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diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/config.json b/0422_QwenLatent_13tasks_history_ActionState_50k/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d7a55e364aecd48100725775687233a3913b17a
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/config.json
@@ -0,0 +1,120 @@
+{
+  "run_id": "0422_QwenLatent_13tasks_history_ActionState_50k",
+  "run_root_dir": "./runs",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_entity": "timsty",
+  "wandb_project": "vla_jepa",
+  "is_debug": false,
+  "framework": {
+    "name": "QwenLatent_history",
+    "qwenvl": {
+      "base_vlm": "/mnt/data/fangyu/model/Qwen/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048,
+      "num_data_tokens": 32
+    },
+    "action_model": {
+      "ckpt_path": "/mnt/data/fangyu/code/reward_new/runs/0418_Action_13tasks_actionstate_fixchunk15/final_model/pytorch_model.pt",
+      "action_size": 37,
+      "state_size": 74,
+      "use_state": "${datasets.vla_data.state_use_action_chunk}",
+      "hidden_size": 1024,
+      "intermediate_size": 3072,
+      "dataset_vocab_size": 256,
+      "num_data_tokens": 32,
+      "min_action_len": 5,
+      "num_encoder_layers": 28,
+      "num_decoder_layers": 28,
+      "num_attention_heads": 16,
+      "num_key_value_heads": 8,
+      "head_dim": 128,
+      "max_position_embeddings": 2048,
+      "max_action_chunk_size": 50,
+      "rms_norm_eps": 1e-06,
+      "attention_dropout": 0.0,
+      "use_vae_reparameterization": false,
+      "use_ema": false,
+      "chunk_size": "${datasets.vla_data.chunk_size}",
+      "loss_mode": "full",
+      "qwen3_pretrained_name_or_path": "/mnt/data/fangyu/model/Qwen/Qwen3-0.6B"
+    }
+  },
+  "datasets": {
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/mnt/data/fangyu/dataset/IPEC-COMMUNITY",
+      "data_mix": "cross_embodiedment_simulator",
+      "CoT_prompt": "Task: {instruction}. What are the next 15 actions to take?",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 32,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ],
+      "image_size": [
+        224,
+        224
+      ],
+      "video_backend": "torchcodec",
+      "load_video": true,
+      "chunk_size": 30,
+      "state_use_action_chunk": true,
+      "num_history_steps": 15,
+      "include_state": "${datasets.vla_data.state_use_action_chunk}"
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 50000,
+    "num_warmup_steps": 5000,
+    "num_stable_steps": 0,
+    "mode": "freeze_action_encoder_decay_aux_loss",
+    "loss_weights_decay_steps": 5000,
+    "save_interval": 5000,
+    "eval_interval": 50,
+    "max_checkpoints_to_keep": 10,
+    "learning_rate": {
+      "base": 3e-05,
+      "qwen_vl_interface": 3e-05,
+      "action_model": 3e-05
+    },
+    "lr_scheduler_type": "warmup_stable_cosine",
+    "scheduler_specific_kwargs": {
+      "min_lr_ratio": 0.001
+    },
+    "freeze_modules": "",
+    "loss_scale": {
+      "align_loss": 1.0,
+      "recon_loss": 1.0,
+      "predict_loss": 1.0
+    },
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 10,
+    "gradient_clipping": 5.0,
+    "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": "./runs/0422_QwenLatent_13tasks_history_ActionState_50k"
+}
\ No newline at end of file
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/config.yaml b/0422_QwenLatent_13tasks_history_ActionState_50k/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1b41e869a5a3d43b02a1f486dae875e5afcdacb0
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/config.yaml
@@ -0,0 +1,103 @@
+run_id: 0422_QwenLatent_13tasks_history_ActionState_50k
+run_root_dir: ./runs
+seed: 42
+trackers:
+- jsonl
+- wandb
+wandb_entity: timsty
+wandb_project: vla_jepa
+is_debug: false
+framework:
+  name: QwenLatent_history
+  qwenvl:
+    base_vlm: /mnt/data/fangyu/model/Qwen/Qwen3-VL-2B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    num_data_tokens: 32
+  action_model:
+    ckpt_path: /mnt/data/fangyu/code/reward_new/runs/0418_Action_13tasks_actionstate_fixchunk15/final_model/pytorch_model.pt
+    action_size: 37
+    state_size: 74
+    use_state: ${datasets.vla_data.state_use_action_chunk}
+    hidden_size: 1024
+    intermediate_size: 3072
+    dataset_vocab_size: 256
+    num_data_tokens: 32
+    min_action_len: 5
+    num_encoder_layers: 28
+    num_decoder_layers: 28
+    num_attention_heads: 16
+    num_key_value_heads: 8
+    head_dim: 128
+    max_position_embeddings: 2048
+    max_action_chunk_size: 50
+    rms_norm_eps: 1.0e-06
+    attention_dropout: 0.0
+    use_vae_reparameterization: false
+    use_ema: false
+    chunk_size: ${datasets.vla_data.chunk_size}
+    loss_mode: full
+    qwen3_pretrained_name_or_path: /mnt/data/fangyu/model/Qwen/Qwen3-0.6B
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    data_root_dir: /mnt/data/fangyu/dataset/IPEC-COMMUNITY
+    data_mix: cross_embodiedment_simulator
+    CoT_prompt: 'Task: {instruction}. What are the next 15 actions to take?'
+    default_image_resolution:
+    - 3
+    - 224
+    - 224
+    per_device_batch_size: 32
+    load_all_data_for_training: true
+    obs:
+    - image_0
+    image_size:
+    - 224
+    - 224
+    video_backend: torchcodec
+    load_video: true
+    chunk_size: 30
+    state_use_action_chunk: true
+    num_history_steps: 15
+    include_state: ${datasets.vla_data.state_use_action_chunk}
+trainer:
+  epochs: 100
+  max_train_steps: 50000
+  num_warmup_steps: 5000
+  num_stable_steps: 0
+  mode: freeze_action_encoder_decay_aux_loss
+  loss_weights_decay_steps: 5000
+  save_interval: 5000
+  eval_interval: 50
+  max_checkpoints_to_keep: 10
+  learning_rate:
+    base: 3.0e-05
+    qwen_vl_interface: 3.0e-05
+    action_model: 3.0e-05
+  lr_scheduler_type: warmup_stable_cosine
+  scheduler_specific_kwargs:
+    min_lr_ratio: 0.001
+  freeze_modules: ''
+  loss_scale:
+    align_loss: 1.0
+    recon_loss: 1.0
+    predict_loss: 1.0
+  warmup_ratio: 0.1
+  weight_decay: 0.0
+  logging_frequency: 10
+  gradient_clipping: 5.0
+  gradient_accumulation_steps: 1
+  optimizer:
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+    betas:
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+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  is_resume: false
+  resume_epoch: null
+  resume_step: null
+  enable_gradient_checkpointing: true
+  enable_mixed_precision_training: true
+output_dir: ./runs/0422_QwenLatent_13tasks_history_ActionState_50k
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/dataset_statistics.json b/0422_QwenLatent_13tasks_history_ActionState_50k/dataset_statistics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4b1759765fbc4c16ec83d49d689eff10210b6cb
--- /dev/null
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+}
\ No newline at end of file
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt
new file mode 100644
index 0000000000000000000000000000000000000000..e47b1bcca5b082a7f6ba7abb591cc29413519d17
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt
@@ -0,0 +1,3 @@
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+size 6963281482
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log
new file mode 100644
index 0000000000000000000000000000000000000000..3ec101dfd608dbcab144c808494acd6557396879
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log
@@ -0,0 +1,108 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [02:50:35] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6398,                                     
+                              "env_name":                                       
+                          "gr1_unified/PnPBottleTo                              
+                          CabinetClose_GR1ArmsAndW                              
+                          aistFourierHands_Env",                                
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/PnPBottl                              
+                          eToCabinetClose_GR1ArmsA                              
+                          ndWaistFourierHands_Env"                              
+                          ,                                                     
+                              "seed": 21,                                       
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6398...                                
+                 INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6398 ...                               
+04/25 [02:50:37] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6398 ...                               
+04/25 [02:50:39] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6398 ...                               
+04/25 [02:50:41] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6398 ...                               
+04/25 [02:50:43] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6398 ...                               
+04/25 [02:50:45] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6398 ...                               
+04/25 [02:50:47] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6398 ...                               
+04/25 [02:50:49] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6398 ...                               
+04/25 [02:50:51] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6398 ...                               
+04/25 [02:50:53] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6398 ...                               
+04/25 [02:50:55] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6398 ...                               
+04/25 [02:50:57] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6398 ...                               
+*** policy_setup: gr1, unnorm_key: gr1 ***
+04/25 [02:50:59] INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [02:51:07] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+Collecting 50 episodes took 3497.67 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.56
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log
new file mode 100644
index 0000000000000000000000000000000000000000..bf1c8391fd8de0443bc6721e093a274d2c8ccbaf
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log
@@ -0,0 +1,212 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [02:50:36] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6399,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromCuttingboardTo                              
+                          BasketSplitA_GR1ArmsAndW                              
+                          aistFourierHands_Env",                                
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromCuttingboar                              
+                          dToBasketSplitA_GR1ArmsA                              
+                          ndWaistFourierHands_Env"                              
+                          ,                                                     
+                              "seed": 21,                                       
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6399...                                
