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b/0420_QwenGR00T_13tasks_actionstate_50k_fix/config.json new file mode 100644 index 0000000000000000000000000000000000000000..ed3ab61b38dbbc7286aaaf20419962e063a27fbe --- /dev/null +++ b/0420_QwenGR00T_13tasks_actionstate_50k_fix/config.json @@ -0,0 +1,116 @@ +{ + "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" +} \ No newline at end of file diff --git a/0420_QwenGR00T_13tasks_actionstate_50k_fix/config.yaml b/0420_QwenGR00T_13tasks_actionstate_50k_fix/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb0efb5ac0a4a92bf4e32706990599cf94491873 --- /dev/null +++ b/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 + 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at end of file diff --git a/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt b/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt new file mode 100644 index 0000000000000000000000000000000000000000..2b8b578ef4e83bf2668dece86a370504dd500411 --- /dev/null +++ b/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 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..a50912a58d244f072d7930c0d6b25c6306380869 --- /dev/null +++ b/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) diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..af530e977b0884af93f22ce6b89bba4666fd1db7 --- /dev/null +++ b/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) diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..b82e245f198f936e2405c17efb192a29dc1fc7f3 --- /dev/null +++ b/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) diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..8805aa257d00110901a59fdaf9a81c8e0e29d768 --- /dev/null +++ b/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) diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..a0592d475604de09f748daadfa7d1ce14d0d3272 --- /dev/null +++ b/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) diff --git a/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu0_port6200.log b/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu0_port6200.log new file mode 100644 index 0000000000000000000000000000000000000000..c94f4e2aac4eb807e7b58c749823553c7ce14231 --- /dev/null +++ b/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 diff --git a/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu1_port6201.log b/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu1_port6201.log new file mode 100644 index 0000000000000000000000000000000000000000..4883babbb2b9a12ed598ca0baf64ca2a0feb76e1 --- /dev/null +++ b/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 diff --git a/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu2_port6202.log b/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu2_port6202.log new file mode 100644 index 0000000000000000000000000000000000000000..3e5aa86bc58e35bf974cfdaddf17d527ab64f2f8 --- /dev/null +++ b/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 diff --git a/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu3_port6203.log b/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu3_port6203.log new file mode 100644 index 0000000000000000000000000000000000000000..3832cb6e1de792084d27002bbe176e9e1fcc1bc7 --- /dev/null +++ b/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 diff --git a/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu4_port6204.log b/0420_QwenGR00T_13tasks_actionstate_50k_fix/final_model/pytorch_model.pt.log/eval_gr00t_20260422_120032/server_gpu4_port6204.log new file mode 100644 index 0000000000000000000000000000000000000000..190720b99bfb72f32054cad50c15d15d228fae24 --- /dev/null +++ b/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 diff --git a/0420_QwenGR00T_13tasks_actionstate_50k_fix/run_lerobot_datasets_qwenGR00T.sh b/0420_QwenGR00T_13tasks_actionstate_50k_fix/run_lerobot_datasets_qwenGR00T.sh new file mode 100644 index 0000000000000000000000000000000000000000..b10b7a86cfbd88023b9868cd024936406fd93554 --- /dev/null +++ b/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 \ + 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