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@@ -285,3 +285,262 @@ videos/pytorch_model/n_action_steps_10_max_episode_steps_720_n_envs_1_gr1_unifie
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0420_QwenGR00T_13tasks_actionstate_50k_fix/config.json

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+{
+  "run_id": "0420_QwenGR00T_13tasks_actionstate_50k_fix",
+  "run_root_dir": "./runs",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_entity": "timsty",
+  "wandb_project": "vla_jepa",
+  "is_debug": false,
+  "framework": {
+    "name": "QwenGR00T",
+    "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": {
+      "dataset_vocab_size": 256,
+      "action_model_type": "DiT-B",
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 37,
+      "state_dim": 74,
+      "future_action_window_size": 14,
+      "action_horizon": 15,
+      "past_action_window_size": 0,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 10,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
+        "cross_attention_dim": 2048,
+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    }
+  },
+  "datasets": {
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/mnt/data/fangyu/dataset/IPEC-COMMUNITY",
+      "data_mix": "cross_embodiedment_13tasks",
+      "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": 15,
+      "state_use_action_chunk": false,
+      "num_history_steps": 0,
+      "include_state": true
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 50000,
+    "num_warmup_steps": 5000,
+    "num_stable_steps": 0,
+    "save_interval": 5000,
+    "eval_interval": 50,
+    "max_checkpoints_to_keep": 20,
+    "repeated_diffusion_steps": 1,
+    "learning_rate": {
+      "base": 5e-05,
+      "qwen_vl_interface": 5e-05,
+      "action_model": 5e-05
+    },
+    "lr_scheduler_type": "warmup_stable_cosine",
+    "scheduler_specific_kwargs": {
+      "min_lr_ratio": 0.001
+    },
+    "freeze_modules": "",
+    "warmup_ratio": 0.1,
+    "logging_frequency": 10,
+    "gradient_clipping": 5.0,
+    "gradient_accumulation_steps": 4,
+    "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/0420_QwenGR00T_13tasks_actionstate_50k_fix"
+}

0420_QwenGR00T_13tasks_actionstate_50k_fix/config.yaml

@@ -0,0 +1,99 @@
+run_id: 0420_QwenGR00T_13tasks_actionstate_50k_fix
+run_root_dir: ./runs
+seed: 42
+trackers:
+- jsonl
+- wandb
+wandb_entity: timsty
+wandb_project: vla_jepa
+is_debug: false
+framework:
+  name: QwenGR00T
+  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:
+    dataset_vocab_size: 256
+    action_model_type: DiT-B
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 37
+    state_dim: 74
+    future_action_window_size: 14
+    action_horizon: 15
+    past_action_window_size: 0
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 10
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 2048
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    data_root_dir: /mnt/data/fangyu/dataset/IPEC-COMMUNITY
+    data_mix: cross_embodiedment_13tasks
+    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: 15
+    state_use_action_chunk: false
+    num_history_steps: 0
+    include_state: true
+trainer:
+  epochs: 100
+  max_train_steps: 50000
+  num_warmup_steps: 5000
+  num_stable_steps: 0
+  save_interval: 5000
+  eval_interval: 50
+  max_checkpoints_to_keep: 20
+  repeated_diffusion_steps: 1
+  learning_rate:
+    base: 5.0e-05
+    qwen_vl_interface: 5.0e-05
+    action_model: 5.0e-05
+  lr_scheduler_type: warmup_stable_cosine
+  scheduler_specific_kwargs:
+    min_lr_ratio: 0.001
+  freeze_modules: ''
+  warmup_ratio: 0.1
+  logging_frequency: 10
+  gradient_clipping: 5.0
+  gradient_accumulation_steps: 4
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 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/0420_QwenGR00T_13tasks_actionstate_50k_fix

0420_QwenGR00T_13tasks_actionstate_50k_fix/dataset_statistics.json

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+        0.1607170441746712,
+        2.883582048416138,
+        0.5439058530330658,
+        1.0
+      ]
+    },
+    "num_transitions": 38179,
+    "num_trajectories": 202
+  }
+}

0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e37d5b646f9ed0bc0b8ed03cc2f85d9a0ab65bbbe19a61249968ae102e346dd2
+size 5221865051

0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/eval_gr00t_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log