+                 INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:50:38] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:50:40] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:50:42] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:50:44] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:50:46] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:50:48] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:50:50] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:50:52] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:50:54] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:50:56] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:50:58] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:51:00] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:51:02] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:51:04] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:51:06] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:51:08] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:51:10] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:51:12] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:51:14] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:51:16] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:51:18] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+04/25 [02:51:20] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6399 ...                               
+*** policy_setup: gr1, unnorm_key: gr1 ***
+04/25 [02:51:22] INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+04/25 [02:51:32] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 10 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 20 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 30 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 40 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 50 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 60 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+Collecting 50 episodes took 3745.66 seconds
+Results for gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.30
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log
new file mode 100644
index 0000000000000000000000000000000000000000..e913bf96990899838f2ced4ddbc39c4024af01fa
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log
@@ -0,0 +1,149 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [02:50:41] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6400,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromPlacematToBask                              
+                          etSplitA_GR1ArmsAndWaist                              
+                          FourierHands_Env",                                    
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromPlacematToB                              
+                          asketSplitA_GR1ArmsAndWa                              
+                          istFourierHands_Env",                                 
+                              "seed": 21,                                       
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6400...                                
+                 INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:50:43] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:50:45] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:50:47] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:50:49] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:50:51] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:50:53] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:50:55] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:50:57] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:50:59] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:01] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:03] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:05] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:07] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:09] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:11] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:13] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:15] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:17] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:19] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:21] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:23] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:25] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:27] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+04/25 [02:51:29] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6400 ...                               
+*** policy_setup: gr1, unnorm_key: gr1 ***
+04/25 [02:51:31] INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [02:51:34] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 3573.40 seconds
+Results for gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.42
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log
new file mode 100644
index 0000000000000000000000000000000000000000..a63ba8ac8053eeff7838f7c96da54188cf874396
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log
@@ -0,0 +1,149 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [02:50:42] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6401,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromPlateToBowlSpl                              
+                          itA_GR1ArmsAndWaistFouri                              
+                          erHands_Env",                                         
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromPlateToBowl                              
+                          SplitA_GR1ArmsAndWaistFo                              
+                          urierHands_Env",                                      
+                              "seed": 21,                                       
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6401...                                
+                 INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:50:44] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:50:46] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:50:48] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:50:50] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:50:52] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:50:54] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:50:56] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:50:58] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:00] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:02] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:04] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:06] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:08] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:10] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:12] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:14] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:16] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:18] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:20] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:22] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:24] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:26] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:28] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+04/25 [02:51:30] INFO     | >> Still waiting for   websocket_policy_client.py:58
+                          server                                                
+                          ws://127.0.0.1:6401 ...                               
+*** policy_setup: gr1, unnorm_key: gr1 ***
+04/25 [02:51:32] INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [02:51:34] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 3751.84 seconds
+Results for gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.24
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log
new file mode 100644
index 0000000000000000000000000000000000000000..63f426ab4c0103cacbf65c7cdd448de8a2d0e941
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log
@@ -0,0 +1,108 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [02:50:44] INFO     | >> Arguments: {                           simulation_env_history.py:207
+                              "host": "127.0.0.1",                                                 
+                              "port": 6402,                                                        
+                              "env_name":                                                          
+                          "gr1_unified/PosttrainPnPNovelFromTrayToCar                              
+                          dboardboxSplitA_GR1ArmsAndWaistFourierHands                              
+                          _Env",                                                                   
+                              "n_episodes": 50,                                                    
+                              "n_envs": 1,                                                         
+                              "max_episode_steps": 720,                                            
+                              "n_action_steps": 10,                                                
+                              "history_len": 15,                                                   
+                              "use_state": true,                                                   
+                              "video_out_path":                                                    
+                          "/mnt/data/fangyu/code/reward_new/runs/0422                              
+                          _QwenLatent_13tasks_history_ActionState_50k                              
+                          /videos/pytorch_model/history_len_15_n_acti                              
+                          on_steps_10_max_episode_steps_720_n_envs_1_                              
+                          gr1_unified/PosttrainPnPNovelFromTrayToCard                              
+                          boardboxSplitA_GR1ArmsAndWaistFourierHands_                              
+                          Env",                                                                    
+                              "seed": 21,                                                          
+                              "pretrained_path":                                                   
+                          "/mnt/data/fangyu/code/reward_new/runs/0422                              
+                          _QwenLatent_13tasks_history_ActionState_50k                              
+                          /final_model/pytorch_model.pt"                                           
+                          }                                                                        
+                 INFO     | >> Waiting for server at                  websocket_policy_client.py:34
+                          ws://127.0.0.1:6402...                                                   
+                 INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:50:46] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:50:48] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:50:50] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:50:52] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:50:54] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:50:56] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:50:58] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:00] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:02] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:04] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:06] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:08] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:10] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:12] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:14] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:16] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:18] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:20] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:22] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:24] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:26] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:28] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+04/25 [02:51:30] INFO     | >> Still waiting for server               websocket_policy_client.py:58
+                          ws://127.0.0.1:6402 ...                                                  
+*** policy_setup: gr1, unnorm_key: gr1 ***
+04/25 [02:51:32] INFO     | >> [*] Loading from local checkpoint path            share_tools.py:276
+                          `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent                   
+                          _13tasks_history_ActionState_50k/final_model/pytorch_m                   
+                          odel.pt`                                                                 
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [02:51:34] INFO     | >> No OpenGL_accelerate module loaded: No       acceleratesupport.py:24
+                          module named 'OpenGL_accelerate'                                         
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+Collecting 50 episodes took 3433.48 seconds
+Results for gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.40
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu0_port6398.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu0_port6398.log
new file mode 100644
index 0000000000000000000000000000000000000000..187b178eebbf65192db754e6445a0ea1d395d23a
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu0_port6398.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6398
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 47748) opened
+INFO:root:Connection from ('127.0.0.1', 47748) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu1_port6399.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu1_port6399.log
new file mode 100644
index 0000000000000000000000000000000000000000..36f06d901a9b82769f2a424540c129718d25218b
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu1_port6399.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6399
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 57150) opened
+INFO:root:Connection from ('127.0.0.1', 57150) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu2_port6400.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu2_port6400.log
new file mode 100644
index 0000000000000000000000000000000000000000..d3e8e60023b7b8bca7cf865dfe52aeb74bcff36b
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu2_port6400.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6400
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 40556) opened
+INFO:root:Connection from ('127.0.0.1', 40556) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu3_port6401.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu3_port6401.log
new file mode 100644
index 0000000000000000000000000000000000000000..2313938bd63a9307efef6371ab8aeab4773f4fbd
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu3_port6401.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6401
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 49066) opened
+INFO:root:Connection from ('127.0.0.1', 49066) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu4_port6402.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu4_port6402.log
new file mode 100644
index 0000000000000000000000000000000000000000..e7e311bae01ec926100a6be230f3ae64384d2c90
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_024901/server_gpu4_port6402.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6402
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 51564) opened
+INFO:root:Connection from ('127.0.0.1', 51564) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log
new file mode 100644
index 0000000000000000000000000000000000000000..f27d60437e6f550d9d50bfc4660315119e319489
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log
@@ -0,0 +1,72 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [06:40:08] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6398,                                     
+                              "env_name":                                       
+                          "gr1_unified/PnPBottleTo                              
+                          CabinetClose_GR1ArmsAndW                              
+                          aistFourierHands_Env",                                
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/PnPBottl                              
+                          eToCabinetClose_GR1ArmsA                              
+                          ndWaistFourierHands_Env"                              
+                          ,                                                     
+                              "seed": 330,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6398...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [06:40:11] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+Collecting 50 episodes took 3186.01 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.46
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log
new file mode 100644
index 0000000000000000000000000000000000000000..5e635a3cd18670386c3b433eff707917d515dc18
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log
@@ -0,0 +1,75 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [06:40:10] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6399,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromCuttingboardTo                              
+                          BasketSplitA_GR1ArmsAndW                              
+                          aistFourierHands_Env",                                
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromCuttingboar                              
+                          dToBasketSplitA_GR1ArmsA                              
+                          ndWaistFourierHands_Env"                              
+                          ,                                                     
+                              "seed": 330,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6399...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [06:40:12] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 3247.04 seconds
+Results for gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.64
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log
new file mode 100644
index 0000000000000000000000000000000000000000..6aae43e478a0647fbfd9b24adc160b9147c0787b
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log
@@ -0,0 +1,136 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [06:40:12] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6400,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromPlacematToBask                              
+                          etSplitA_GR1ArmsAndWaist                              
+                          FourierHands_Env",                                    
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromPlacematToB                              
+                          asketSplitA_GR1ArmsAndWa                              
+                          istFourierHands_Env",                                 
+                              "seed": 330,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6400...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [06:40:18] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 10 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 20 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 30 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 40 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 50 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 60 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+Collecting 50 episodes took 3231.88 seconds
+Results for gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.36
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log
new file mode 100644
index 0000000000000000000000000000000000000000..dd8e414268eb4ec0bdfc8df85b855bcf0165eb93
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log
@@ -0,0 +1,73 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [06:40:14] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6401,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromPlateToBowlSpl                              
+                          itA_GR1ArmsAndWaistFouri                              
+                          erHands_Env",                                         
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromPlateToBowl                              
+                          SplitA_GR1ArmsAndWaistFo                              
+                          urierHands_Env",                                      
+                              "seed": 330,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6401...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [06:40:19] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+Collecting 50 episodes took 3357.81 seconds
+Results for gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.28
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log
new file mode 100644
index 0000000000000000000000000000000000000000..39f72f16b3388c0b83124c5897191d6609a82b24
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log
@@ -0,0 +1,68 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [06:40:16] INFO     | >> Arguments: {             simulation_env_history.py:207
+                              "host": "127.0.0.1",                                   
+                              "port": 6402,                                          
+                              "env_name":                                            
+                          "gr1_unified/PosttrainPnPNove                              
+                          lFromTrayToCardboardboxSplitA                              
+                          _GR1ArmsAndWaistFourierHands_                              
+                          Env",                                                      
+                              "n_episodes": 50,                                      
+                              "n_envs": 1,                                           
+                              "max_episode_steps": 720,                              
+                              "n_action_steps": 10,                                  
+                              "history_len": 15,                                     
+                              "use_state": true,                                     
+                              "video_out_path":                                      
+                          "/mnt/data/fangyu/code/reward                              
+                          _new/runs/0422_QwenLatent_13t                              
+                          asks_history_ActionState_50k/                              
+                          videos/pytorch_model/history_                              
+                          len_15_n_action_steps_10_max_                              
+                          episode_steps_720_n_envs_1_gr                              
+                          1_unified/PosttrainPnPNovelFr                              
+                          omTrayToCardboardboxSplitA_GR                              
+                          1ArmsAndWaistFourierHands_Env                              
+                          ",                                                         
+                              "seed": 330,                                           
+                              "pretrained_path":                                     
+                          "/mnt/data/fangyu/code/reward                              
+                          _new/runs/0422_QwenLatent_13t                              
+                          asks_history_ActionState_50k/                              
+                          final_model/pytorch_model.pt"                              
+                          }                                                          
+                 INFO     | >> Waiting for server at    websocket_policy_client.py:34
+                          ws://127.0.0.1:6402...                                     
