droidfull8 cent (openpi pi05_full_droid_finetune): rounds 400/200/320 (openpi exports + decent-vla checkpoint) + config + log

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openpi/export_info.json

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+{
+ "source_checkpoint": "outputs/openpi_pi05_droidfull8_cent_local/checkpoints/server_round_0400.pt",
+ "round": 399,
+ "weights": "ema",
+ "tensors_from_checkpoint": 51,
+ "tensors_total": 51,
+ "base": "gs://openpi-assets/checkpoints/pi05_base/params",
+ "dtype": "bfloat16",
+ "norm_stats": "/data/gaoliu/droidfull8/openpi-cache/openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid/norm_stats.json",
+ "asset_id": "droid",
+ "openpi_config": "pi05_droid_jointpos",
+ "serve": "uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi05_droid_jointpos --policy.dir=/data/gaoliu/droidfull8/upload_cent/openpi"
+}

openpi/params/_CHECKPOINT_METADATA

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openpi/params/_METADATA

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+2026-11-01 12:40:53.227925: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
+2026-11-01 12:40:53.228029: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
+2026-11-01 12:40:53.228878: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
+2026-11-01 12:40:53.696518: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
+2026-11-01 12:40:54,395 [INFO] root: Loaded norm stats from gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid
+2026-11-01 12:40:54,401 [INFO] datasets: PyTorch version 2.7.1 available.
+2026-11-01 12:40:54,402 [INFO] datasets: Polars version 1.30.0 available.
+2026-11-01 12:40:54,402 [INFO] datasets: TensorFlow version 2.15.0 available.
+2026-11-01 12:40:54,402 [INFO] datasets: JAX version 0.5.3 available.
+2026-11-01 12:40:54,476 [INFO] root: Loaded norm stats from /data/gaoliu/droidfull8/openpi-cache/openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid
+2026-11-01 12:40:54,521 [INFO] root: Loaded norm stats from gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid
+INFO:2026-11-01 12:40:55,755:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig'
+2026-11-01 12:40:55,755 [INFO] jax._src.xla_bridge: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig'
+INFO:2026-11-01 12:40:55,756:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory
+2026-11-01 12:40:55,756 [INFO] jax._src.xla_bridge: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory
+2026-11-01 12:40:56,485 [INFO] decent_vla.adapters.openpi._engine: openpi engine on ['cuda:0', 'cuda:1', 'cuda:2', 'cuda:3', 'cuda:4', 'cuda:5', 'cuda:6', 'cuda:7']: 51 trainable / 0 frozen param tensors (3.35B trainable)
+2026-11-01 12:40:56,485 [INFO] absl: orbax-checkpoint version: 0.11.13
+2026-11-01 12:40:56,485 [INFO] absl: Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store=<orbax.checkpoint._src.metadata.array_metadata_store.Store object at 0x7f9aaf66ec50>
+2026-11-01 12:40:56,502 [INFO] absl: Restoring checkpoint from /data/gaoliu/droidfull8/openpi-cache/openpi-assets/checkpoints/pi05_base/params.
+2026-11-01 12:40:57,978 [INFO] absl: [thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID.
+2026-11-01 12:40:57,979 [INFO] absl: [process=0] /jax/checkpoint/read/bytes_per_sec: 8.5 GiB/s (total bytes: 12.5 GiB) (time elapsed: a second) (per-host)
+2026-11-01 12:40:57,979 [INFO] absl: Finished restoring checkpoint in 1.48 seconds from /data/gaoliu/droidfull8/openpi-cache/openpi-assets/checkpoints/pi05_base/params.
+2026-11-01 12:41:01,740 [INFO] decent_vla.adapters.openpi._engine: openpi engine loaded base weights from gs://openpi-assets/checkpoints/pi05_base/params
+2026-11-01 12:41:05,861 [INFO] root: Loaded norm stats from gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid
+2026-11-01 12:41:05,861 [INFO] root: Loaded norm stats from /data/gaoliu/droidfull8/openpi-cache/openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid
+2026-11-01 12:41:05,909 [INFO] root: Loaded norm stats from gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid
+2026-11-01 12:41:06,384 [INFO] decent_vla.adapters.openpi.backend: openpi droid_full client: buildings ['Berkeley Way West (BWW / BAIR / RAIL)', 'Gates', 'Autolab', 'TRI', '403 Fairmont', 'UT AHG', 'UW CSE2 (Gates Center)', '640 Palo Alto Ave', '416 W Dana St', 'EVGR C', 'KAIST', 'Penn Levine Hall', "Glen's office", 'soft objects', '780 Shary Ave', '394 Franklin', 'Edinburgh Bayes Centre', 'Lyman', 'Wasabi Tempura', '2300 Jane Ln', 'EVGR D', '2479 Richard Ct', "Dan's Apartment", '775 Roble', "Jimmy's Apartment", 'N/A', 'CMU Smith Hall', 'Mila kitchen', 'Rabbit Hole', "Kyle Hsu's Place", '10 Comstock Circle, Apt. 135', 'UdeM AA 3248', 'setup room', 'Forum - Meeting Area 2', 'amodal instance', 'EVGR B']
+2026-11-01 12:41:06,385 [INFO] decent_vla.adapters.openpi.backend: openpi client data: 78864 episodes, 22129092 frames, bs 256, 32 workers
+2026-11-01 12:41:06.831215: W tensorflow/core/common_runtime/gpu/gpu_device.cc:2256] Cannot dlopen some GPU libraries. Please make sure the missing libraries mentioned above are installed properly if you would like to use GPU. Follow the guide at https://www.tensorflow.org/install/gpu for how to download and setup the required libraries for your platform.
+Skipping registering GPU devices...
+2026-11-01 12:41:06,881 [INFO] absl: Load dataset info from /data/gaoliu/droidfull8/rlds/droid/1.0.1
+2026-11-01 12:41:06,901 [INFO] absl: Creating a tf.data.Dataset reading 2048 files located in folders: /data/gaoliu/droidfull8/rlds/droid/1.0.1.
+2026-11-01 12:41:06,964 [INFO] absl: Constructing tf.data.Dataset droid_101 for split train, from /data/gaoliu/droidfull8/rlds/droid/1.0.1
+2026-11-01 12:41:34.263888: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
+2026-11-01 12:41:34.263987: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
+2026-11-01 12:41:34.264732: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
+2026-11-01 12:41:34.748717: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
+2026-11-01 12:41:37.900187: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
+2026-11-01 12:41:37.900265: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
+2026-11-01 12:41:37.901001: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
+2026-11-01 12:41:38.398538: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
+2026-11-01 12:41:41.506921: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
+2026-11-01 12:41:41.507011: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
+2026-11-01 12:41:41.507760: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
+2026-11-01 12:41:42.010766: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
+2026-11-01 12:41:45.186793: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
+2026-11-01 12:41:45.186892: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
+2026-11-01 12:41:45.187653: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
+2026-11-01 12:41:45.708717: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
+2026-11-01 12:41:48.818902: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
+2026-11-01 12:41:48.818993: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
+2026-11-01 12:41:48.819726: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
+2026-11-01 12:41:49.287908: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
+2026-11-01 12:41:52.434045: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
+2026-11-01 12:41:52.434121: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
+2026-11-01 12:41:52.434882: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
+2026-11-01 12:41:52.919305: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
+2026-11-01 12:41:56.096050: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
+2026-11-01 12:41:56.096125: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
+2026-11-01 12:41:56.096883: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