@@ -0,0 +1,81 @@
+[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.
+04/22 [12:02:00] INFO     | >> Arguments: {          simulation_env_gr00t.py:592
+                              "host": "127.0.0.1",                              
+                              "port": 6200,                                     
+                              "env_name":                                       
+                          "gr1_unified/PnPBottleToCa                            
+                          binetClose_GR1ArmsAndWaist                            
+                          FourierHands_Env",                                    
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps": 10,                             
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/rew                            
+                          ard_new/runs/0420_QwenGR00                            
+                          T_13tasks_actionstate_50k_                            
+                          fix/final_model/pytorch_mo                            
+                          del.pt",                                              
+                              "unnorm_key": "gr1",                              
+                              "image_size": [                                   
+                                  224,                                          
+                                  224                                           
+                              ],                                                
+                              "include_state": true,                            
+                              "use_single_camera":                              
+                          true,                                                 
+                              "dataset_id": 7,                                  
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/rew                            
+                          ard_new/runs/0420_QwenGR00                            
+                          T_13tasks_actionstate_50k_                            
+                          fix/videos_gr00t/pytorch_m                            
+                          odel/n_action_steps_10_max                            
+                          _episode_steps_720_n_envs_                            
+                          1_gr1_unified/PnPBottleToC                            
+                          abinetClose_GR1ArmsAndWais                            
+                          tFourierHands_Env",                                   
+                              "seed": 21                                        
+                          }                                                     
+include_state: True, use_single_camera: True, dataset_id: 7
+Connecting to policy server at ws://127.0.0.1:6200 ...
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6200...                                
+Connected to policy server.
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0420_QwenGR00T_13tasks_actionst                   
+                          ate_50k_fix/final_model/pytorch_mod                   
+                          el.pt`                                                
+Using unnorm_key: 'gr1'
+state_dim: 74
+Running 50 episodes for 'gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env' with 1 environment(s)
+04/22 [12:02:03] 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!
+Collected 50 episodes in 2550.13s
+
+Results for 'gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env':
+  Success rate: 56.00%  (28/50 episodes)

0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/eval_gr00t_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log

@@ -0,0 +1,83 @@
+[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.
+04/22 [12:02:02] INFO     | >> Arguments: {          simulation_env_gr00t.py:592
+                              "host": "127.0.0.1",                              
+                              "port": 6201,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPnPN                            
+                          ovelFromCuttingboardToBask                            
+                          etSplitA_GR1ArmsAndWaistFo                            
+                          urierHands_Env",                                      
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps": 10,                             
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/rew                            
+                          ard_new/runs/0420_QwenGR00                            
+                          T_13tasks_actionstate_50k_                            
+                          fix/final_model/pytorch_mo                            
+                          del.pt",                                              
+                              "unnorm_key": "gr1",                              
+                              "image_size": [                                   
+                                  224,                                          
+                                  224                                           
+                              ],                                                
+                              "include_state": true,                            
+                              "use_single_camera":                              
+                          true,                                                 
+                              "dataset_id": 7,                                  
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/rew                            
+                          ard_new/runs/0420_QwenGR00                            
+                          T_13tasks_actionstate_50k_                            
+                          fix/videos_gr00t/pytorch_m                            
+                          odel/n_action_steps_10_max                            
+                          _episode_steps_720_n_envs_                            
+                          1_gr1_unified/PosttrainPnP                            
+                          NovelFromCuttingboardToBas                            
+                          ketSplitA_GR1ArmsAndWaistF                            
+                          ourierHands_Env",                                     
+                              "seed": 21                                        
+                          }                                                     
+include_state: True, use_single_camera: True, dataset_id: 7
+Connecting to policy server at ws://127.0.0.1:6201 ...
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6201...                                
+Connected to policy server.
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0420_QwenGR00T_13tasks_actionst                   
+                          ate_50k_fix/final_model/pytorch_mod                   
+                          el.pt`                                                
+Using unnorm_key: 'gr1'
+state_dim: 74
+Running 50 episodes for 'gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env' with 1 environment(s)
+04/22 [12:02:07] 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!
+Collected 50 episodes in 2777.43s
+
+Results for 'gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env':
+  Success rate: 38.00%  (19/50 episodes)

0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/eval_gr00t_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log