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local checkpoint   share_tools.py:276
+                          path                                                       
+                          `/mnt/data/fangyu/code/reward_new/runs/0                   
+                          422_QwenLatent_13tasks_history_ActionSta                   
+                          te_50k/final_model/pytorch_model.pt`                       
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [06:40:18] INFO     | >> No OpenGL_accelerate module    acceleratesupport.py:24
+                          loaded: No module named                                    
+                          'OpenGL_accelerate'                                        
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 2970.10 seconds
+Results for gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.44
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu0_port6398.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu0_port6398.log
new file mode 100644
index 0000000000000000000000000000000000000000..3f02f9f5df83f6cb3ba5d211aabb3334a121bc8f
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu0_port6398.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6398
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 40368) opened
+INFO:root:Connection from ('127.0.0.1', 40368) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu1_port6399.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu1_port6399.log
new file mode 100644
index 0000000000000000000000000000000000000000..83af20bf93414cc0b0c5d6ce5726f94a245cb13e
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu1_port6399.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6399
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 55122) opened
+INFO:root:Connection from ('127.0.0.1', 55122) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu2_port6400.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu2_port6400.log
new file mode 100644
index 0000000000000000000000000000000000000000..54148e2da7ec4513ed0e047f0577f7c050f52fd8
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu2_port6400.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6400
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 42498) opened
+INFO:root:Connection from ('127.0.0.1', 42498) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu3_port6401.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu3_port6401.log
new file mode 100644
index 0000000000000000000000000000000000000000..dafb85a1d6c07894cbee030ecb9f01e1f11a2d53
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu3_port6401.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6401
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 49886) opened
+INFO:root:Connection from ('127.0.0.1', 49886) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu4_port6402.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu4_port6402.log
new file mode 100644
index 0000000000000000000000000000000000000000..238b0a1f83995e1b6ea470f5190293907b09b7be
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841/server_gpu4_port6402.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6402
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 55652) opened
+INFO:root:Connection from ('127.0.0.1', 55652) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log
new file mode 100644
index 0000000000000000000000000000000000000000..b93c2dbcf03f8ff7c8d8f99fa2dc8e9cfc8a555a
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log
@@ -0,0 +1,72 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [07:37:46] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6398,                                     
+                              "env_name":                                       
+                          "gr1_unified/PnPBottleTo                              
+                          CabinetClose_GR1ArmsAndW                              
+                          aistFourierHands_Env",                                
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/PnPBottl                              
+                          eToCabinetClose_GR1ArmsA                              
+                          ndWaistFourierHands_Env"                              
+                          ,                                                     
+                              "seed": 331,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6398...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [07:37:48] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+Collecting 50 episodes took 3135.03 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.52
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log
new file mode 100644
index 0000000000000000000000000000000000000000..9d64061865b32e90352f431d495115e7d40ccf03
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log
@@ -0,0 +1,76 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [07:37:48] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6399,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromCuttingboardTo                              
+                          BasketSplitA_GR1ArmsAndW                              
+                          aistFourierHands_Env",                                
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromCuttingboar                              
+                          dToBasketSplitA_GR1ArmsA                              
+                          ndWaistFourierHands_Env"                              
+                          ,                                                     
+                              "seed": 331,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6399...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [07:37:51] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+Collecting 50 episodes took 3246.88 seconds
+Results for gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.50
+WARNING: Nan, Inf or huge value in QACC at DOF 81. The simulation is unstable. Time = 2.4260.
+
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log
new file mode 100644
index 0000000000000000000000000000000000000000..8e2a105fe5a1d9f720945f524cdb89ba9db187d4
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log
@@ -0,0 +1,74 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [07:37:50] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6400,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromPlacematToBask                              
+                          etSplitA_GR1ArmsAndWaist                              
+                          FourierHands_Env",                                    
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromPlacematToB                              
+                          asketSplitA_GR1ArmsAndWa                              
+                          istFourierHands_Env",                                 
+                              "seed": 331,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6400...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [07:37:54] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 3170.87 seconds
+Results for gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.50
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log
new file mode 100644
index 0000000000000000000000000000000000000000..d03d0e4355ce1c59d6e034d07e7b854abbc3d8d3
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log
@@ -0,0 +1,73 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [07:37:52] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6401,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromPlateToBowlSpl                              
+                          itA_GR1ArmsAndWaistFouri                              
+                          erHands_Env",                                         
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromPlateToBowl                              
+                          SplitA_GR1ArmsAndWaistFo                              
+                          urierHands_Env",                                      
+                              "seed": 331,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6401...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [07:37:54] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+Collecting 50 episodes took 3307.69 seconds
+Results for gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.28
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log
new file mode 100644
index 0000000000000000000000000000000000000000..a6c5fe5501186908dd3b287ac88bb06ad6742744
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log
@@ -0,0 +1,68 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [07:37:54] INFO     | >> Arguments: {             simulation_env_history.py:207
+                              "host": "127.0.0.1",                                   
+                              "port": 6402,                                          
+                              "env_name":                                            
+                          "gr1_unified/PosttrainPnPNove                              
+                          lFromTrayToCardboardboxSplitA                              
+                          _GR1ArmsAndWaistFourierHands_                              
+                          Env",                                                      
+                              "n_episodes": 50,                                      
+                              "n_envs": 1,                                           
+                              "max_episode_steps": 720,                              
+                              "n_action_steps": 10,                                  
+                              "history_len": 15,                                     
+                              "use_state": true,                                     
+                              "video_out_path":                                      
+                          "/mnt/data/fangyu/code/reward                              
+                          _new/runs/0422_QwenLatent_13t                              
+                          asks_history_ActionState_50k/                              
+                          videos/pytorch_model/history_                              
+                          len_15_n_action_steps_10_max_                              
+                          episode_steps_720_n_envs_1_gr                              
+                          1_unified/PosttrainPnPNovelFr                              
+                          omTrayToCardboardboxSplitA_GR                              
+                          1ArmsAndWaistFourierHands_Env                              
+                          ",                                                         
+                              "seed": 331,                                           
+                              "pretrained_path":                                     
+                          "/mnt/data/fangyu/code/reward                              
+                          _new/runs/0422_QwenLatent_13t                              
+                          asks_history_ActionState_50k/                              
+                          final_model/pytorch_model.pt"                              
+                          }                                                          
+                 INFO     | >> Waiting for server at    websocket_policy_client.py:34
+                          ws://127.0.0.1:6402...                                     