+2026-11-01 12:41:56.574762: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
+2026-11-01 12:41:59.739036: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
+2026-11-01 12:41:59.739109: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
+2026-11-01 12:41:59.739852: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
+2026-11-01 12:42:00.216457: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
+2026-11-01 12:42:03.425525: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
+2026-11-01 12:42:03.425606: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
+2026-11-01 12:42:03.426351: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
+2026-11-01 12:42:03.908844: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
+2026-11-01 12:42:07.072518: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
+2026-11-01 12:42:07.072599: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
+2026-11-01 12:42:07.073310: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
+2026-11-01 12:42:07.549049: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
+2026-11-01 12:42:11.948199: E external/xla/xla/service/slow_operation_alarm.cc:73] Constant folding an instruction is taking > 1s:
+
+  %reduce-window.15 = s32[256,984]{1,0} reduce-window(%broadcast.5791, %constant.3153), window={size=1x984 pad=0_0x983_0}, to_apply=%region_45.12413, metadata={op_name="jit(loss_fn)/jit(main)/jvp(jit(cumsum))/reduce_window_sum" source_file="/data/gaoliu/droidfull8/openpi/src/openpi/models/pi0.py" source_line=41}
+
+This isn't necessarily a bug; constant-folding is inherently a trade-off between compilation time and speed at runtime. XLA has some guards that attempt to keep constant folding from taking too long, but fundamentally you'll always be able to come up with an input program that takes a long time.
+
+If you'd like to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results.
+2026-11-01 12:42:14.437589: E external/xla/xla/service/slow_operation_alarm.cc:140] The operation took 3.49009094s
+Constant folding an instruction is taking > 1s:
+
+  %reduce-window.15 = s32[256,984]{1,0} reduce-window(%broadcast.5791, %constant.3153), window={size=1x984 pad=0_0x983_0}, to_apply=%region_45.12413, metadata={op_name="jit(loss_fn)/jit(main)/jvp(jit(cumsum))/reduce_window_sum" source_file="/data/gaoliu/droidfull8/openpi/src/openpi/models/pi0.py" source_line=41}
+
+This isn't necessarily a bug; constant-folding is inherently a trade-off between compilation time and speed at runtime. XLA has some guards that attempt to keep constant folding from taking too long, but fundamentally you'll always be able to come up with an input program that takes a long time.
+
+If you'd like to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results.
+wandb: WARNING `resume` will be ignored since W&B syncing is set to `offline`. Starting a new run with run id openpi_pi05_droidfull8_cent_local.
+wandb: Tracking run with wandb version 0.19.11
+wandb: W&B syncing is set to `offline` in this directory. Run `wandb online` or set WANDB_MODE=online to enable cloud syncing.
+2026-11-01 12:48:38,312 [INFO] decent_vla.runtime.round_loop: round 1  updates=1  mean_loss=0.0260
+2026-11-01 12:54:26,894 [INFO] decent_vla.runtime.round_loop: round 2  updates=1  mean_loss=0.0213
+2026-11-01 13:00:15,986 [INFO] decent_vla.runtime.round_loop: round 3  updates=1  mean_loss=0.0206
+2026-11-01 13:06:04,988 [INFO] decent_vla.runtime.round_loop: round 4  updates=1  mean_loss=0.0212
+2026-11-01 13:11:53,343 [INFO] decent_vla.runtime.round_loop: round 5  updates=1  mean_loss=0.0211
+2026-11-01 13:17:42,066 [INFO] decent_vla.runtime.round_loop: round 6  updates=1  mean_loss=0.0205
+2026-11-01 13:23:30,788 [INFO] decent_vla.runtime.round_loop: round 7  updates=1  mean_loss=0.0201
+2026-11-01 13:29:18,629 [INFO] decent_vla.runtime.round_loop: round 8  updates=1  mean_loss=0.0194
+2026-11-01 13:35:07,201 [INFO] decent_vla.runtime.round_loop: round 9  updates=1  mean_loss=0.0194