@@ -0,0 +1,84 @@
+[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.
+04/22 [12:02:04] INFO     | >> Arguments: {          simulation_env_gr00t.py:592
+                              "host": "127.0.0.1",                              
+                              "port": 6202,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPnPN                            
+                          ovelFromPlacematToBasketSp                            
+                          litA_GR1ArmsAndWaistFourie                            
+                          rHands_Env",                                          
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps": 10,                             
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/rew                            
+                          ard_new/runs/0420_QwenGR00                            
+                          T_13tasks_actionstate_50k_                            
+                          fix/final_model/pytorch_mo                            
+                          del.pt",                                              
+                              "unnorm_key": "gr1",                              
+                              "image_size": [                                   
+                                  224,                                          
+                                  224                                           
+                              ],                                                
+                              "include_state": true,                            
+                              "use_single_camera":                              
+                          true,                                                 
+                              "dataset_id": 7,                                  
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/rew                            
+                          ard_new/runs/0420_QwenGR00                            
+                          T_13tasks_actionstate_50k_                            
+                          fix/videos_gr00t/pytorch_m                            
+                          odel/n_action_steps_10_max                            
+                          _episode_steps_720_n_envs_                            
+                          1_gr1_unified/PosttrainPnP                            
+                          NovelFromPlacematToBasketS                            
+                          plitA_GR1ArmsAndWaistFouri                            
+                          erHands_Env",                                         
+                              "seed": 21                                        
+                          }                                                     
+include_state: True, use_single_camera: True, dataset_id: 7
+Connecting to policy server at ws://127.0.0.1:6202 ...
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6202...                                
+Connected to policy server.
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0420_QwenGR00T_13tasks_actionst                   
+                          ate_50k_fix/final_model/pytorch_mod                   
+                          el.pt`                                                
+Using unnorm_key: 'gr1'
+state_dim: 74
+Running 50 episodes for 'gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env' with 1 environment(s)
+04/22 [12:02:06] 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!
+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!
+Collected 50 episodes in 2753.38s
+
+Results for 'gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env':
+  Success rate: 20.00%  (10/50 episodes)

0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/eval_gr00t_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log

@@ -0,0 +1,83 @@
+[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.
+04/22 [12:02:06] INFO     | >> Arguments: {          simulation_env_gr00t.py:592
+                              "host": "127.0.0.1",                              
+                              "port": 6203,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPnPN                            
+                          ovelFromPlateToBowlSplitA_                            
+                          GR1ArmsAndWaistFourierHand                            
+                          s_Env",                                               
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps":                              
+                          720,                                                  
+                              "n_action_steps": 10,                             
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/rew                            
+                          ard_new/runs/0420_QwenGR00                            
+                          T_13tasks_actionstate_50k_                            
+                          fix/final_model/pytorch_mo                            
+                          del.pt",                                              
+                              "unnorm_key": "gr1",                              
+                              "image_size": [                                   
+                                  224,                                          
+                                  224                                           
+                              ],                                                
+                              "include_state": true,                            
+                              "use_single_camera":                              
+                          true,                                                 
+                              "dataset_id": 7,                                  
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/rew                            
+                          ard_new/runs/0420_QwenGR00                            
+                          T_13tasks_actionstate_50k_                            
+                          fix/videos_gr00t/pytorch_m                            
+                          odel/n_action_steps_10_max                            
+                          _episode_steps_720_n_envs_                            
+                          1_gr1_unified/PosttrainPnP                            
+                          NovelFromPlateToBowlSplitA                            
+                          _GR1ArmsAndWaistFourierHan                            
+                          ds_Env",                                              
+                              "seed": 21                                        
+                          }                                                     
+include_state: True, use_single_camera: True, dataset_id: 7
+Connecting to policy server at ws://127.0.0.1:6203 ...
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6203...                                
+Connected to policy server.
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0420_QwenGR00T_13tasks_actionst                   
+                          ate_50k_fix/final_model/pytorch_mod                   
+                          el.pt`                                                
+Using unnorm_key: 'gr1'
+state_dim: 74
+Running 50 episodes for 'gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env' with 1 environment(s)
+04/22 [12:02:08] 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!
+Collected 50 episodes in 2881.21s
+
+Results for 'gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env':
+  Success rate: 8.00%  (4/50 episodes)