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local checkpoint   share_tools.py:276
+                          path                                                       
+                          `/mnt/data/fangyu/code/reward_new/runs/0                   
+                          422_QwenLatent_13tasks_history_ActionSta                   
+                          te_50k/final_model/pytorch_model.pt`                       
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [07:37:57] INFO     | >> No OpenGL_accelerate module    acceleratesupport.py:24
+                          loaded: No module named                                    
+                          'OpenGL_accelerate'                                        
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 2975.05 seconds
+Results for gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.46
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu0_port6398.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu0_port6398.log
new file mode 100644
index 0000000000000000000000000000000000000000..cc46035f9ad8b1bcca3f7d5610a0c7eb436910da
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu0_port6398.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6398
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 57856) opened
+INFO:root:Connection from ('127.0.0.1', 57856) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu1_port6399.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu1_port6399.log
new file mode 100644
index 0000000000000000000000000000000000000000..8adddc0b7dbe34fcfe524cdb416edadfd6cf8caf
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu1_port6399.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6399
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 60628) opened
+INFO:root:Connection from ('127.0.0.1', 60628) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu2_port6400.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu2_port6400.log
new file mode 100644
index 0000000000000000000000000000000000000000..252ceaa723c98dbf13455b356a6574929ea77284
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu2_port6400.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6400
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 55744) opened
+INFO:root:Connection from ('127.0.0.1', 55744) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu3_port6401.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu3_port6401.log
new file mode 100644
index 0000000000000000000000000000000000000000..fecdcb4536950fde0d4267eaf271e58e6e63d1e0
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu3_port6401.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6401
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 50506) opened
+INFO:root:Connection from ('127.0.0.1', 50506) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu4_port6402.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu4_port6402.log
new file mode 100644
index 0000000000000000000000000000000000000000..7be2f285dd88adf1a24868b418828d37e6608c4a
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619/server_gpu4_port6402.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6402
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 36282) opened
+INFO:root:Connection from ('127.0.0.1', 36282) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log
new file mode 100644
index 0000000000000000000000000000000000000000..9427913f8d9ed2566ccca3e270af029f918e1150
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log
@@ -0,0 +1,72 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [08:34:31] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6398,                                     
+                              "env_name":                                       
+                          "gr1_unified/PnPBottleTo                              
+                          CabinetClose_GR1ArmsAndW                              
+                          aistFourierHands_Env",                                
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/PnPBottl                              
+                          eToCabinetClose_GR1ArmsA                              
+                          ndWaistFourierHands_Env"                              
+                          ,                                                     
+                              "seed": 332,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6398...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [08:34:33] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+Collecting 50 episodes took 3122.46 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.46
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log
new file mode 100644
index 0000000000000000000000000000000000000000..ead0e9f75f7927dd49c740b21bd91e36f5354a71
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log
@@ -0,0 +1,75 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [08:34:32] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6399,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromCuttingboardTo                              
+                          BasketSplitA_GR1ArmsAndW                              
+                          aistFourierHands_Env",                                
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromCuttingboar                              
+                          dToBasketSplitA_GR1ArmsA                              
+                          ndWaistFourierHands_Env"                              
+                          ,                                                     
+                              "seed": 332,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6399...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [08:34:35] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 3247.12 seconds
+Results for gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.32
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log
new file mode 100644
index 0000000000000000000000000000000000000000..a8e9f5ada222ea5de71721645e99d280d1fd20c8
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log
@@ -0,0 +1,74 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [08:34:33] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6400,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromPlacematToBask                              
+                          etSplitA_GR1ArmsAndWaist                              
+                          FourierHands_Env",                                    
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromPlacematToB                              
+                          asketSplitA_GR1ArmsAndWa                              
+                          istFourierHands_Env",                                 
+                              "seed": 332,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6400...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [08:34:37] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 3174.92 seconds
+Results for gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.32
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log
new file mode 100644
index 0000000000000000000000000000000000000000..2fface26e52f987d626475a14aa9c4a4c1bcaf16
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log
@@ -0,0 +1,74 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [08:34:36] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6401,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromPlateToBowlSpl                              
+                          itA_GR1ArmsAndWaistFouri                              
+                          erHands_Env",                                         
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromPlateToBowl                              
+                          SplitA_GR1ArmsAndWaistFo                              
+                          urierHands_Env",                                      
+                              "seed": 332,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6401...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [08:34:39] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 3315.13 seconds
+Results for gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.24
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log
new file mode 100644
index 0000000000000000000000000000000000000000..6ac76f77770b43d222dde245f234fbc23730479b
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log
@@ -0,0 +1,115 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [08:34:38] INFO     | >> Arguments: {             simulation_env_history.py:207
+                              "host": "127.0.0.1",                                   
+                              "port": 6402,                                          
+                              "env_name":                                            
+                          "gr1_unified/PosttrainPnPNove                              
+                          lFromTrayToCardboardboxSplitA                              
+                          _GR1ArmsAndWaistFourierHands_                              
+                          Env",                                                      
+                              "n_episodes": 50,                                      
+                              "n_envs": 1,                                           
+                              "max_episode_steps": 720,                              
+                              "n_action_steps": 10,                                  
+                              "history_len": 15,                                     
+                              "use_state": true,                                     
+                              "video_out_path":                                      
+                          "/mnt/data/fangyu/code/reward                              
+                          _new/runs/0422_QwenLatent_13t                              
+                          asks_history_ActionState_50k/                              
+                          videos/pytorch_model/history_                              
+                          len_15_n_action_steps_10_max_                              
+                          episode_steps_720_n_envs_1_gr                              
+                          1_unified/PosttrainPnPNovelFr                              
+                          omTrayToCardboardboxSplitA_GR                              
+                          1ArmsAndWaistFourierHands_Env                              
+                          ",                                                         
+                              "seed": 332,                                           
+                              "pretrained_path":                                     
+                          "/mnt/data/fangyu/code/reward                              
+                          _new/runs/0422_QwenLatent_13t                              
+                          asks_history_ActionState_50k/                              
+                          final_model/pytorch_model.pt"                              
+                          }                                                          
+                 INFO     | >> Waiting for server at    websocket_policy_client.py:34
+                          ws://127.0.0.1:6402...                                     
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local checkpoint   share_tools.py:276
+                          path                                                       
+                          `/mnt/data/fangyu/code/reward_new/runs/0                   
+                          422_QwenLatent_13tasks_history_ActionSta                   
+                          te_50k/final_model/pytorch_model.pt`                       
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [08:34:40] INFO     | >> No OpenGL_accelerate module    acceleratesupport.py:24
+                          loaded: No module named                                    
+                          'OpenGL_accelerate'                                        
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 10 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 20 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 30 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 40 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 50 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+Collecting 50 episodes took 3035.06 seconds
+Results for gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.44
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu0_port6398.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu0_port6398.log
new file mode 100644
index 0000000000000000000000000000000000000000..f98898872b911ba8a4ea22119e0d6b5772d3f386
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu0_port6398.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6398
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 57806) opened
+INFO:root:Connection from ('127.0.0.1', 57806) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu1_port6399.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu1_port6399.log
new file mode 100644
index 0000000000000000000000000000000000000000..ba4c726f259fe9ca4504190763230436ef90a6b6
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu1_port6399.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6399
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 35502) opened
+INFO:root:Connection from ('127.0.0.1', 35502) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu2_port6400.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu2_port6400.log
new file mode 100644
index 0000000000000000000000000000000000000000..caff2f2075c14d44429f10ad016aeecb0f8b7ee8
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu2_port6400.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6400
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 60338) opened
+INFO:root:Connection from ('127.0.0.1', 60338) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu3_port6401.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu3_port6401.log
new file mode 100644
index 0000000000000000000000000000000000000000..402ba6e68e4ae03eeabd8253c432dc6153640ef1
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu3_port6401.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6401
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 51652) opened
+INFO:root:Connection from ('127.0.0.1', 51652) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu4_port6402.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu4_port6402.log
new file mode 100644
index 0000000000000000000000000000000000000000..9f3ecfa12bda3dbc1cf98ffb7ea8d95da2f475c0
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303/server_gpu4_port6402.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6402
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 39154) opened
+INFO:root:Connection from ('127.0.0.1', 39154) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log
new file mode 100644
index 0000000000000000000000000000000000000000..a288031528a98897e3cee318c93968a34e79b5b3
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log
@@ -0,0 +1,72 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [09:31:43] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6398,                                     
+                              "env_name":                                       
+                          "gr1_unified/PnPBottleTo                              
+                          CabinetClose_GR1ArmsAndW                              
+                          aistFourierHands_Env",                                
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/PnPBottl                              
+                          eToCabinetClose_GR1ArmsA                              
+                          ndWaistFourierHands_Env"                              
+                          ,                                                     
+                              "seed": 333,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6398...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [09:31:46] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+Collecting 50 episodes took 3096.18 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.36
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log
new file mode 100644
index 0000000000000000000000000000000000000000..f18b91c7ac9cc27846d3ed7d3a0f517af330c5dd
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log
@@ -0,0 +1,77 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [09:31:46] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6399,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromCuttingboardTo                              
+                          BasketSplitA_GR1ArmsAndW                              
+                          aistFourierHands_Env",                                
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromCuttingboar                              
+                          dToBasketSplitA_GR1ArmsA                              
+                          ndWaistFourierHands_Env"                              
+                          ,                                                     
+                              "seed": 333,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6399...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [09:31:49] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 3274.74 seconds
+Results for gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.58
+WARNING: Nan, Inf or huge value in QACC at DOF 81. The simulation is unstable. Time = 2.0860.