+2026-11-01 13:40:55,070 [INFO] decent_vla.runtime.round_loop: round 10  updates=1  mean_loss=0.0190
+2026-11-01 13:46:43,075 [INFO] decent_vla.runtime.round_loop: round 11  updates=1  mean_loss=0.0188
+2026-11-01 13:52:31,444 [INFO] decent_vla.runtime.round_loop: round 12  updates=1  mean_loss=0.0186
+2026-11-01 13:58:19,769 [INFO] decent_vla.runtime.round_loop: round 13  updates=1  mean_loss=0.0181
+2026-11-01 14:04:07,816 [INFO] decent_vla.runtime.round_loop: round 14  updates=1  mean_loss=0.0178
+2026-11-01 14:09:56,037 [INFO] decent_vla.runtime.round_loop: round 15  updates=1  mean_loss=0.0174
+2026-11-01 14:15:44,057 [INFO] decent_vla.runtime.round_loop: round 16  updates=1  mean_loss=0.0176
+2026-11-01 14:21:32,045 [INFO] decent_vla.runtime.round_loop: round 17  updates=1  mean_loss=0.0175
+2026-11-01 14:27:20,447 [INFO] decent_vla.runtime.round_loop: round 18  updates=1  mean_loss=0.0174
+2026-11-01 14:33:09,056 [INFO] decent_vla.runtime.round_loop: round 19  updates=1  mean_loss=0.0172
+2026-11-01 14:38:57,375 [INFO] decent_vla.runtime.round_loop: round 20  updates=1  mean_loss=0.0168
+2026-11-01 14:44:45,494 [INFO] decent_vla.runtime.round_loop: round 21  updates=1  mean_loss=0.0169
+2026-11-01 14:50:33,284 [INFO] decent_vla.runtime.round_loop: round 22  updates=1  mean_loss=0.0168
+2026-11-01 14:56:21,522 [INFO] decent_vla.runtime.round_loop: round 23  updates=1  mean_loss=0.0167
+2026-11-01 15:02:09,831 [INFO] decent_vla.runtime.round_loop: round 24  updates=1  mean_loss=0.0167
+2026-11-01 15:07:57,465 [INFO] decent_vla.runtime.round_loop: round 25  updates=1  mean_loss=0.0166
+2026-11-01 15:13:45,405 [INFO] decent_vla.runtime.round_loop: round 26  updates=1  mean_loss=0.0165
+2026-11-01 15:19:33,959 [INFO] decent_vla.runtime.round_loop: round 27  updates=1  mean_loss=0.0165
+2026-11-01 15:25:22,507 [INFO] decent_vla.runtime.round_loop: round 28  updates=1  mean_loss=0.0164
+2026-11-01 15:31:10,550 [INFO] decent_vla.runtime.round_loop: round 29  updates=1  mean_loss=0.0165
+2026-11-01 15:36:58,480 [INFO] decent_vla.runtime.round_loop: round 30  updates=1  mean_loss=0.0165
+2026-11-01 15:42:46,617 [INFO] decent_vla.runtime.round_loop: round 31  updates=1  mean_loss=0.0165
+2026-11-01 15:48:34,872 [INFO] decent_vla.runtime.round_loop: round 32  updates=1  mean_loss=0.0164
+2026-11-01 15:54:23,022 [INFO] decent_vla.runtime.round_loop: round 33  updates=1  mean_loss=0.0163
+2026-11-01 16:00:11,219 [INFO] decent_vla.runtime.round_loop: round 34  updates=1  mean_loss=0.0162
+2026-11-01 16:05:58,930 [INFO] decent_vla.runtime.round_loop: round 35  updates=1  mean_loss=0.0163
+2026-11-01 16:11:46,836 [INFO] decent_vla.runtime.round_loop: round 36  updates=1  mean_loss=0.0163
+2026-11-01 16:17:34,975 [INFO] decent_vla.runtime.round_loop: round 37  updates=1  mean_loss=0.0160
+2026-11-01 16:23:22,935 [INFO] decent_vla.runtime.round_loop: round 38  updates=1  mean_loss=0.0158
+2026-11-01 16:29:11,056 [INFO] decent_vla.runtime.round_loop: round 39  updates=1  mean_loss=0.0159
+2026-11-01 16:35:06,181 [INFO] decent_vla.runtime.round_loop: round 40  updates=1  mean_loss=0.0158
+2026-11-01 16:40:54,176 [INFO] decent_vla.runtime.round_loop: round 41  updates=1  mean_loss=0.0157
+2026-11-01 16:46:41,918 [INFO] decent_vla.runtime.round_loop: round 42  updates=1  mean_loss=0.0156
+2026-11-01 16:52:29,306 [INFO] decent_vla.runtime.round_loop: round 43  updates=1  mean_loss=0.0155
+2026-11-01 16:58:17,510 [INFO] decent_vla.runtime.round_loop: round 44  updates=1  mean_loss=0.0156
+2026-11-01 17:04:05,541 [INFO] decent_vla.runtime.round_loop: round 45  updates=1  mean_loss=0.0155
+2026-11-01 17:09:53,288 [INFO] decent_vla.runtime.round_loop: round 46  updates=1  mean_loss=0.0157
+2026-11-01 17:15:41,176 [INFO] decent_vla.runtime.round_loop: round 47  updates=1  mean_loss=0.0155
+2026-11-01 17:21:28,016 [INFO] decent_vla.runtime.round_loop: round 48  updates=1  mean_loss=0.0152