0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/eval_gr00t_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.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.
+04/22 [12:02:08] INFO     | >> Arguments: {                  simulation_env_gr00t.py:592
+                              "host": "127.0.0.1",                                      
+                              "port": 6204,                                             
+                              "env_name":                                               
+                          "gr1_unified/PosttrainPnPNovelFrom                            
+                          TrayToCardboardboxSplitA_GR1ArmsAn                            
+                          dWaistFourierHands_Env",                                      
+                              "n_episodes": 50,                                         
+                              "n_envs": 1,                                              
+                              "max_episode_steps": 720,                                 
+                              "n_action_steps": 10,                                     
+                              "pretrained_path":                                        
+                          "/mnt/data/fangyu/code/reward_new/                            
+                          runs/0420_QwenGR00T_13tasks_action                            
+                          state_50k_fix/final_model/pytorch_                            
+                          model.pt",                                                    
+                              "unnorm_key": "gr1",                                      
+                              "image_size": [                                           
+                                  224,                                                  
+                                  224                                                   
+                              ],                                                        
+                              "include_state": true,                                    
+                              "use_single_camera": true,                                
+                              "dataset_id": 7,                                          
+                              "video_out_path":                                         
+                          "/mnt/data/fangyu/code/reward_new/                            
+                          runs/0420_QwenGR00T_13tasks_action                            
+                          state_50k_fix/videos_gr00t/pytorch                            
+                          _model/n_action_steps_10_max_episo                            
+                          de_steps_720_n_envs_1_gr1_unified/                            
+                          PosttrainPnPNovelFromTrayToCardboa                            
+                          rdboxSplitA_GR1ArmsAndWaistFourier                            
+                          Hands_Env",                                                   
+                              "seed": 21                                                
+                          }                                                             
+include_state: True, use_single_camera: True, dataset_id: 7
+Connecting to policy server at ws://127.0.0.1:6204 ...
+                 INFO     | >> Waiting for server at       websocket_policy_client.py:34
+                          ws://127.0.0.1:6204...                                        
+Connected to policy server.
+                 INFO     | >> [*] Loading from local checkpoint path share_tools.py:276
+                          `/mnt/data/fangyu/code/reward_new/runs/0420                   
+                          _QwenGR00T_13tasks_actionstate_50k_fix/fina                   
+                          l_model/pytorch_model.pt`                                     
+Using unnorm_key: 'gr1'
+state_dim: 74
+Running 50 episodes for 'gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env' with 1 environment(s)
+04/22 [12:02:10] 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!
+Collected 50 episodes in 2574.75s
+
+Results for 'gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env':
+  Success rate: 50.00%  (25/50 episodes)

0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu0_port6200.log

@@ -0,0 +1,9 @@
+/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/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt`
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6200
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 36314) opened
+INFO:root:Connection from ('127.0.0.1', 36314) closed

0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu1_port6201.log

@@ -0,0 +1,9 @@
+/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/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt`
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6201
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 59400) opened
+INFO:root:Connection from ('127.0.0.1', 59400) closed

0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu2_port6202.log

@@ -0,0 +1,9 @@
+/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/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt`
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6202
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 46120) opened
+INFO:root:Connection from ('127.0.0.1', 46120) closed

0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu3_port6203.log

@@ -0,0 +1,9 @@
+/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/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt`
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6203
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 52838) opened
+INFO:root:Connection from ('127.0.0.1', 52838) closed

0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu4_port6204.log

@@ -0,0 +1,9 @@
+/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/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt`
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6204
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 54008) opened
+INFO:root:Connection from ('127.0.0.1', 54008) closed

0420_QwenGR00T_13tasks_actionstate_50k_fix/run_lerobot_datasets_qwenGR00T.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=0420_QwenGR00T_13tasks_actionstate_50k_fix
+###########################################################################################
+
+output_dir=${run_root_dir}/${run_id}
+mkdir -p ${output_dir}
+cp $0 ${output_dir}/
+
+accelerate launch \
+  --config_file ./starVLA/config/deepseeds/deepspeed_zero2.yaml \
+  --num_processes 8 \
+  starVLA/training/train_qwengr00t.py \
+  --config_yaml ./starVLA/config/training/starvla_train_qwengr00t.yaml \
+  --run_root_dir ${run_root_dir} \
+  --run_id ${run_id} \
+  --wandb_project vla_jepa \
+  --wandb_entity timsty
+

0420_QwenGR00T_13tasks_actionstate_50k_fix/summary.jsonl

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+{"steps": 10000}
+{"steps": 15000}
+{"steps": 20000}
+{"steps": 25000}
+{"steps": 30000}
+{"steps": 35000}
+{"steps": 40000}
+{"steps": 45000}
+{"steps": 50000}

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