+
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log
new file mode 100644
index 0000000000000000000000000000000000000000..0c187dc2e10113ac34bccea7b71b81ff022633f4
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log
@@ -0,0 +1,74 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [09:31:47] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6400,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromPlacematToBask                              
+                          etSplitA_GR1ArmsAndWaist                              
+                          FourierHands_Env",                                    
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromPlacematToB                              
+                          asketSplitA_GR1ArmsAndWa                              
+                          istFourierHands_Env",                                 
+                              "seed": 333,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6400...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [09:31:50] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 3237.32 seconds
+Results for gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.42
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log
new file mode 100644
index 0000000000000000000000000000000000000000..019cdb4dbfbdb61dddbec922efec53bbe4813b3d
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log
@@ -0,0 +1,123 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [09:31:49] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6401,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromPlateToBowlSpl                              
+                          itA_GR1ArmsAndWaistFouri                              
+                          erHands_Env",                                         
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromPlateToBowl                              
+                          SplitA_GR1ArmsAndWaistFo                              
+                          urierHands_Env",                                      
+                              "seed": 333,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6401...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+04/25 [09:31:52] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 10 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 20 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 30 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 40 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 50 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+Collecting 50 episodes took 3269.56 seconds
+Results for gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.38
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log
new file mode 100644
index 0000000000000000000000000000000000000000..a6084babcdab1f70fe611e704270b0daf549538d
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log
@@ -0,0 +1,52 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [09:31:52] INFO     | >> Arguments: {                                                                        simulation_env_history.py:207
+                              "host": "127.0.0.1",                                                                                              
+                              "port": 6402,                                                                                                     
+                              "env_name":                                                                                                       
+                          "gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_E                              
+                          nv",                                                                                                                  
+                              "n_episodes": 50,                                                                                                 
+                              "n_envs": 1,                                                                                                      
+                              "max_episode_steps": 720,                                                                                         
+                              "n_action_steps": 10,                                                                                             
+                              "history_len": 15,                                                                                                
+                              "use_state": true,                                                                                                
+                              "video_out_path":                                                                                                 
+                          "/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/v                              
+                          ideos/pytorch_model/history_len_15_n_action_steps_10_max_episode_steps_720_n_envs_1_gr1_                              
+                          unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env",                               
+                              "seed": 333,                                                                                                      
+                              "pretrained_path":                                                                                                
+                          "/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/f                              
+                          inal_model/pytorch_model.pt"                                                                                          
+                          }                                                                                                                     
+                 INFO     | >> Waiting for server at ws://127.0.0.1:6402...                                        websocket_policy_client.py:34
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local checkpoint path                                                         share_tools.py:276
+                          `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/                   
+                          pytorch_model.pt`                                                                                                     
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [09:31:55] INFO     | >> No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'                   acceleratesupport.py:24
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 3031.59 seconds
+Results for gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.50
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu0_port6398.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu0_port6398.log
new file mode 100644
index 0000000000000000000000000000000000000000..712af1e5f4d82be2d88c0f928103ef76cf8f57ab
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu0_port6398.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6398
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 56662) opened
+INFO:root:Connection from ('127.0.0.1', 56662) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu1_port6399.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu1_port6399.log
new file mode 100644
index 0000000000000000000000000000000000000000..e4378f9dfbf6aaae2e6fd3d1ae1aee0d4412f1d4
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu1_port6399.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6399
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 59552) opened
+INFO:root:Connection from ('127.0.0.1', 59552) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu2_port6400.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu2_port6400.log
new file mode 100644
index 0000000000000000000000000000000000000000..4ccddcb62137c9407259dcc4e214384e79542813
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu2_port6400.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6400
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 40010) opened
+INFO:root:Connection from ('127.0.0.1', 40010) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu3_port6401.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu3_port6401.log
new file mode 100644
index 0000000000000000000000000000000000000000..3063265ea79e4d98f3f81cba4c0013ce7c923173
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu3_port6401.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6401
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 45372) opened
+INFO:root:Connection from ('127.0.0.1', 45372) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu4_port6402.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu4_port6402.log
new file mode 100644
index 0000000000000000000000000000000000000000..bbf222eafd2f1668700a44fee2ab2ff43feba7c4
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016/server_gpu4_port6402.log
@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6402
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 42372) opened
+INFO:root:Connection from ('127.0.0.1', 42372) closed
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log
new file mode 100644
index 0000000000000000000000000000000000000000..c691b820b8641225db40f618c46fa2acc879f6b6
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log
@@ -0,0 +1,104 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [10:27:54] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6398,                                     
+                              "env_name":                                       
+                          "gr1_unified/PnPBottleTo                              
+                          CabinetClose_GR1ArmsAndW                              
+                          aistFourierHands_Env",                                
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/PnPBottl                              
+                          eToCabinetClose_GR1ArmsA                              
+                          ndWaistFourierHands_Env"                              
+                          ,                                                     
+                              "seed": 334,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6398...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [10:27:56] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+Traceback (most recent call last):
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 244, in <module>
+    tyro.cli(eval_gr1_unified)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/tyro/_cli.py", line 220, in cli
+    return run_with_args_from_cli()
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 220, in eval_gr1_unified
+    run_evaluation(
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 183, in run_evaluation
+    results = client.run_simulation(config)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 109, in run_simulation
+    next_obs, rewards, terminations, truncations, env_infos = self.env.step(actions)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/vector/sync_vector_env.py", line 253, in step
+    self._env_obs[i], env_info = self.envs[i].reset()
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/wrappers/multistep_wrapper.py", line 189, in reset
+    obs, info = super().reset(seed=seed, options=options)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/core.py", line 333, in reset
+    return self.env.reset(seed=seed, options=options)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/wrappers/video_recording_wrapper.py", line 205, in reset
+    result = super().reset(**kwargs)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/core.py", line 333, in reset
+    return self.env.reset(seed=seed, options=options)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/wrappers/common.py", line 400, in reset
+    return super().reset(seed=seed, options=options)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/core.py", line 333, in reset
+    return self.env.reset(seed=seed, options=options)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/wrappers/common.py", line 295, in reset
+    return self.env.reset(seed=seed, options=options)
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/utils/gym_utils/gymnasium_groot.py", line 121, in reset
+    raw_obs, info = super().reset(seed=seed, options=options)
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/utils/gym_utils/gymnasium_basic.py", line 215, in reset
+    raw_obs = self.env.reset()
+  File "/mnt/data/fangyu/code/github/robosuite/robosuite/environments/base.py", line 275, in reset
+    self._initialize_sim()
+  File "/mnt/data/fangyu/code/github/robosuite/robosuite/environments/base.py", line 249, in _initialize_sim
+    self.sim = MjSim.from_xml_string(xml)
+  File "/mnt/data/fangyu/code/github/robosuite/robosuite/utils/binding_utils.py", line 1074, in from_xml_string
+    model = mujoco.MjModel.from_xml_string(xml)
+KeyboardInterrupt
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log
new file mode 100644
index 0000000000000000000000000000000000000000..5ff873e6a6a96bac325e96d7291af8975dcea65c
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log
@@ -0,0 +1,105 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [10:27:56] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6399,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromCuttingboardTo                              
+                          BasketSplitA_GR1ArmsAndW                              
+                          aistFourierHands_Env",                                
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromCuttingboar                              
+                          dToBasketSplitA_GR1ArmsA                              
+                          ndWaistFourierHands_Env"                              
+                          ,                                                     
+                              "seed": 334,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6399...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [10:27:58] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+Traceback (most recent call last):
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 244, in <module>
+    tyro.cli(eval_gr1_unified)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/tyro/_cli.py", line 220, in cli
+    return run_with_args_from_cli()
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 220, in eval_gr1_unified
+    run_evaluation(
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 183, in run_evaluation
+    results = client.run_simulation(config)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 109, in run_simulation
+    next_obs, rewards, terminations, truncations, env_infos = self.env.step(actions)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/vector/sync_vector_env.py", line 265, in step
+    ) = self.envs[i].step(action)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/wrappers/multistep_wrapper.py", line 214, in step
+    observation, reward, done, truncated, info = super().step(act)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/core.py", line 327, in step
+    return self.env.step(action)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/wrappers/video_recording_wrapper.py", line 223, in step
+    result = super().step(action)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/core.py", line 327, in step
+    return self.env.step(action)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/wrappers/common.py", line 393, in step
+    return super().step(action)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/core.py", line 327, in step
+    return self.env.step(action)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/wrappers/common.py", line 285, in step
+    return self.env.step(action)
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/utils/gym_utils/gymnasium_groot.py", line 130, in step
+    raw_obs, reward, terminated, truncated, info = super().step(action)
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/utils/gym_utils/gymnasium_basic.py", line 242, in step
+    raw_obs, reward, done, info = self.env.step(env_action)
+  File "/mnt/data/fangyu/code/github/robosuite/robosuite/environments/base.py", line 454, in step
+    self.sim.step2()
+  File "/mnt/data/fangyu/code/github/robosuite/robosuite/utils/binding_utils.py", line 1102, in step2
+    mujoco.mj_step2(self.model._model, self.data._data)
+KeyboardInterrupt
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log
new file mode 100644
index 0000000000000000000000000000000000000000..7e620e611a40f9ed831105d363f2a2339d3db6af
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log
@@ -0,0 +1,146 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [10:27:58] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6400,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromPlacematToBask                              
+                          etSplitA_GR1ArmsAndWaist                              
+                          FourierHands_Env",                                    
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromPlacematToB                              
+                          asketSplitA_GR1ArmsAndWa                              
+                          istFourierHands_Env",                                 
+                              "seed": 334,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6400...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [10:28:00] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 10 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 20 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 30 times!