+2026-11-01 17:27:15,514 [INFO] decent_vla.runtime.round_loop: round 49  updates=1  mean_loss=0.0155
+2026-11-01 17:33:02,806 [INFO] decent_vla.runtime.round_loop: round 50  updates=1  mean_loss=0.0158
+2026-11-01 17:38:50,161 [INFO] decent_vla.runtime.round_loop: round 51  updates=1  mean_loss=0.0159
+2026-11-01 17:44:37,992 [INFO] decent_vla.runtime.round_loop: round 52  updates=1  mean_loss=0.0158
+2026-11-01 17:50:25,717 [INFO] decent_vla.runtime.round_loop: round 53  updates=1  mean_loss=0.0154
+2026-11-01 17:56:13,623 [INFO] decent_vla.runtime.round_loop: round 54  updates=1  mean_loss=0.0154
+2026-11-01 18:02:01,456 [INFO] decent_vla.runtime.round_loop: round 55  updates=1  mean_loss=0.0154
+2026-11-01 18:07:48,848 [INFO] decent_vla.runtime.round_loop: round 56  updates=1  mean_loss=0.0157
+2026-11-01 18:13:36,671 [INFO] decent_vla.runtime.round_loop: round 57  updates=1  mean_loss=0.0156
+2026-11-01 18:19:24,289 [INFO] decent_vla.runtime.round_loop: round 58  updates=1  mean_loss=0.0156
+2026-11-01 18:25:11,602 [INFO] decent_vla.runtime.round_loop: round 59  updates=1  mean_loss=0.0155
+2026-11-01 18:30:59,352 [INFO] decent_vla.runtime.round_loop: round 60  updates=1  mean_loss=0.0153
+2026-11-01 18:36:47,194 [INFO] decent_vla.runtime.round_loop: round 61  updates=1  mean_loss=0.0153
+2026-11-01 18:42:35,068 [INFO] decent_vla.runtime.round_loop: round 62  updates=1  mean_loss=0.0151
+2026-11-01 18:48:22,454 [INFO] decent_vla.runtime.round_loop: round 63  updates=1  mean_loss=0.0153
+2026-11-01 18:54:09,981 [INFO] decent_vla.runtime.round_loop: round 64  updates=1  mean_loss=0.0153
+2026-11-01 18:59:57,097 [INFO] decent_vla.runtime.round_loop: round 65  updates=1  mean_loss=0.0151
+2026-11-01 19:05:44,828 [INFO] decent_vla.runtime.round_loop: round 66  updates=1  mean_loss=0.0152
+2026-11-01 19:11:32,237 [INFO] decent_vla.runtime.round_loop: round 67  updates=1  mean_loss=0.0153
+2026-11-01 19:17:20,122 [INFO] decent_vla.runtime.round_loop: round 68  updates=1  mean_loss=0.0151
+2026-11-01 19:23:08,480 [INFO] decent_vla.runtime.round_loop: round 69  updates=1  mean_loss=0.0150
+2026-11-01 19:28:56,230 [INFO] decent_vla.runtime.round_loop: round 70  updates=1  mean_loss=0.0151
+2026-11-01 19:34:44,542 [INFO] decent_vla.runtime.round_loop: round 71  updates=1  mean_loss=0.0150
+2026-11-01 19:40:31,958 [INFO] decent_vla.runtime.round_loop: round 72  updates=1  mean_loss=0.0148
+2026-11-01 19:46:19,923 [INFO] decent_vla.runtime.round_loop: round 73  updates=1  mean_loss=0.0150
+2026-11-01 19:52:07,871 [INFO] decent_vla.runtime.round_loop: round 74  updates=1  mean_loss=0.0150
+2026-11-01 19:57:56,119 [INFO] decent_vla.runtime.round_loop: round 75  updates=1  mean_loss=0.0148
+2026-11-01 20:03:43,894 [INFO] decent_vla.runtime.round_loop: round 76  updates=1  mean_loss=0.0148
+2026-11-01 20:09:32,120 [INFO] decent_vla.runtime.round_loop: round 77  updates=1  mean_loss=0.0149
+2026-11-01 20:15:19,669 [INFO] decent_vla.runtime.round_loop: round 78  updates=1  mean_loss=0.0147
+2026-11-01 20:21:07,175 [INFO] decent_vla.runtime.round_loop: round 79  updates=1  mean_loss=0.0148
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+2026-11-03 14:18:59,513 [INFO] root: Loaded norm stats from gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid
+2026-11-03 14:18:59,513 [INFO] root: Loaded norm stats from /data/gaoliu/droidfull8/openpi-cache/openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid
+2026-11-03 14:18:59,591 [INFO] root: Loaded norm stats from gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid
+wandb: 
+wandb: You can sync this run to the cloud by running:
+wandb: wandb sync /data/gaoliu/droidfull8/decent-vla/logs/wandb/offline-run-20261101_124837-openpi_pi05_droidfull8_cent_local
+wandb: Find logs at: logs/wandb/offline-run-20261101_124837-openpi_pi05_droidfull8_cent_local/logs
+FL training complete: 400 rounds, checkpoint at outputs/openpi_pi05_droidfull8_cent_local/checkpoints/round_0400.pt

