76494449400343, 'learning_rate': 3.10491904265774e-06, 'epoch': 50.61})
+Step 21000, Loss: {'mse_loss': 0.030588626861572266, 'totoal_loss': 0.030588626861572266, 'data_time': 0.0077581440564244986, 'model_time': 0.7833606370259076, 'learning_rate': 3.0493259536202714e-06, 'epoch': 50.85})
+Step 21100, Loss: {'mse_loss': 0.026108136400580406, 'totoal_loss': 0.026108136400580406, 'data_time': 0.0004149458836764097, 'model_time': 0.7553799129091203, 'learning_rate': 2.9940606375767038e-06, 'epoch': 51.09})
+Step 21200, Loss: {'mse_loss': 0.013464692048728466, 'totoal_loss': 0.013464692048728466, 'data_time': 0.00038220989517867565, 'model_time': 0.83666448504664, 'learning_rate': 2.939131821561094e-06, 'epoch': 51.33})
+Step 21300, Loss: {'mse_loss': 0.030870618298649788, 'totoal_loss': 0.030870618298649788, 'data_time': 0.00035502389073371887, 'model_time': 0.7728084130212665, 'learning_rate': 2.8845481794702473e-06, 'epoch': 51.57})
+Step 21400, Loss: {'mse_loss': 0.024380557239055634, 'totoal_loss': 0.024380557239055634, 'data_time': 0.0004247608594596386, 'model_time': 0.7338733619544655, 'learning_rate': 2.830318330694004e-06, 'epoch': 51.82})
+Step 21500, Loss: {'mse_loss': 0.01425305288285017, 'totoal_loss': 0.01425305288285017, 'data_time': 0.014250215142965317, 'model_time': 0.7447374688927084, 'learning_rate': 2.7764508387541378e-06, 'epoch': 52.06})
+Step 21600, Loss: {'mse_loss': 0.020178502425551414, 'totoal_loss': 0.020178502425551414, 'data_time': 0.015354579081758857, 'model_time': 0.7613966930657625, 'learning_rate': 2.7229542099520797e-06, 'epoch': 52.3})
+Step 21700, Loss: {'mse_loss': 0.046748872846364975, 'totoal_loss': 0.046748872846364975, 'data_time': 0.015355238923802972, 'model_time': 0.7252022349275649, 'learning_rate': 2.669836892025666e-06, 'epoch': 52.54})
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+Step 29600, Loss: {'mse_loss': 0.01789228990674019, 'totoal_loss': 0.01789228990674019, 'data_time': 0.007713975850492716, 'model_time': 0.726104433182627, 'learning_rate': 2.5615733654566483e-07, 'epoch': 71.67})
+Step 29700, Loss: {'mse_loss': 0.005125066265463829, 'totoal_loss': 0.005125066265463829, 'data_time': 0.007377303903922439, 'model_time': 0.7370973059441894, 'learning_rate': 2.5346382087712764e-07, 'epoch': 71.91})
+Step 29800, Loss: {'mse_loss': 0.027181655168533325, 'totoal_loss': 0.027181655168533325, 'data_time': 0.016051308950409293, 'model_time': 0.7383555809501559, 'learning_rate': 2.515395772439128e-07, 'epoch': 72.15})
+Step 29900, Loss: {'mse_loss': 0.01231908705085516, 'totoal_loss': 0.01231908705085516, 'data_time': 0.014490589965134859, 'model_time': 0.7521689310669899, 'learning_rate': 2.5038490950639644e-07, 'epoch': 72.4})
+Step 30000, Loss: {'mse_loss': 0.013759791851043701, 'totoal_loss': 0.013759791851043701, 'mse_score': 0.0012650576287082263, 'data_time': 0.016765248030424118, 'model_time': 0.7693290058523417, 'learning_rate': 2.5e-07, 'epoch': 72.64})