+Traceback (most recent call last):
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 244, in <module>
+    tyro.cli(eval_gr1_unified)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/tyro/_cli.py", line 220, in cli
+    return run_with_args_from_cli()
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 220, in eval_gr1_unified
+    run_evaluation(
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 183, in run_evaluation
+    results = client.run_simulation(config)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 109, in run_simulation
+    next_obs, rewards, terminations, truncations, env_infos = self.env.step(actions)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/vector/sync_vector_env.py", line 253, in step
+    self._env_obs[i], env_info = self.envs[i].reset()
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/wrappers/multistep_wrapper.py", line 189, in reset
+    obs, info = super().reset(seed=seed, options=options)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/core.py", line 333, in reset
+    return self.env.reset(seed=seed, options=options)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/wrappers/video_recording_wrapper.py", line 205, in reset
+    result = super().reset(**kwargs)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/core.py", line 333, in reset
+    return self.env.reset(seed=seed, options=options)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/wrappers/common.py", line 400, in reset
+    return super().reset(seed=seed, options=options)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/core.py", line 333, in reset
+    return self.env.reset(seed=seed, options=options)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/wrappers/common.py", line 295, in reset
+    return self.env.reset(seed=seed, options=options)
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/utils/gym_utils/gymnasium_groot.py", line 121, in reset
+    raw_obs, info = super().reset(seed=seed, options=options)
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/utils/gym_utils/gymnasium_basic.py", line 215, in reset
+    raw_obs = self.env.reset()
+  File "/mnt/data/fangyu/code/github/robosuite/robosuite/environments/base.py", line 274, in reset
+    self._load_model()
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/environments/tabletop/tabletop.py", line 410, in wrapper
+    return func(self, *args, **kwargs)
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/environments/tabletop/tabletop.py", line 525, in _load_model
+    object_placements = self.placement_initializer.sample(
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/utils/placement_samplers.py", line 663, in sample
+    new_placements = sampler.sample(
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/utils/placement_samplers.py", line 452, in sample
+    if objs_intersect(
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/utils/object_utils.py", line 330, in objs_intersect
+    obj_points = obj.get_bbox_points(trans=obj_pos, rot=obj_quat)
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/models/objects/objects.py", line 185, in get_bbox_points
+    return self._get_bbox_points(
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/models/objects/objects.py", line 221, in _get_bbox_points
+    points = [(np.matmul(rot, p) + trans) for p in bbox_offsets]
+  File "/mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/models/objects/objects.py", line 221, in <listcomp>
+    points = [(np.matmul(rot, p) + trans) for p in bbox_offsets]
+KeyboardInterrupt
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log
new file mode 100644
index 0000000000000000000000000000000000000000..9e2e28b4c89f4beb306e6df501c013d1c3caa663
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log
@@ -0,0 +1,93 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [10:28:01] INFO     | >> Arguments: {        simulation_env_history.py:207
+                              "host": "127.0.0.1",                              
+                              "port": 6401,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPn                              
+                          PNovelFromPlateToBowlSpl                              
+                          itA_GR1ArmsAndWaistFouri                              
+                          erHands_Env",                                         
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps":                                 
+                          10,                                                   
+                              "history_len": 15,                                
+                              "use_state": true,                                
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/videos/py                              
+                          torch_model/history_len_                              
+                          15_n_action_steps_10_max                              
+                          _episode_steps_720_n_env                              
+                          s_1_gr1_unified/Posttrai                              
+                          nPnPNovelFromPlateToBowl                              
+                          SplitA_GR1ArmsAndWaistFo                              
+                          urierHands_Env",                                      
+                              "seed": 334,                                      
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/r                              
+                          eward_new/runs/0422_Qwen                              
+                          Latent_13tasks_history_A                              
+                          ctionState_50k/final_mod                              
+                          el/pytorch_model.pt"                                  
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6401...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0422_QwenLatent_13tasks_history                   
+                          _ActionState_50k/final_model/pytorc                   
+                          h_model.pt`                                           
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [10:28:06] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+Traceback (most recent call last):
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 244, in <module>
+    tyro.cli(eval_gr1_unified)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/tyro/_cli.py", line 220, in cli
+    return run_with_args_from_cli()
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 220, in eval_gr1_unified
+    run_evaluation(
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 183, in run_evaluation
+    results = client.run_simulation(config)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 108, in run_simulation
+    actions = self._get_actions_from_model(obs, step=step)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 131, in _get_actions_from_model
+    action_dict = self.get_action(observations, step=step)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 69, in get_action
+    return self.model.step(observations, step=step)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/model2robocasa_interface_history.py", line 146, in step
+    response = self.client.predict_action(vla_input)
+  File "/mnt/data/fangyu/code/reward_new/deployment/model_server/tools/websocket_policy_client.py", line 71, in predict_action
+    response = self._ws.recv()
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/websockets/sync/connection.py", line 319, in recv
+    return self.recv_messages.get(timeout, decode)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/websockets/sync/messages.py", line 169, in get
+    frame = self.get_next_frame(deadline.timeout(raise_if_elapsed=False))
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/websockets/sync/messages.py", line 87, in get_next_frame
+    frame = self.frames.get(block=True, timeout=timeout)
+KeyboardInterrupt
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log
new file mode 100644
index 0000000000000000000000000000000000000000..00236f537d353c7991b6a651e8eef16974059bfa
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log
@@ -0,0 +1,71 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/25 [10:28:02] INFO     | >> Arguments: {                                                                        simulation_env_history.py:207
+                              "host": "127.0.0.1",                                                                                              
+                              "port": 6402,                                                                                                     
+                              "env_name":                                                                                                       
+                          "gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_E                              
+                          nv",                                                                                                                  
+                              "n_episodes": 50,                                                                                                 
+                              "n_envs": 1,                                                                                                      
+                              "max_episode_steps": 720,                                                                                         
+                              "n_action_steps": 10,                                                                                             
+                              "history_len": 15,                                                                                                
+                              "use_state": true,                                                                                                
+                              "video_out_path":                                                                                                 
+                          "/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/v                              
+                          ideos/pytorch_model/history_len_15_n_action_steps_10_max_episode_steps_720_n_envs_1_gr1_                              
+                          unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env",                               
+                              "seed": 334,                                                                                                      
+                              "pretrained_path":                                                                                                
+                          "/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/f                              
+                          inal_model/pytorch_model.pt"                                                                                          
+                          }                                                                                                                     
+                 INFO     | >> Waiting for server at ws://127.0.0.1:6402...                                        websocket_policy_client.py:34
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local checkpoint path                                                         share_tools.py:276
+                          `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/                   
+                          pytorch_model.pt`                                                                                                     
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/25 [10:28:05] INFO     | >> No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'                   acceleratesupport.py:24
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+Traceback (most recent call last):
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 244, in <module>
+    tyro.cli(eval_gr1_unified)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/tyro/_cli.py", line 220, in cli
+    return run_with_args_from_cli()
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 220, in eval_gr1_unified
+    run_evaluation(
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 183, in run_evaluation
+    results = client.run_simulation(config)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 108, in run_simulation
+    actions = self._get_actions_from_model(obs, step=step)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 131, in _get_actions_from_model
+    action_dict = self.get_action(observations, step=step)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/simulation_env_history.py", line 69, in get_action
+    return self.model.step(observations, step=step)
+  File "/mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/model2robocasa_interface_history.py", line 146, in step
+    response = self.client.predict_action(vla_input)
+  File "/mnt/data/fangyu/code/reward_new/deployment/model_server/tools/websocket_policy_client.py", line 71, in predict_action
+    response = self._ws.recv()
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/websockets/sync/connection.py", line 319, in recv
+    return self.recv_messages.get(timeout, decode)
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/websockets/sync/messages.py", line 169, in get
+    frame = self.get_next_frame(deadline.timeout(raise_if_elapsed=False))
+  File "/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/websockets/sync/messages.py", line 87, in get_next_frame
+    frame = self.frames.get(block=True, timeout=timeout)
+KeyboardInterrupt
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu0_port6398.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu0_port6398.log
new file mode 100644
index 0000000000000000000000000000000000000000..f956868ad69ac77a6f4dbf0c2b200342d000546f
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu0_port6398.log
@@ -0,0 +1,21 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6398
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 49202) opened
+INFO:root:Connection from ('127.0.0.1', 49202) closed
+INFO:root:Idle timeout (1200s) reached, shutting down server.
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+action_model_kwargs={'ckpt_path': '/mnt/data/fangyu/code/reward_new/runs/0418_Action_13tasks_actionstate_fixchunk15/final_model/pytorch_model.pt', 'action_size': 37, 'state_size': 74, 'use_state': True, 'hidden_size': 1024, 'intermediate_size': 3072, 'dataset_vocab_size': 256, 'num_data_tokens': 32, 'min_action_len': 5, 'num_encoder_layers': 28, 'num_decoder_layers': 28, 'num_attention_heads': 16, 'num_key_value_heads': 8, 'head_dim': 128, 'max_position_embeddings': 2048, 'max_action_chunk_size': 50, 'rms_norm_eps': 1e-06, 'attention_dropout': 0.0, 'use_vae_reparameterization': False, 'use_ema': False, 'chunk_size': 30, 'loss_mode': 'full', 'qwen3_pretrained_name_or_path': '/mnt/data/fangyu/model/Qwen/Qwen3-0.6B'}
+use_vae_reparameterization? False
+use_state: True
+Initialized from Qwen3 checkpoint /mnt/data/fangyu/model/Qwen/Qwen3-0.6B. matched=617 missing=0 shape_mismatch=0 prefix=layers.