openpi_pi05_droidfull8_cent_local.yaml

@@ -0,0 +1,68 @@
+# ==============================================================================
+# GENERATED by scripts/droid_full8_make_configs.py — edit the generator, not this file.
+# OFFICIAL openpi JAX pi0.5 (full FT from pi05_base) on FULL DROID "droidfull8": CENTRALISED = openpi pi05_full_droid_finetune (1 client = all buildings, batch 256 over 8 GPUs)
+# Data: openpi's full-DROID training set (RLDS droid/1.0.1 under $DROID_RLDS_DIR, successful episodes,
+# openpi's idle filter: 78,864 episodes, 22.13 M frames), read by openpi's own RLDS pipeline.
+# Centralised reference for the 8-client arms (here: 1 client = all buildings).
+# Recipe = openpi pi05_full_droid_finetune: horizon 16, lr 5e-5, clip 1.0, EMA 0.99, 25.6 M samples.
+# Runbook: examples/droid/README_droidfull8.md (relative paths below are from the repo root).
+# ==============================================================================
+name: openpi_pi05_droidfull8_cent_local
+seed: 42
+device: cpu                      # torch stays on the host; JAX owns the GPUs
+
+backend:
+  name: openpi
+  extra:
+    train_config: pi05_droid_full   # adapters/openpi/_droid_full.py; RLDS dir from $DROID_RLDS_DIR
+    weights: gs://openpi-assets/checkpoints/pi05_base/params
+    norm_stats_dir: gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets
+    asset_id: droid
+    ema_decay: 0.99            # openpi TrainConfig default; the served weights are the EMA
+    shuffle_buffer_size: 250000    # openpi DroidRldsDataset (one pipeline)
+    num_workers: 32            # transform processes (the FedAvg arm: 8 clients x 4)
+    seed: 42
+    replan_steps: 15           # RoboLab's pi05 client executes 15 actions per chunk
+    devices: [0, 1, 2, 3, 4, 5, 6, 7]   # one data-parallel engine over the node
+    micro_batch_size: 256       # no accumulation: 32 per card, like one FedAvg client
+  optim:                       # openpi pi05_full_droid_finetune
+    name: adamw
+    lr: 5.0e-5
+    betas: [0.9, 0.95]
+    eps: 1.0e-8
+    weight_decay: 1.0e-10
+    scheduler: cosine
+    warmup_steps: 1000
+    decay_steps: 1000000
+    decay_lr: 5.0e-5
+    grad_clip_norm: 1.0        # inside the optax chain (openpi clip_by_global_norm)
+
+data:
+  name: openpi
+  repo_id: droid
+  batch_size: 256            # openpi pi05_full_droid_finetune
+  num_workers: 32
+  partitioning:
+    scheme: explicit_episodes  # the "episodes" are DROID buildings (partition units)
+    num_clients: 1
+  client_episodes_file: examples/droid/droid_full_cent_clients.json   # one client = every building
+  extra:
+    droid_buildings: examples/droid/droid_full_buildings.json.gz
+
+fl:                            # 1 client: "FedAvg" of one model = plain training; optimizer + EMA carry across rounds
+  strategy:
+    name: fedavg
+  rounds: 400                 # x 250 steps = 100,000 openpi steps (pi05_full_droid_finetune: 100,000)
+  local_steps: 250
+  min_clients: 1
+  execution: local
+  save_every_n_rounds: 40   # every 10k steps = openpi's keep_period
+  lean_host_memory: true
+  output_dir: outputs/openpi_pi05_droidfull8_cent_local
+
+wandb:
+  project: decent-vla
+  name: openpi_pi05_droidfull8_cent_local
+  group: droidfull8
+  mode: offline
+  tags: [openpi, jax, pi05, fullft, droid, droidfull8, cent, h200]

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openpi_r200/export_info.json

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+{
+ "source_checkpoint": "outputs/openpi_pi05_droidfull8_cent_local/checkpoints/server_round_0200.pt",
+ "round": 199,
+ "weights": "ema",
+ "tensors_from_checkpoint": 51,
+ "tensors_total": 51,
+ "base": "gs://openpi-assets/checkpoints/pi05_base/params",
+ "dtype": "bfloat16",
+ "norm_stats": "/data/gaoliu/droidfull8/openpi-cache/openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid/norm_stats.json",
+ "asset_id": "droid",
+ "openpi_config": "pi05_droid_jointpos",
+ "serve": "uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi05_droid_jointpos --policy.dir=/data/gaoliu/droidfull8/upload_cent/openpi_r200"
+}

openpi_r200/params/_CHECKPOINT_METADATA

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+{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1793745428236612658, "commit_timestamp_nsecs": 1793745430882917977, "custom_metadata": {}}

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