+✅ loaded action model from /mnt/data/fangyu/code/reward_new/runs/0418_Action_13tasks_actionstate_fixchunk15/final_model/pytorch_model.pt
+action model loss mode: full
+num_history_steps: 15
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu1_port6399.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu1_port6399.log
new file mode 100644
index 0000000000000000000000000000000000000000..435295cef5ff492111d8498dcfc06a6138def424
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu1_port6399.log
@@ -0,0 +1,21 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6399
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 44368) opened
+INFO:root:Connection from ('127.0.0.1', 44368) closed
+INFO:root:Idle timeout (1200s) reached, shutting down server.
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+action_model_kwargs={'ckpt_path': '/mnt/data/fangyu/code/reward_new/runs/0418_Action_13tasks_actionstate_fixchunk15/final_model/pytorch_model.pt', 'action_size': 37, 'state_size': 74, 'use_state': True, 'hidden_size': 1024, 'intermediate_size': 3072, 'dataset_vocab_size': 256, 'num_data_tokens': 32, 'min_action_len': 5, 'num_encoder_layers': 28, 'num_decoder_layers': 28, 'num_attention_heads': 16, 'num_key_value_heads': 8, 'head_dim': 128, 'max_position_embeddings': 2048, 'max_action_chunk_size': 50, 'rms_norm_eps': 1e-06, 'attention_dropout': 0.0, 'use_vae_reparameterization': False, 'use_ema': False, 'chunk_size': 30, 'loss_mode': 'full', 'qwen3_pretrained_name_or_path': '/mnt/data/fangyu/model/Qwen/Qwen3-0.6B'}
+use_vae_reparameterization? False
+use_state: True
+Initialized from Qwen3 checkpoint /mnt/data/fangyu/model/Qwen/Qwen3-0.6B. matched=617 missing=0 shape_mismatch=0 prefix=layers.
+✅ loaded action model from /mnt/data/fangyu/code/reward_new/runs/0418_Action_13tasks_actionstate_fixchunk15/final_model/pytorch_model.pt
+action model loss mode: full
+num_history_steps: 15
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu2_port6400.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu2_port6400.log
new file mode 100644
index 0000000000000000000000000000000000000000..6a05eb26de19149039bf46f14988aad6de3d42d0
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu2_port6400.log
@@ -0,0 +1,21 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6400
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 58660) opened
+INFO:root:Connection from ('127.0.0.1', 58660) closed
+INFO:root:Idle timeout (1200s) reached, shutting down server.
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+action_model_kwargs={'ckpt_path': '/mnt/data/fangyu/code/reward_new/runs/0418_Action_13tasks_actionstate_fixchunk15/final_model/pytorch_model.pt', 'action_size': 37, 'state_size': 74, 'use_state': True, 'hidden_size': 1024, 'intermediate_size': 3072, 'dataset_vocab_size': 256, 'num_data_tokens': 32, 'min_action_len': 5, 'num_encoder_layers': 28, 'num_decoder_layers': 28, 'num_attention_heads': 16, 'num_key_value_heads': 8, 'head_dim': 128, 'max_position_embeddings': 2048, 'max_action_chunk_size': 50, 'rms_norm_eps': 1e-06, 'attention_dropout': 0.0, 'use_vae_reparameterization': False, 'use_ema': False, 'chunk_size': 30, 'loss_mode': 'full', 'qwen3_pretrained_name_or_path': '/mnt/data/fangyu/model/Qwen/Qwen3-0.6B'}
+use_vae_reparameterization? False
+use_state: True
+Initialized from Qwen3 checkpoint /mnt/data/fangyu/model/Qwen/Qwen3-0.6B. matched=617 missing=0 shape_mismatch=0 prefix=layers.
+✅ loaded action model from /mnt/data/fangyu/code/reward_new/runs/0418_Action_13tasks_actionstate_fixchunk15/final_model/pytorch_model.pt
+action model loss mode: full
+num_history_steps: 15
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu3_port6401.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu3_port6401.log
new file mode 100644
index 0000000000000000000000000000000000000000..b7abf3b970569a10a18c8699ae39a3485785d25b
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu3_port6401.log
@@ -0,0 +1,21 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6401
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 53090) opened
+INFO:root:Connection from ('127.0.0.1', 53090) closed
+INFO:root:Idle timeout (1200s) reached, shutting down server.
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+action_model_kwargs={'ckpt_path': '/mnt/data/fangyu/code/reward_new/runs/0418_Action_13tasks_actionstate_fixchunk15/final_model/pytorch_model.pt', 'action_size': 37, 'state_size': 74, 'use_state': True, 'hidden_size': 1024, 'intermediate_size': 3072, 'dataset_vocab_size': 256, 'num_data_tokens': 32, 'min_action_len': 5, 'num_encoder_layers': 28, 'num_decoder_layers': 28, 'num_attention_heads': 16, 'num_key_value_heads': 8, 'head_dim': 128, 'max_position_embeddings': 2048, 'max_action_chunk_size': 50, 'rms_norm_eps': 1e-06, 'attention_dropout': 0.0, 'use_vae_reparameterization': False, 'use_ema': False, 'chunk_size': 30, 'loss_mode': 'full', 'qwen3_pretrained_name_or_path': '/mnt/data/fangyu/model/Qwen/Qwen3-0.6B'}
+use_vae_reparameterization? False
+use_state: True
+Initialized from Qwen3 checkpoint /mnt/data/fangyu/model/Qwen/Qwen3-0.6B. matched=617 missing=0 shape_mismatch=0 prefix=layers.
+✅ loaded action model from /mnt/data/fangyu/code/reward_new/runs/0418_Action_13tasks_actionstate_fixchunk15/final_model/pytorch_model.pt
+action model loss mode: full
+num_history_steps: 15
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu4_port6402.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu4_port6402.log
new file mode 100644
index 0000000000000000000000000000000000000000..7a9647eaaddf3e0014ec41c62b935ec537a8ebd2
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627/server_gpu4_port6402.log
@@ -0,0 +1,21 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6402
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 52000) opened
+INFO:root:Connection from ('127.0.0.1', 52000) closed
+INFO:root:Idle timeout (1200s) reached, shutting down server.
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+action_model_kwargs={'ckpt_path': '/mnt/data/fangyu/code/reward_new/runs/0418_Action_13tasks_actionstate_fixchunk15/final_model/pytorch_model.pt', 'action_size': 37, 'state_size': 74, 'use_state': True, 'hidden_size': 1024, 'intermediate_size': 3072, 'dataset_vocab_size': 256, 'num_data_tokens': 32, 'min_action_len': 5, 'num_encoder_layers': 28, 'num_decoder_layers': 28, 'num_attention_heads': 16, 'num_key_value_heads': 8, 'head_dim': 128, 'max_position_embeddings': 2048, 'max_action_chunk_size': 50, 'rms_norm_eps': 1e-06, 'attention_dropout': 0.0, 'use_vae_reparameterization': False, 'use_ema': False, 'chunk_size': 30, 'loss_mode': 'full', 'qwen3_pretrained_name_or_path': '/mnt/data/fangyu/model/Qwen/Qwen3-0.6B'}
+use_vae_reparameterization? False
+use_state: True
+Initialized from Qwen3 checkpoint /mnt/data/fangyu/model/Qwen/Qwen3-0.6B. matched=617 missing=0 shape_mismatch=0 prefix=layers.
+✅ loaded action model from /mnt/data/fangyu/code/reward_new/runs/0418_Action_13tasks_actionstate_fixchunk15/final_model/pytorch_model.pt
+action model loss mode: full
+num_history_steps: 15
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_5seeds_20260425_063841.log b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_5seeds_20260425_063841.log
new file mode 100644
index 0000000000000000000000000000000000000000..8b52a99ea6f4f9cec1845e1793e44d9b08ccf654
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_5seeds_20260425_063841.log
@@ -0,0 +1,210 @@
+=== 5-Seed History Evaluation ===
+Base Script          : /mnt/data/fangyu/code/reward_new/examples/Robocasa_tabletop/eval_files/batch_eval_args_history.sh
+Checkpoint Path      : /mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt
+Run Times            : 5
+Start Seed           : 330
+Summary Log          : /mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_5seeds_20260425_063841.log
+=================================
+
+[Run 1/5] seed=330 start at 2026-04-25 06:38:41
+=== History Evaluation Configuration ===
+Checkpoint Path      : /mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt
+Number of Envs       : 1
+Max Episode Steps    : 720
+Action Chunk Length  : 10
+History Length       : 15
+Use State            : true
+Seed                 : 330
+========================================
+=== Launching Multi-GPU History Evaluation ===
+GPUs            : 5
+Num Environments: 5
+Log Directory   : /mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_063841
+Starting policy server | GPU 0 (physical: 3) | Port 6398
+Starting policy server | GPU 1 (physical: 4) | Port 6399
+Starting policy server | GPU 2 (physical: 5) | Port 6400
+Starting policy server | GPU 3 (physical: 6) | Port 6401
+Starting policy server | GPU 4 (physical: 7) | Port 6402
+Launching history evaluation | GPU 0 (physical: 3) | Port 6398 | Env gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 1 (physical: 4) | Port 6399 | Env gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 2 (physical: 5) | Port 6400 | Env gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 3 (physical: 6) | Port 6401 | Env gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 4 (physical: 7) | Port 6402 | Env gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+
+Shutting down policy servers...
+Killed server PID 3833907
+Killed server PID 3834298
+Killed server PID 3834722
+Killed server PID 3835190
+Killed server PID 3835652
+=== History Evaluation Finished ===
+[Run 1/5] seed=330 finished at 2026-04-25 07:36:19
+
+[Run 2/5] seed=331 start at 2026-04-25 07:36:19
+=== History Evaluation Configuration ===
+Checkpoint Path      : /mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt
+Number of Envs       : 1
+Max Episode Steps    : 720
+Action Chunk Length  : 10
+History Length       : 15
+Use State            : true
+Seed                 : 331
+========================================
+=== Launching Multi-GPU History Evaluation ===
+GPUs            : 5
+Num Environments: 5
+Log Directory   : /mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_073619
+Starting policy server | GPU 0 (physical: 3) | Port 6398
+Starting policy server | GPU 1 (physical: 4) | Port 6399
+Starting policy server | GPU 2 (physical: 5) | Port 6400
+Starting policy server | GPU 3 (physical: 6) | Port 6401
+Starting policy server | GPU 4 (physical: 7) | Port 6402
+Launching history evaluation | GPU 0 (physical: 3) | Port 6398 | Env gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 1 (physical: 4) | Port 6399 | Env gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 2 (physical: 5) | Port 6400 | Env gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 3 (physical: 6) | Port 6401 | Env gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 4 (physical: 7) | Port 6402 | Env gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+
+Shutting down policy servers...
+Killed server PID 3871078
+Killed server PID 3871263
+Killed server PID 3871535
+Killed server PID 3871807
+Killed server PID 3872077
+=== History Evaluation Finished ===
+[Run 2/5] seed=331 finished at 2026-04-25 08:33:03
+
+[Run 3/5] seed=332 start at 2026-04-25 08:33:03
+=== History Evaluation Configuration ===
+Checkpoint Path      : /mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt
+Number of Envs       : 1
+Max Episode Steps    : 720
+Action Chunk Length  : 10
+History Length       : 15
+Use State            : true
+Seed                 : 332
+========================================
+=== Launching Multi-GPU History Evaluation ===
+GPUs            : 5
+Num Environments: 5
+Log Directory   : /mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_083303
+Starting policy server | GPU 0 (physical: 3) | Port 6398
+Starting policy server | GPU 1 (physical: 4) | Port 6399
+Starting policy server | GPU 2 (physical: 5) | Port 6400
+Starting policy server | GPU 3 (physical: 6) | Port 6401
+Starting policy server | GPU 4 (physical: 7) | Port 6402
+Launching history evaluation | GPU 0 (physical: 3) | Port 6398 | Env gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 1 (physical: 4) | Port 6399 | Env gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 2 (physical: 5) | Port 6400 | Env gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 3 (physical: 6) | Port 6401 | Env gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 4 (physical: 7) | Port 6402 | Env gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+
+Shutting down policy servers...
+Killed server PID 3893184
+Killed server PID 3893373
+Killed server PID 3893644
+Killed server PID 3893916
+Killed server PID 3894186
+=== History Evaluation Finished ===
+[Run 3/5] seed=332 finished at 2026-04-25 09:30:16
+
+[Run 4/5] seed=333 start at 2026-04-25 09:30:16
+=== History Evaluation Configuration ===
+Checkpoint Path      : /mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt
+Number of Envs       : 1
+Max Episode Steps    : 720
+Action Chunk Length  : 10
+History Length       : 15
+Use State            : true
+Seed                 : 333
+========================================
+=== Launching Multi-GPU History Evaluation ===
+GPUs            : 5
+Num Environments: 5
+Log Directory   : /mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_093016
+Starting policy server | GPU 0 (physical: 3) | Port 6398
+Starting policy server | GPU 1 (physical: 4) | Port 6399
+Starting policy server | GPU 2 (physical: 5) | Port 6400
+Starting policy server | GPU 3 (physical: 6) | Port 6401
+Starting policy server | GPU 4 (physical: 7) | Port 6402
+Launching history evaluation | GPU 0 (physical: 3) | Port 6398 | Env gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 1 (physical: 4) | Port 6399 | Env gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 2 (physical: 5) | Port 6400 | Env gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 3 (physical: 6) | Port 6401 | Env gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 4 (physical: 7) | Port 6402 | Env gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+Waiting for all history evaluation environments to finish...
+
+Shutting down policy servers...
+Killed server PID 3915755
+Killed server PID 3915942
+Killed server PID 3916214
+Killed server PID 3916484
+Killed server PID 3916758
+=== History Evaluation Finished ===
+[Run 4/5] seed=333 finished at 2026-04-25 10:26:27
+
+[Run 5/5] seed=334 start at 2026-04-25 10:26:27
+=== History Evaluation Configuration ===
+Checkpoint Path      : /mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt
+Number of Envs       : 1
+Max Episode Steps    : 720
+Action Chunk Length  : 10
+History Length       : 15
+Use State            : true
+Seed                 : 334
+========================================
+=== Launching Multi-GPU History Evaluation ===
+GPUs            : 5
+Num Environments: 5
+Log Directory   : /mnt/data/fangyu/code/reward_new/runs/0422_QwenLatent_13tasks_history_ActionState_50k/final_model/pytorch_model.pt.log/eval_history_20260425_102627
+Starting policy server | GPU 0 (physical: 3) | Port 6398
+Starting policy server | GPU 1 (physical: 4) | Port 6399
+Starting policy server | GPU 2 (physical: 5) | Port 6400
+Starting policy server | GPU 3 (physical: 6) | Port 6401
+Starting policy server | GPU 4 (physical: 7) | Port 6402
+Launching history evaluation | GPU 0 (physical: 3) | Port 6398 | Env gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 1 (physical: 4) | Port 6399 | Env gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 2 (physical: 5) | Port 6400 | Env gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 3 (physical: 6) | Port 6401 | Env gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env
+Launching history evaluation | GPU 4 (physical: 7) | Port 6402 | Env gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/run_qwenlatent_history_vla.sh b/0422_QwenLatent_13tasks_history_ActionState_50k/run_qwenlatent_history_vla.sh
new file mode 100644
index 0000000000000000000000000000000000000000..5f8898007e8ce291d2d84504c28e8b4d751dc1fd
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/run_qwenlatent_history_vla.sh
@@ -0,0 +1,27 @@
+#export NCCL_SOCKET_IFNAME=bond0
+#export NCCL_IB_HCA=mlx5_2,mlx5_3
+
+export NCCL_BLOCKING_WAIT=1
+export NCCL_ASYNC_ERROR_HANDLING=1
+export NCCL_TIMEOUT=1000  # timeout set to 1 hour (unit: seconds)
+export CUDA_VISIBLE_DEVICES=0,1,2,3,4,5,6,7
+
+# === Please modify the following paths according to your environment ===
+###########################################################################################
+run_root_dir=./runs
+run_id=0422_QwenLatent_13tasks_history_ActionState_50k
+###########################################################################################
+
+
+output_dir=${run_root_dir}/${run_id}
+mkdir -p ${output_dir}
+# mv this script to the output dir
+cp $0 ${output_dir}/
+
+accelerate launch \
+  --config_file ./starVLA/config/deepseeds/deepspeed_zero2.yaml \
+  --num_processes 8 \
+  starVLA/training/train_qwenlatent.py \
+  --config_yaml ./starVLA/config/training/starvla_train_qwenlatent_history_oxe.yaml \
+  --run_root_dir ${run_root_dir} \
+  --run_id ${run_id} \
\ No newline at end of file
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/summary.jsonl b/0422_QwenLatent_13tasks_history_ActionState_50k/summary.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1ab36c50a46444834008b3384a4f1a5de29c6c5c
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/summary.jsonl
@@ -0,0 +1,10 @@
+{"steps": 5000}
+{"steps": 10000}
+{"steps": 15000}
+{"steps": 20000}
+{"steps": 25000}
+{"steps": 30000}
+{"steps": 35000}
+{"steps": 40000}
+{"steps": 45000}
+{"steps": 50000}
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/videos/pytorch_model/history_len_15_n_action_steps_10_max_episode_steps_720_n_envs_1_gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/01fa9348-4c16-4787-887a-9d4d0b45b8d0_success0.mp4 b/0422_QwenLatent_13tasks_history_ActionState_50k/videos/pytorch_model/history_len_15_n_action_steps_10_max_episode_steps_720_n_envs_1_gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/01fa9348-4c16-4787-887a-9d4d0b45b8d0_success0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16cdcd65f1a67c77c572787200ac4c05c6d94c50
--- /dev/null
+++ b/0422_QwenLatent_13tasks_history_ActionState_50k/videos/pytorch_model/history_len_15_n_action_steps_10_max_episode_steps_720_n_envs_1_gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/01fa9348-4c16-4787-887a-9d4d0b45b8d0_success0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3eb8d911c448baa073d0b78fbee9ca8108c6ef612a317609a45d429b100b85d
+size 2770176
diff --git a/0422_QwenLatent_13tasks_history_ActionState_50k/videos/pytorch_model/history_len_15_n_action_steps_10_max_episode_steps_720_n_envs_1_gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/020dba98-d1ee-4593-953f-d6b2dc789075_success1.mp4 b/0422_QwenLatent_13tasks_history_ActionState_50k/videos/pytorch_model/history_len_15_n_action_steps_10_max_episode_steps_720_n_envs_1_gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/020dba98-d1ee-4593-953f-d6b2dc789075_success1.mp4
new file mode 100644
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